Design And Implementation Of Orbital Inspection Robot Control System

In order to improve the safety and reliability of the equipment and the environment in the factory,a lot of manpower is spent to inspect the state of the factory every year,such as inspections in substations and underground shafts.This thesis designs and develops an orbital robot used in unattended factories.The robot moves according to the track.The robot arm is equipped with a camera to check the status changes in factories.The data is transmitted to the upper computer software through the Ethernet,which is convenient for manual labor.This thesis mainly completes the control system part of the orbital robot,designs and implements the software and hardware modules of the control system,realizes the motor drive,acceleration and deceleration algorithm,robot safety and collision avoidance and motor mileage positioning functions,so as to ensure the inspection function of the orbital robot.It can save labor costs and strengthen the inspection frequency of equipment and the environment.The orbital inspection robot control system designed in this thesis mainly drives the orbital robot in the horizontal direction by driving the DC brushless motor,and realizes the expansion and rotation of the carried manipulator by driving the stepper motor.When the motor starts and stops,there may be lost steps and overshoot.After starting the horizontal walking motor,adding a photoelectric encoder can not only realize the mileage positioning in one-dimensional direction,but also realize the dual closed-loop control of PID position and speed.The control system realizes the automatic adjustment of acceleration and deceleration during the movement.Due to the complex environment of the factory,a combination of sensor shields and ultrasonic distance measurement is used to realize the safety protection of the robot.The control of the orbital robot requires manual remote control.The design adopts the embedded LWIP protocol.The command is sent to the main control chip according to the established communication protocol.The entire control module completes the inspection work under the control of the upper computer software.The control system designed in this thesis is mainly composed of STM32 main control chip and extension modules such as brushless motor motion control,encoder position capture,LWIP communication,etc.,and works with the code program compiled and generated by the embedded software development platform for control work.In the end,the control system can complete the corresponding motion control according to the instructions of the host computer software,and can realize the precise positioning and adaptive acceleration and deceleration of the robot with the cooperation of the encoder,and can move stably in the factory environment.This control system is designed for easy maintenance,simple operation and high reliability,which can effectively improve the inspection efficiency in the factory,and has broad application prospects in unattended factories.