| This thesis is based on the inspection robot for EHV power transmission lines as itsbackground, the main work is summarized as follows: The overall control system research ofEHV inspection robot; the hardware implement of inspection robot control system; thetransplantation of embedded Linux operating system in main controller PC104belonging toinspection robot is realized: including the selection and compilation of kernel、the implement andchoice for the file system and the transplantation of the graphical user interface; the program ofserial communication、I/O module、A/D module、PMAC movement control cards based onLinux are completed, which are used to realize the main function modules of the control systemincluding sensor data acquisition module、motion control module、communication module.Thescheme which is proposed in this thesis is tested and then the experimental results are analyzed.The research background is described in the thesis, the research significance of EHV powertransmission line inspection robot embedded control system is discussed, the research status ofinspection robot and its control system is analyzed, several embedded system welcomed bydevelopers are listed, whose development costs, reliability and so on are in comparison. Theconclusion is that the ideal choice is Linux. And then the difficulties of the research onembedded operating system of inspection robot are summarized.The overall introduction of inspection robot control system is explained in this thesis, thewhole control system is made of two parts: a robot prototype and ground base station. The robotprototype system includes: robot body、power、controller、drive motor、wireless data transmissionsystems(robot part).The ground base station includes: wireless data transmission systems(groundbase part)、monitor system.PC104module as the core of the hardware platform is used to research the design of robothardware platform, IO module and AD interface card is used as the extend module for robotprototype system, which are both accord with PC104agreement. The design of robot sensorinformation is analog output, the result gathered by A/D acquisition card is analyzed in thecontrol computer. PMAC movement control card is chose to drive the motor, and the controlmethod of the base station computer communication is researched. The control signal is outputby I/O of serial in the system, was sent to the robot control system, so the robot motion state isadjusted to realize the normal motion of the robot. This design method of module is adopted inthe robot control system, which will lay the foundation for the design of software of theinspection robot control system.Software of control system is analyzed. Through the boot process of Linux, the selectionand setting of the kernel, the process of the file system customization are explained in details,and then the system cut will be transplanted into CF card, at last the CF card is insert into thecomputer, which is guided by the GRUB in the target machine, a small embedded operatingsystem is realized. This system has several characters, including small volume, high modularity,safety and reliability and so on. Finally, the program of serial communication、I/O module、A/D module and PMAC driver are completed, which used to realize the main function of the controlsystem including sensor data acquisition、motion control、wireless communication based on theserial port.Through the experiment equipment the unit modules including the wireless communicationmodule based on the serial port、data acquisition module are tested, and the same time theexperiment result is analyzed, which indicate that Linux embedded operating system in theinspection robot controller PC104has a successful transplantation, and the main function of thecontrol system is realized. After that the overall test for robots was made, the robot has theability to cross the obstacle in the remote control through the experiment results. Therefore, thefeasibility of this plan is verified. |
PDF Full Text Request