| The inspection robot for power transmission line can do examination work instead of human,and improve the efficiency and precision.So it is great significance of developing the inspection robot zealously.Take the new type mechanical structure of inspection robot as the controlled member,the intelligent control system was developed in the paper,to realize the robot moving independently and passing over obstacles autonomously on power line.After studying and analyzing the action principle of the robot,the function request to the control system was stated.According the Hierarchical Control Theory and the Expert Control Theory,this intelligent control theories,Proposed the special third-level control structure used in the control system overall construction design.Planned has used in the robot movement plan based on the regular storehouse expert control system.According to these control plan, take the computer system based on the PCM-3370 motherboard as the host control computer for the robot,unifies image gathering equipment composed with the MV-C320 image gathering card,the VS-902H camera and the lens,to complete the hardware design for the organization level.Then design the STC89C52 MCU system as the client computer,which is include the electro-optic isolating circuit and the serial port communication circuit.Studies many kinds of sensors and the DC motor control plan;and design brushless DC motor control module based on MC33035 and MPM3003,through all these work we completes the hardware design of the execution level.Meanwhile,through making the transformation design to remote control module with 12 group signals,to realize 18 group signals output. Studying software function of the organization level,we determined the software function module of host computer,used the VC6.0 programming software main contact surface,the serial port correspondence contact surface and the imagery processing contact surface,and realized the functions serial port correspondence partly.The research and analysis to the method of image transmission and the subject matter had been carried on also.We studied the MCU program function of the execution level,compiled the master routine,the serial port signal program and the spanning overhangs the insulating clamp program.Regarding the program of remote control module,proposed one way of realizing expansion of the signal channels,which using the software to decode secondly,projected flow chart of the approach, and compiled the program.Finally,we carried on the debugging and the experiments to the design of control system. Has confirmed the operating stability and smooth of computer system based on the PCM-3370 motherboard,the reliability and the feasibility of the channel expanstion of the wireless remote control module,and completed the MCU control panel debugging,then tested many kinds useage of sensors and accuracy of signal circuit.The innovations of this article,mainly involved in the following several points:The control system structure,which is composed of "the remote monitoring computer+the organization level+the execution level",has been designed,a method of robot action plan based on the regular storehouse is proposed.According to these theory instructions,control system based on "the remote monitor computer +PC/104 motherboard computer+MCU system" has been designed.A method of expanding the remote control module signal channels is proposed.The control software contact surfaces and programs of obstacle crossing have been designed. |
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