The Analysis And Design For The Magnetic Navigation And Control System Of Pipe-Monitoring Robot

The pipelines in some chemistry factories become fretted and eroded as their exposure in air for long time, or because of the material's aging, these pipelines should be replaced in time, or casualties will happen! So, it is obligatory to inspect these pipelines periodically to know the status of pipeline and it's circumference, especially ,to know whether leaking exist so that we can find and eliminate hidden troubles, and prevent accident. The difficulty and fatalness of these inspecting work increase as the poison gases and the high where these pipelines are placed, so human cannot do these works. So it is the best solution that we design a robot to do the work- monitoring chemistry gas pipeline.This paper mainly do the research and design for the navigation subsystem which is a part of the robot system to monitor chemistry gas pipeline, the work include software and hardware design and the research and implementation on the magnetic navigation algorithm. Firstly, this paper discussed the current status of this paper's theme and deeply investigate the navigation principium of Magneto Resistive (MR) sensor, then, construct the hardware framework and inspecting circuit. Secondly, I make use of the blur control algorithm to achieve closed loop control, and for the sake of taking pedrail underpan as driving device.This paper summarized all work I have done at last, and point out the shortage in my research and design. The robot based on my research and design has been used in practical case satisfactorily.