The Contorl Law Of The Wheel Robot And The Measurement Of Pipeline Deformation

The water discharge of the drainage pipelines in the cities of our country are gettingbigger and bigger. The pipe blockage that caused by the sediment deposition in the drainagepipeline will damage the appearance of a city and the economy of our country. The task tosupervise, conserve, maintain and dredge the drainage pipeline of a city becomes heavier andheavier. It has been an important work that can’t be neglected for the municipal departmentand cause more and more concern from relative department. It has been a undeniable fact thattaking robot to replace manual operation, so that various scientific research institutions andenterprise and public institutions are undertaking the development of relative robots. And thestable and reliable walk of the robot in the circular tube has become a very important topic.This article mainly analyzes the whole system control scheme of the circular tube robot.It takes the scheme that the upper computer uses IPC and the lower computer uses SCM fromfreescale company. By means of theoretical analysis and practical verification, it turns out thatthis scheme can meet the design requirements and fit the spot need.Meanwhile, after the whole hardware system has been set up, the control strategy ofrobot’s walk has been mainly done a lot of investigation and adjusting work. Finally, thecontrol strategy of its speed uses bicyclo-PI and controller with integral separation bycomparison. In order to insure the robot can walk straight in the circular tube and prevent thephenomena of inclined walk and turnover, fuzzy control has been taken. And the robot hasbeen controlled effectively. In the meantime, this controller is easy to debug, this has greatlyreduced the workload and increasing work processing.After the smooth control of the robot has done, by using the laser rangefinder to accuratedetect the surrounding environment of the pipe, collect the pipe3d data and collect the3ddata of the circular tube. the circular tube deformation ratio can be calculated using these datathrough the coordinate transformation and related data processing. At the same time these dataalso provides data base for3d reconstruction of later period pipeline.