Design And Implementation Of An Integrated Pipeline Inspection Robot Control System

Underground integrated pipeline has complex internal environments,and man-powered inspections are inefficient and dangerous.The inspection robot can work around the clock,focus on monitoring dangerous areas,and greatly improve the efficiency of routine maintenance.This thesis designs and implements a comprehensive tube inspection robot control system to provide technical support for the safe operation of urban pipe corridors.In this thesis,according to the characteristics of the site environment of the integrated pipe gallery,the functional requirements of the robot control system are analyzed,and the overall plan of the integrated pipe control inspection robot control system is proposed.The robot system consists of a local control system and a remote control system.The local control system is responsible for on-site information collection and robot motion control.The remote control system is responsible for on-site information display and inspection tasks.This thesis proposes a hardware solution for the robot's local control system.It uses a modular approach to design the control system software,and finally realizes the information collection and integration of the pipe gallery,network communication and robot motion control functions.Autonomous positioning is an important function of an integrated tube inspection robot.This thesis proposes a positioning method for tube inspection robots based on particle filtering and map matching,combining the characteristics of orbital robots and field environment.The main contents include the design and implementation of robot sensing system,the implementation of particle filter positioning algorithm,and the construction of a global map.The remote control system includes a B/S-based monitoring website and Android-based mobile application software to realize remote control of the robot and real-time monitoring of the internal environment of the integrated pipeline gallery.The thesis has completed the performance test of the robot control system.The results show that the robot has good mobile ability,perception ability,remote control ability,and can perform the daily inspection task of the integrated pipe gallery.