| According to the inspection needs of the bore inspection robot to inspect the bore surface of the body tube,this paper designs an embedded control system based on Raspberry Pi automatic control,wireless transmission,and remote communication with a microcontroller based on the traditional control system of the bore inspection device to make the bore inspection robot perform inspection tasks more flexibly and improve the work and inspection efficiency of the robot.In addition,for the bore inspection robot to analyze the errors occurring in the body tube bore inspection data,the installation position of the ranging module is calibrated,the components are inspected,the errors are compensated,the inspection data are post-processed,and the methods of mean filtering and effective point search are used to reconstruct the yin and yang bore measurement sections based on the bore section data after fixed-axis laser inspection and PSD compensation.Firstly,the overall structure of the bore inspection inspector is designed according to the inspection task requirements of the body tube bore,the main structure of the bore inspection robot and the carrying component devices are designed,and the bore inspection robot robot control system,bore inspection robot driving method,bore inspection robot operation process and other auxiliary components are elaborated.Next,the embedded control system of the borehole inspection robot is built based on Raspberry Pi as the main controller and STM32 and ARDUINO as the lower computer.For the detection device and motion device of the bore inspection robot,algorithms such as driving robot motion program and detection data processing are written to detect the bore of the body tube and realize the accurate control of motion device attitude.Further,the installation accuracy and dynamic error of the range module of the bore inspection robot are analyzed and studied.For the static installation position parameters of the laser ranging module,the causes are analyzed and calibrated,and the coordinates are transformed according to the different coordinate systems of the laser displacement sensor and the PSD position detector,unified under the PSD base coordinate system,and the error mathematical model is established,and the mathematical model for the compensation of the detection value of the bore of the body tube is derived and solved.The mechanism of the dynamic error is analyzed and the solution is designed.Finally,according to the error analysis model and the solution,the calibration experiment platform for the detection accuracy of the bore detection robot is built,and the calibration experiment is conducted for the performance of the sensor of the laser range module and the installation position parameters of the bore detection robot,and the vector deflection angle and axis deflection between the laser displacement sensor and the PSD position detector coordinate system are solved.The calibration and post-processing can effectively improve the detection accuracy of the in-bore inspection robot through the calibration tube of 160 mm diameter and the body tube of 155 mm diameter. |
PDF Full Text Request