| The current situation, detection and repair of domestic sewage tubes areintroduced in the thesis. According to the mechanical structure of the SewageTube Processing Robot (Abbreviated as STPR), an electro-hydraulic STPR controlsystem is designed. The work which system control board should do is analysed.The hardware structure of control board is described. On the basis of analyzingthe features of each sensor, the adjusting circuits are designed. The drivingboard is designed, including the solenoid directional control valve driving boardand the solenoid proportional control valve input signal shifting circuit. Thewhole process of the foundation of embedded Linux development environment in thisthesis is detailedly described, including the configuration of the environmentvariables, the acquisition of the cross-compiler, the installation andapplication of tftp server, the installation and application of NFS network filesystem, and the use of the terminal minicom in the Linux system. On the S3C2410hardware platform based on the ARM920T Core, bootloader, embedded Linux kernel,network card driver and USB host driver are ported, and the root file system isfounded. The developments of every STRP modules are completed, which include:the development of the network communications module with TCP as a communicationprotocol; the development of the signal acquisition and module processing, ofwhich the key is to develop ADC driver, and the temperature and humidity sensordriver; the porting of the video monitoring module, including the porting of thecamera driver and the network video server; the development of the motion controlmodule, of which the key is to develop the switch output driver and the PWM driver;the development of cutters rotation speed control module, using fuzzy controltechnology; the development of man-machine interface module with Qt as thedevelopment tool. All work that has been done is summarized. The deficienciesand ideas of improving ways are also brought about. |
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