Design And Research On Measure-control System Of CIPP Cutting Robot For Gas Pipeline

Since the gas pipeline had been built,a giant security risk will be appeared because of gas leakage caused by various factors(such as aging,corrosing,etc).So,it’s very essential to repair the in-service gas pipelines.Among lots of gas pipeline repair technologies,CIPP has many advantages,such as little environmental impact,shorter construction time and good liquidity.In this paper,we’ll focus on reserching the measure-control system of pipeline cutting robot which is the core equipment of CIPP.And finally,the system will be developed which takes IPC as upper computer,STM32F103 ZET as lower computer and RS485 as communication method.The main contents includes,(1)Designing of the whole scheme of measure-control system of pipeline cutting robot.According to the actual working conditions of the pipeline cutting robot and the functional requirements of the measure-control system,the whole scheme of measure-control system will be formulated which based on exsiting measure-control system.The scheme adopts a modular design,and communication between modules is managed by RS485 hubs which can improve the stability of measure-control system.The upper computer adopts IPC and the lower computer adopts STM32,both of them support C/C++ programming,and the function is highly scalable.(2)Designing of the hardware of measure-control system of pipeline cutting robot.The factors of anti-interference,communication stability and convenient wiring will be considered comprehensively to design cabinet circuit of pipeline cutting robot,peripheral circuit of STM32F103 ZET core board and the detail scheme of the RS485 communication.In order to separate control signal and data acquisition signal,a double-route RS485 communication will be used which can improve the communication efficiency of measure-control system significantly.The device power will be supported independent and isolated by EMI which can improve the robustness of pipe cutting robot measure-control system greatly.(3)Designing of the software of measure-control system of pipeline cutting robot.The software part contains two aspacts: upper computer software and lower computer software.The upper computer software which based on Ubuntu17.04 and Qt5.10 will be designed to realize the controlling processes of pipeline cutting robot,and the factors of system stability,convenient operation and quick response will be considered comprehensively at the same time.The lower computer software which based on μC/OS III will be designed to control motors and collect data from sensors,and the factors of real-time,efficiency and anti-interference be considered comprehensively at the mean time.At last,the Taylor series and least squares method will be introduced to optimize the stepper motor acceleration algorithm which based on STM32,and finally the efficiency can be increased by 4.8 times.(4)Debugging and experimental researching of the pipeline cutting robot.After finishing assemble the entire pipline cutting robot,it will be drived into the pipe for online-debugging.The Modbus communication error response mechanism will be introduced to make the accuracy of unit time communication raise to 100%.At the sametime,the Hough-Transform algorithm will be introduced to assist the pipeline cutting robot to locate the pipe nozzles which can decrease the locating time operated by human and improve the working efficiency of pipeline cutting robot.After finishing test the locating accuracy and cutting,the experimental data shows that the system meets the design requirements.