| Internal corrosion is found inevitably in urban pipeline network because of the increasing service age, which leads to wall thickness reduction and pipeline cracking, consequently causing gas leak. Therefore, to ensure the supply and security of energy in urban area, regular inspection and assessments towards the pipelines should be conducted. However, the urban pipeline system is usually arborization and net-structured and varies in diameters, posing difficulties for conventional inspection system to finish the task.Overcoming the weak autonomous movement of PIG, the pipeline inspection robot is capable of performing inspection inside the pipelines, avoiding time and labor-consuming hand excavation and thus an ideal autonomous pipe inspection system. For the robots, its measurement and control system is the core part which directly decides its performances in movement and inspection, And the current measurement and control system have the problems such as high power consumption, slow data acquisition, large volume, the real-time processing ability needs to improve, So that research and study towards the system is needed.Firstly, based on the analysis of working principle and design requirement of urban gas pipeline inspection robot, this essay has studied the system components of inspection robots at home and abroad. An IMX6 core-board featured motherboard is designed and completed under the backdrop of current technical stage of the hardware in microcomputer measurement and control system. Then, the motherboard is used in the motion control and deficiency inspection of the robot through the lower computer as well as the communication with the upper computer.Secondly, upon the working principle of robot driver module, an electromechanical dynamic equation of driver module is established by using the method of analytic dynamics of electromechanical system. And mathematical models of speed control system and traction control system of the driver module are developed on the combination of the established equation and the control requirement of the robot diver module. Afterwards, the robot driver module design parameters are put into the mathematical model to have steady-state analysis and testing whose result proves the correctness and effectiveness of electromechanical system of the robot diver module.Thirdly, on the basis of the speed and traction requirements for the inner-pipeline inspection robots, incremental PID algorithm is adopted in this essay to design the speed controller and traction controller of the diver module; Modbus/TCP communication protocol is adopted in communication between lower and upper computers of the measurement and control system, meeting the challenge of vast communication transferring data and reliability; modularization programming and sequential programming are used to finish the human-computer interface design of the robot measurement and control system via the LabVIEW programming language excelling in measurement and control.Lastly, functional examination of the measurement and control system is conducted. During the examination, the robot can remain a comparatively stable speed and traction; the driver module performs well in supporting pressure and adjustment and achieves the control requirement of the speed and traction; clear flaw echo can be collected by electromagnetic acoustic test module; comparatively accurate inner diameter measurement can be acquired by laser caliper measurement module, achieving the function of inner wall defect inspection of the measurement and control system. |
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