Research And Implementation Of Control System For Inspection Robot Of Rain And Sewage Pipeline

The operation and management of sewage pipe affect the daily lives of urban residents for its extremely complex internal environment.Therefore,periodic inspections of sewage pipes are necessary.The control system of inspection robot for sewage pipe is the core of the inspection robot system.It is crucial for ensuring the whole robot system stable and safe operation.In this paper,we studied and designed the control system for our inspection robot for sewage pipe.The paper includes the following content:(1)According to the performance parameters and functional equirements of the inspection robot for sewage pipe,we selected the hardware type and completed the circuit design of the control system.(2)In order to solve the problems of slow response,insufficient control accuracy,and poor anti-interference ability of traditional inspection robot control systems,we remodeled the motion and pose of the inspection robot for the sewage pipe and redesigned the speed control system and the pose control system.The results showed that the speed control system has high response speed,high stability,and high anti-interference performance,which can achieve more accurate speed control and ensure its smooth operation in sewage pipe inspection.The pose control system can adjust the pose of inspection robot in real-time,avoiding overturning during the inspection task inside the pipe.(3)Based on the selected hardware type and control algorithm of the inspection robot,we have developed the software for the control system.Thanks to the idea of modularization,we designed and implemented the software program for the control system of inspection robot for the sewage pipe,which included the main program,driver program,communication program,and upper computer program.(4)We conducted several tests on the control system of the inspection robot for sewage pipe,including motion control testing,posture adjustment testing,and body sealing testing.The results showed that the control system for the inspection robot for sewage pipe has the advantages of high dynamic response,high stability,smooth operation and high safety,which making it suitable for complex environments inside the sewage pipes.