Design And Research Of Control System Based On MyRIO For Hanging Rail Type Inspection Robot

Using the robot to inspect the belt conveyor can effectively reduce labor costs and improve inspection reliability.This paper takes the hanging rail type inspection robot as the object,combines the research status of domestic and international inspection robots and their control system design,and designs and studies the control system of the hanging rail type inspection robot.The design content is mainly aimed at the overall scheme design of the control system of the hanging rail type inspection robot,the hardware construction of the control system and the software design of the control system.A set of control system of the hanging rail type inspection robot is constructed.The purpose is to provide the inspection robot with a reliable and efficient control system.The research results of this paper are summarized as follows:(1)Aiming at the requirements of the equipment inspection work of the belt conveyor,the design scheme of the crane-type inspection robot robot control system is proposed,the development platform of the control system is determined,and the main controller scheme of the robot is determined;explore several implementations of the robot’s navigation and positioning system and determine the final solution;ddetermine the implementation method of power management,compare the power supply scheme,and chose the combination of lithium battery power supply and wireless charging;discussed the motion control scheme and preliminarily determine the walking motor control strategy;discusse the scheme of sensors.By comparing the advantages and disadvantages of different schemes,choose the best solution that is most suitable for the application scenario of the hanging rail inspection robot,and realize the preliminary scheme design of the robot control system.(2)Design the hardware and construction of the inspection system of the inspection robot and make selection of various components.Firstly,the selection of the main controller of the inspection robot and its characteristics are introduced;select the motor drive;selected network cameras,electric faders and video surveillance solutions;build the wireless communication structure;build the power management and wireless charging devices;select various sensors mounted on the inspection robot.Finally,the above hardware is integrated to build the overall hardware structure of the robot control system.(3)The design of the control system of the hanging rail type inspection robot is introduced in detail.Write the LabVIEW program to the robot control system.Firstly,the motion control strategy is discussed and the corresponding algorithm is applied to the motion control of the traveling motor of the inspection robot;design the navigation and positioning system of the inspection robot;design the fixed point inspection and automatic charging system;describe the image acquisition methods of surveillance cameras and infrared thermal imagers and write corresponding programs;write the information acquisition program for the remaining sensors.(4)Make experiments to verify if the function of the robot meets the design requirements.Test the positioning accuracy of the robot,information acquisition,wireless charging reliability and efficiency,communication quality,etc.,and make improvements to the problems and evaluate their effects.Find defects during the experiment in the design of the inspection robot control system,and tried to improve and test the new method.