Research On Intelligent Inspection Robot Control And Control Platform

The traditional method for detecting weld seam defects in oil and gas pipelines is mainly manual inspection,which has high labor intensity and low detection efficiency.In recent years,with the development and wide application of robot technology,it has also provided possibilities for pipeline inspection technology.Therefore,in order to reduce the labor force and improve the detection efficiency,this paper builds on the embedded ARM technology and adopts the modular design concept to complete the development and research of the pipeline inspection robot monitoring and control platform.The main research is mainly from the following aspects:Firstly,the mechanical frame structure design of the intelligent inspection robot is carried out.According to the actual industrial conditions,the design requirements of the intelligent inspection robot are analyzed,and a design scheme of the mechanical structure of the intelligent inspection robot is given.Through the selection of each module of the robot,it is finally determined that the permanent magnet is used as the adsorption mode,the four-wheel drive,the photoelectric sensor realizes the tracking,and the six-degree-of-freedom robot arm carries the ultrasonic probe to realize the weld seam scanning,and is completed according to the design scheme of the robot.The assembly of the laboratory prototype.Then,the hardware circuit of the robot is designed;combined with the robot design requirements,the 32-bit STM32F103 based on ARM Cortex-M3 core is selected as the main controller,and the peripheral circuit design is completed,including the robot drive module,automatic tracking module,and six free Degree mechanical arm circuit module,system power module,USB to serial port,Bluetooth module,and finally test the soldered hardware circuit.Secondly,complete the software design and development;to ensure the robot movement is easy to control,use Android Studio software,Keil5 software to complete the development of mobile APP and the preparation of single-chip program,connect the APP and the single-chip computer through Bluetooth wireless communication technology,realize the remote control of the robot action.And simulation analysis of the control signal;using LabVIEW software to complete the development of the human-machine interface,the interface can receive and store the defect data collected by the ultrasonic flaw detection module,and display it in the form of a waveform.Finally,after experimental verification,the robot can realize the functions of wall climbing,tracking,etc.,and can remotely control the robot motion using the mobile APP.While the robot is moving,ultrasonic flaw detection technology is used to detect the weld defects of the pipeline,and the detected data is transmitted to the man-machine interface through the RS-232 communication interface for display and storage.The experimental results show that the research of the intelligent inspection robot control and control platform has achieved the expected results.