Design And Implementation Of A Tracked Walking Intelligent Robot For Underground Pipeline

Urban underground pipelines are pipelines that are underground and responsible for the transportation of electricity,heat and water systems.They are the “lifeline” for urban survival and development.With the construction and development of the city,the pipeline system has been continuously expanded and become more and more complicated,and with the long-term use of the underground pipeline,the pipeline system is worn and aged.Without regular maintenance of the piping system,the piping system will be large and devastating and have a huge impact on the city.Although the traditional pipe cleaning methods mainly include manual detection,volumetric mud method and mirror method,these methods are not efficient and waste time.In addition,since underground pipes are narrow inside and harmful gases may be present,it is extremely difficult to manually detect underground pipes.In recent years,due to the adaptability of pipeline robots and simple structure,pipeline robots have played an important role in the fields of petrochemical,natural gas and sewage.According to the characteristics of pipeline robots,it is very feasible to use pipeline robots to replace humans for urban pipeline maintenance.The main work and results of this paper are as follows:(1)Design and implement a crawler-type intelligent robot that can adapt to the complex environment inside the pipeline,so that it can overcome the damp and polluted environment,easily enter the narrow space and carry out simple operations in the pipeline.(2)Developed a set of control circuits suitable for pipeline robots,including the overall power supply configuration,the selection of the main control chip,the design of the main control board,the design of the motor drive circuit,and the design of the transmission module.(3)Real-time monitoring of the pipeline environment by the robot is realized.The robot body is equipped with a variety of sensors capable of detecting dangerous gas concentrations such as methane,carbon monoxide and hydrogen sulfide.(4)Design a communication protocol between the upper computer and the lower computer for the pipeline robot,and adopt the hierarchical control mode of the remote upper and lower position machine to better ensure the communication between the upper computer software and the robot,and ensure the real-time communication and communication.The accuracy of the control.(5)Designed and realized the real-time monitoring and management platform of pipeline robot.The real-time monitoring and management platform has a good interactive interface and realizes most functions such as parameter setting,motion control and status monitoring.The intelligent robot developed in this paper has certain advantages over other intelligent robots and has a good practical application prospect.