The Control System Development Of The Wheel Pipeline Inspection Robot

With pipeline widely used in life or the industry, testing and main tenance have become a necessary but heavy work. As the special environment, the urban drainage pipeline detection is especially hard and wastes time. In modern society, the pipeline robot become the good choice to detect or repair the pipeline at home and abroad, but China is backward relatively.This article mainly describes the control system development of the wheeled pipeline inspection robot, including the design of the control platform of software and hardware and the realization of the function of robot control. In the upper machine, this article designs a control panel with rich functions, builds an industrial PC control system used for pipeline video processing and 3D reconstruction, designs the upper machine controller, and realizes the control functions of the upper machine, makes the communication of the industrial control computer, the upper machineand and the control panel. In the lower machine, the embedded Linux system is transplanted into ARM9 chip, and the application architecture is based on multi-thread of Linux. After that, this article realizes multiple serial communication and the functions of the robot, such as robot run, the holder lifting, light control, data acquisition etc. In addition, this paper also designs a reliable industrial control suitcase, an efficient and reliable power supply system, a set of serial port communication protocol which is easily extended and its decoding method.After kinematics analysis is carried out on the wheel and the overall pipeline robot respectively, some kinematics features are got and applied in the position control and attitude control of the robot. In the position control mode, the system make the robot car to move in a predetermined distance. In the attitude control, the system uses a fuzzy algorithm to control the robot attitude angle through using the data of motion measurement system as feedback.after the above technology about the wheel pipeline inspection robot proves effective, this topic carries it on the migration and application, that a cable trench patrol inspection robot is designed and many trial results prove it is practical very well. At the same time, it also provides the subsequent pipeline robot with a technology platform for 3D reconstruction.