| Sewer inspection robot is a new robot which is used in special areas, mainly for the detection of underground drainage and maintenance, with the improvement in the level of human civilization, to develop a machine replace workers in the sewer drainage pipeline inspection, has been the trend of social development。Based on the study abroad sewer inspection robot and application development status, based on the combination of the development process related to pipeline robot, designed a wheel discharge pipe inspection robot control program, the robot using wired communications Way in which the sewer pipe inspection, this article focuses on the sewer inspection robot is the control system design and implementation.Sewer inspection robot in the environment of the field based on the proposed sewer inspection robot control program, PC as the core processor with ARM9 processor, designed man-machine interface; the next crew to two Atmega8 microcontroller as the core processor to the smoke sensor circuit and angle sensors, the corresponding design of data acquisition circuit to the motor driver IC specifically designed motor drive circuit; communication between the upper and lower computer using RS-485 half-duplex mode communication protocol; the introduction of the embedded Linux operating system to the control systems are realized in the embedded Linux operating system, PC Transplant ARM9 processor; to ensure the robot to walk in safety among the harsh environment, and analyzing fuzzy control PID control based on the combination of both advantages and disadvantages, was designed based on a combination of both control mode, a more stable walking robot; and U-T parameters into the method with the traditional kalman filter algorithm has been improved, making the robot more accurate positioning results.Wheeled robot designed to meet the sewer inspection robot is not only functional requirements, but also for the future development of a robot vehicle open control platform. |
