CN105881538B - A kind of quick natural gas line robot control system of three core, six axis crawler type - Google Patents
A kind of quick natural gas line robot control system of three core, six axis crawler type Download PDFInfo
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- CN105881538B CN105881538B CN201610406265.0A CN201610406265A CN105881538B CN 105881538 B CN105881538 B CN 105881538B CN 201610406265 A CN201610406265 A CN 201610406265A CN 105881538 B CN105881538 B CN 105881538B
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0248—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means in combination with a laser
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
- G05D1/0263—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using magnetic strips
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
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- Engineering & Computer Science (AREA)
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- Mechanical Engineering (AREA)
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Abstract
The invention discloses a kind of quick natural gas line robot control systems of three core, six axis crawler type, including controller, the controller uses three nuclear control devices, including ARM, IRMCK203 and DSP, described ARM, IRMCK203 and DSP to carry out mutually communication connection.Through the above way, the quick natural gas line robot control system of three core, six axis crawler type of the present invention, completely new three nuclear control pattern of the independent research based on ARM+IRMCK203+DSP, controller is using ARM as processor core, the SERVO CONTROL of six axis permanent magnet synchronous motors is realized by IRMCK203, DSP realizes the real-time processing of Image Acquisition digital signal and is communicated with ARM, ARM is freed in complicated work, realize the real time position acquisition of six axis three-phase permanent magnet synchronous motors, and DSP interrupt is responded, realize data communication and storage live signal.
Description
Technical field
The present invention relates to the fields of large-scale pipeline robot, more particularly to a kind of six quick natural gas tube of axis crawler type of three core
Pipeline robot control system.
Background technology
The pumped (conveying) medium of natural gas line belongs to inflammable, explosive substance, the hydrogen sulfide contained in medium, carbon dioxide, trip
From impurity such as water, dust, the pipeline of laying is set to be in inside and outside etching condition, or even the internal congestion situations that will produce are sent out sometimes
It is raw.Along with the factors such as environment, geology, meteorology and hydrological disaster, tubing and design defect, operation error or even artificial destruction,
The safety of pipeline is threatened by many factors.
One gas pipeline on June 4th, 1989, the former Soviet Union leaks, and two row are to running a train apart from leakage point 1
Kilometer outside railway line on by when, train friction generate spark cause leakage natural-gas explosion, cause people more than 600 dead
It dies, hundreds of hectares of forests are burnt；In August, 2000, the gas pipeline hair of the 720 mm bores of the New Mexico southeast one
Raw gas explosion causes incessanly to fight greatly and at least causes 10 people dead, and the place other than more than 30 kilometers can be seen huge
Type fireball rushes to sky, and ground leaves the hollow place of a Taoist priest 25m, depth 6m after explosion；The oil and gas pipeline in China is also once more
Secondary that accident occurs, pipeline occurs the accidents such as explosion, leakage, stopping transportation and not only causes huge property loss, but also jeopardizes ecology
Environment.
Pipe robot, which is one kind, carrying one or more sensings along either external automatically walk inside pipeline
Device and operation machinery, complete a series of electromechanics of pipeline operations under the control of operating personnel or under computer controlled automatic
Integral system.The research of pipe robot starts from eighties of last century the forties, to the seventies due to microelectric technique, meter
The development and progress of calculation machine technology, automatic technology, external pipeline robot technique are grown rapidly the beginning of the nineties, are ground
Many experimental prototypes have been made, and have achieved a large amount of achievement in research.
With pipe robot inspection natural gas line, the efficiency of pipe detection can be not only improved, but also for improving labor
Dynamic condition, reduces labor intensity, and improves operating efficiency, reduces operating cost, guarantees personal safety and suffer from highly important meaning
Justice.But it is domestic not yet using pipe robot inspection natural gas line, natural gas line explosion happens occasionally, causes huge
Big economic loss and environmental pollution.
One practical natural gas tube pipeline robot must have following components：
1）Image capturing system：Image capturing system can be found that in pipeline the problem, and can be work
Personnel's offer pipeline is damaged and congestion situations, and reliable basis is provided to replace pipeline either cleaning pipeline；
2）Damage acquisition system：Damage acquisition system can find the abnormal conditions that pipe-line system outer wall occurs in time, keep away
Exempted from pipeline and long-term breakage causes anti-pressure ability to weaken, eventually lead to natural gas largely leakage and generate explosion accident；
3）Humidity detects and obturator detection：If humidity is excessive, the pumped (conveying) medium of natural gas line is easily formed pipeline
Corrosion, while moieties understand heap to generate congestion situations；
4）Motor：Actuating motor is that the power of pipe robot implements component, it converts the energy of power supply in real time, according to pipe
Pipeline robot microprocessor instructs to execute related walking motion of the robot in natural gas line；
5）Algorithm：Algorithm is the soul of natural gas tube pipeline robot, interior since natural gas line is a closed pipeline
Portion's situation is extremely complex, natural gas tube pipeline robot must use certain intelligent algorithm just can accurately out of pipeline a little to
Up in addition, form point-to-point inspection, and real-time storage acquisition image, pipeline steam information, pipeline obstruction information, pipeline
Damage situations and damaged location information；
6）Microprocessor：Microprocessor is the core of natural gas tube pipeline robot, is natural gas tube pipeline robot
Brain.All information in pipeline, including humidity, congestion situations, pipe damage information and damage position information in pipeline,
Motor status information, battery status information etc. are required for by microprocessor processes and make corresponding judgement.
The country is only at the early-stage to the research of pipe robot, is to use monokaryon controller, is in laboratory sample
The machine design phase has a certain distance from large-scale use, mainly faces problems with：
（1）By control technique influence, all pipe robots are all made of monokaryon controller, the computing capability of controller compared with
Weak, pipe robot can not quickly handle real time environment, and robot ambulation speed is relatively low, and inspection pipeline speed is slower, stablize
Property is poor；
（2）For being all made of chargeable storage using the energy entrained by motor-driven pipe robot, these storages
Battery is by formation high-voltage great-current energy resource system after simply connecting and being in parallel, and without protection circuit, the service life is shorter,
Often occurs the abnormal work for even interfering with pipe robot when normal work；
（3）For using the stepper motor either pipe robot of direct current generator driving, by motor own efficiency
Influence, energy utilization rate is relatively low, causes pipe robot displacement distance in pipeline shorter；
（4）For using the stepper motor either pipe robot of direct current generator driving, by power of motor density
Influence, since used motor volume is larger, the volume for eventually leading to robot is larger, and heavier-weight seriously affects
The use scope of pipe robot；
（5）Either based on the vector controlled either servo based on orientation on rotor flux algorithm permanent magnet synchronous motor
Control will also carry out the closed-loop control of electric current and speed other than carrying out multiple coordinate transform and inverse transformation, thus realize
More complicated and requirement of real-time is higher；It is realized using DSP technologies either ARM technologies and with software mode, system development
Period is long, and the processor time that the algorithm occupies is relatively more, affects the DSP either processing functions of ARM；
（6）Self adjustment capability of pipe robot motion state is poor, is influenced by control mode, and robot is in pipeline
Attitude parameter identification is poor, and the angle of pipe robot None- identified self plane and pipeline principal plane leads to robot ambulation
When tilt, or even overturn sometimes, lead to mission failure；
（7）For there is the natural gas line of obstruction, common wheeled robot and contact area of ground are less, obstacle climbing ability
It is weaker, it can not even clear the jumps sometimes, it finally can not inspection completion task；
（8）For using for the power-actuated pipe robot of four-wheel, the power adjustment capability of robot moves in turn compared with two
Power drive increases, and can meet the acceleration under the simple operating mode of pipe robot, but encounters the pipe with a fixed length gradient
Road, demand power is larger, causes demand power to be not being met under the conditions of this so that dynamic performance reduces；
（9）The value measured when single three-axis gyroscope work can drift about at any time, by the three axis accelerometer that works for a long time
Instrument can accumulate additional error, eventually result in pipe robot and lose position in the duct.
The stator of permasyn morot and common electrically excited synchronous motor stator structure having the same, only rotor
On using Nd-Fe-B rare earth permanent magnetic material as magnetic pole instead of the excitation pole of synchronous machine and Exciting Windings for Transverse Differential Protection, make the structure of motor
It is relatively simple, and easy out of order collector ring and brush are eliminated, non-brushing is realized, the reliable of motor running is improved
Property.Because being not required to exciting current, therefore the copper loss of Exciting Windings for Transverse Differential Protection can be saved, greatly improve the efficiency of motor；Rare earth permanent magnet
Material uses so that power of motor density is higher, so the volume of motor be can be made smaller, suitable volume requirement is relatively high
Occasion.Permasyn morot also has the characteristic that rotating speed is accurate, noise is low, rare earth other than having apparent energy-saving effect
Permanent magnet synchronous motor be based on it is rotor field-oriented or based on vector control system can realize high-precision, high dynamic performance,
Large-scale speed governing or location control, these characteristics make rare earth permanent-magnet synchronization motor be particularly suitable for being used in pipe robot this
It is a little to require in more special robot control system.
Crawler-type mobile mechanism is the expansion of wheeled locomotion mechanism, and crawler belt itself plays a part of continuously paving the way to wheel.
Relative to ratcheting mechanism, crawler-type mobile mechanism has many advantages, such as, such as：Bearing area is big, and grounding pressure is small；Rolling resistance
It is small, pass through better performances；Off-road mobility is good；There is grouser on crawler belt bearing surface, be not easy to skid, traction adhesion property is good, favorably
In the tractive force that performance is larger；Crawler-type mobile mechanism is conjugated by changing the position of crawler belt or the mechanism form of crawler belt to reach
The requirement of varying environment is adapted to, the angle of two crawler belts can be adjusted, to adapt to different operation calibers.
Invention content
The invention mainly solves the technical problem of providing a kind of quick natural gas tube pipeline robots of three core, six axis crawler type
Control system, completely new three nuclear control pattern of the independent research based on ARM+ IRMCK203+DSP, controller are processing with ARM
Device core is realized that the SERVO CONTROL of six axis permanent magnet synchronous motors, DSP realize the real-time of Image Acquisition digital signal by IRMCK203
It handles and is communicated with ARM, ARM is freed in complicated work, realizes the real-time of six axis three-phase permanent magnet synchronous motors
Station acquisition, and DSP interrupt is responded, realize data communication and storage live signal.
In order to solve the above technical problems, one aspect of the present invention is：Provide a kind of six axis crawler belt of three core
The quick natural gas line robot control system of formula, including robot shell, laser displacement sensor, magnetic navigation sensor, a left side
Fork sensor, right fork sensor, three-axis gyroscope, three axis accelerometer, synchronous belt, permanent magnet synchronous motor X, permanent-magnet synchronous
Motor Y, permanent magnet synchronous motor R, permanent magnet synchronous motor Z, permanent magnet synchronous motor U and permanent magnet synchronous motor W, the front laser
Displacement sensor is separately mounted to the front end of robot shell, and the left fork sensor and right fork sensor are located at
Left and right ends below the laser displacement sensor of front, the synchronous belt are separately positioned on the left and right sides of robot shell
And respectively with permanent magnet synchronous motor X, permanent magnet synchronous motor Y, permanent magnet synchronous motor Z, permanent magnet synchronous motor R, permanent magnet synchronous motor U
It is connected with permanent magnet synchronous motor W, the magnetic navigation sensor, three-axis gyroscope and three axis accelerometer are separately positioned on machine
Further include controller on people's shell and between permanent magnet synchronous motor X and permanent magnet synchronous motor Y, the controller uses
Three nuclear control devices, including ARM, IRMCK203 and DSP, described ARM, IRMCK203 and DSP carry out mutually communication connection, described
ARM and IRMCK203 send out first control signal, second control signal, third control signal, the 4th control signal the respectively
Five, by the first control signal, second control signal, third control signal, the 4th control signal, the 5th control signal and
6th control signal controls the permanent magnet synchronous motor Y, the signal of permanent magnet synchronous motor X, permanent magnet synchronous motor Z, forever respectively
Magnetic-synchro motor R, permanent magnet synchronous motor U and the permanent magnet synchronous motor W synthesis movement of control pipeline robot again later.
In a preferred embodiment of the present invention, the laser displacement sensor include front laser displacement sensor,
Left laser displacement sensor and right laser displacement sensor, the described front laser displacement sensor setting robot shell just
The centre position in front, the left laser displacement sensor and right laser displacement sensor are angularly disposed in robot shell respectively
Left and right ends immediately ahead of body.
In a preferred embodiment of the present invention, the synchronous belt uses six axis, eight wheel drive mode, is by one
Perimeter surface is equipped with the closed ring crawler belt of equidistant tooth and corresponding belt wheel is formed.
In a preferred embodiment of the present invention, the first control signal, second control signal, third control letter
Number, the 4th control signal, the 5th control signal and the 6th control signal be PWM wave control signal.
In a preferred embodiment of the present invention, the ARM uses STM32F746；The DSP is used
TMS320F2812。
In a preferred embodiment of the present invention, the quick natural gas line robot control system further includes electricity
Pond is based on ccd image collecting unit, image storage unit, humidity collection unit, is based on Hall effect pipeline inspection collecting unit
And pipe robot, the electric current driving controller is provided separately in the battery, described to acquire list based on ccd image
Member and image storage unit are with DSP communication connections, the humidity collection unit and based on the acquisition of Hall effect pipeline inspection
Unit is connected with ARM and IRMCK203 communications.
In a preferred embodiment of the present invention, the battery uses lithium ion battery.
In a preferred embodiment of the present invention, the quick natural gas line robot control system is additionally provided with
Position machine program is detected based on ARM motion control programs, based on DSP Image Acquisition and based on Hall effect pipe damage, described
Host computer procedure further include pipeline read, position positioning and power information, it is described to further include based on ARM motion control programs
It is described based on DSP Image Acquisition based on six axis permanent magnet synchronous motor SERVO CONTROLs of IRMCK203, data storage and I/O controls
It is acquired respectively with based on ccd image collecting unit and based on Hall effect pipeline inspection with based on the detection of Hall effect pipe damage
Unit communications connect.
In a preferred embodiment of the present invention, the quick natural gas line robot control system further includes photoelectricity
Encoder, the photoelectric encoder are separately mounted to permanent magnet synchronous motor X, permanent magnet synchronous motor Y, permanent magnet synchronous motor Z, forever
On magnetic-synchro motor R, permanent magnet synchronous motor U and permanent magnet synchronous motor W.
The beneficial effects of the invention are as follows：Three core, the six axis crawler type quick natural gas tube pipeline robot control system of the present invention
System, in order to improve the utilization rate of the energy and reduce robot volume, this system efficiency and the higher permanent magnetism of power density are same
Motor is walked instead of motors such as stepper motor, direct current generators；In order to improve system acceleration request, system is that these extraordinary operating modes add
Enter two lower-powered permanent magnet synchronous motors to play the role of accelerating power-assisted, increases system dynamic characteristic；In order to improve system
General hill climbing demands, system add two lower-powered permanent magnet synchronous motors for these extraordinary operating modes and play climbing power-assisted work
With increase system dynamic characteristic；In order to improve arithmetic speed, ensure the stability and reliability of automatic pipeline robot system,
The present invention introduces permanent magnet synchronous motor special integrated circuit IRMCK203 and digital signal processor in the controller based on ARM
DSP, forms the completely new three nuclear control device based on ARM+ IRMCK203+DSP, this controller fully considers battery in this system
Effect, the maximum six axis servo-drive system of workload in control system give IRMCK203 completions, battery cell monitoring, path read
Take, deviation processing etc. gives ARM processing, give full play to the relatively fast feature of ARM data processing speeds, and image data acquiring
DSP is given with functions such as storages to complete, and thereby realizes the division of labor of ARM, IRMCK203 and DSP, while also may be used between three
To be communicated, data exchange and calling are carried out in real time.
Description of the drawings
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings other
Attached drawing, wherein：
Fig. 1 is the present invention with the quick one preferably implementation of natural gas line robot control system of three core, six axis crawler type
The schematic diagram of example；
Fig. 2 is pipe robot two-dimensional structure schematic diagram；
Fig. 3 is the programme diagram of Fig. 1；
Fig. 4 is pipe robot inspection schematic diagram.
Specific implementation mode
The technical scheme in the embodiments of the invention will be clearly and completely described below, it is clear that described implementation
Example is only a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, this field is common
All other embodiment that technical staff is obtained without making creative work belongs to the model that the present invention protects
It encloses.
As shown in Figure 1, the embodiment of the present invention includes：
A kind of quick natural gas line robot control system of three core, six axis crawler type, including battery, controller, permanent magnetism are same
Walk motor X, permanent magnet synchronous motor Y, permanent magnet synchronous motor Z, permanent magnet synchronous motor R, permanent magnet synchronous motor U, permanent magnet synchronous motor
W, it is based on ccd image collecting unit, image storage unit, humidity collection unit, is based on Hall effect pipeline inspection collecting unit
And the electric current driving controller is provided separately in pipe robot, the battery, the controller uses three core controls
Device processed, including ARM, IRMCK203 and DSP, described ARM, IRMCK203 and DSP carry out communication and connect, the ARM and
IRMCK203 sends out first control signal, second control signal, third control signal, the 4th control signal, the 5th control respectively
Signal and the 6th control signal are believed by the first control signal, second control signal, third control signal, the 4th control
Number, that the 5th control signal and the 6th control signal control the permanent magnet synchronous motor X, permanent magnet synchronous motor Y, permanent magnetism respectively is same
The signal for walking motor Z, permanent magnet synchronous motor R, permanent magnet synchronous motor U and permanent magnet synchronous motor W synthesizes later control pipeline machine again
The movement of device people, described communicated with DSP based on ccd image collecting unit and image storage unit are connected, the humidity
Collecting unit and based on Hall effect pipeline inspection collecting unit with ARM and IRMCK203 communication connect.Wherein, the electricity
Pond uses lithium ion battery；The first control signal, second control signal, third control signal, the 4th control signal, the
Five control signals and the 6th control signal are PWM wave control signal.
Among the above, the ARM uses STM32F746；The DSP uses TMS320F2812.
The completely new STM32F7 MCU series of products that STMicroelectronics is produced, be global first volume production and
Possess the microcontroller of 32 bit ARM Cortex-M7 processors.Cortex-M7 is newest release in Cortex-M series of products
And the highest processor core of efficiency, completely new STM32F7 MCU be ST STM32 MCU series of products in highest one of efficiency
Product combines Cortex-M7 cores and high-order peripheral unit, can promote application program efficiency, newly-increased new function, extend battery
Service life ensures safety and reduces as far as possible using outer member to save the incomparable advantage such as cost and space.
STM32F7 series of products include STM32F745 and STM32F746, this two products, which are all equipped with, possesses floating-point operation
The Cortex-M7 cores of unit and DSP extended functions, arithmetic speed highest 216MHz.STM32F7 MCU series of products are by ARM
The advantage that Cortex-M7 efficiency surmounts early stage core (for example Cortex-M4) applies to ultimate attainment, and efficiency reaches nearly DSP two
Times.
IRMCK203 is surface permanent magnetic synchronous motor closed-loop control IC, unlike traditional MCU or DSP schemes,
IRMCK203 is used completely without programming and is controlled engine based on motor（Motion Control Engine, MCE）'s
Hardware circuit realizes the Field orientable control algorithm of permanent magnet synchronous motor.MCE includes pi regulator, vector calculus, Clark
All functional units needed for the closed-loop controls such as transformation, institute is functional to be realized by hardware circuit completely, therefore with quickly meter
Calculation ability and splendid dynamic property.Other than current closed-loop and velocity close-loop control function based on velocity estimation,
IRMCK203 also have it is automatic open, dephasing detection, the control for brake monitored with busbar voltage and various driving defencive functions,
It is simulated I/O and part number I/O and is all configurable, and all PORT COMs can operate internal register.With
It family can be according to the actual conditions of oneself（Used motor and loading condition）To configure various driving parameters（Such as：Pi regulator
Parameter, current feedback range, PWM carrier frequency etc.）With monitoring system state；IRMCK203 can realize master with MCU or PC cooperations
The instruction of host is accepted in slave pattern, operation completely, and These characteristics are very suitable for electricity synchronous with ARM cooperation control high-speed permanent magnetics
Machine reduces the period that control algolithm occupies arm processor, increases the stability and rapidity of system.
TMS320F2812 is 32 fixed-point digital signal processings of novel high-performance for the C28x kernels being compatible with based on code
The instruction execution cycle of device, C28x kernels has reached 6.67ns, and maximum running frequency can reach 150MHz, and F2812 is integrated with
Many peripheral hardwares, provide a whole set of system on chip, and On-Chip peripheral includes mainly 12,2 × 8 tunnel ADC (when most fast 80ns conversions
Between), 2 road SCI, 1 road SPI, 1 road McBSP, 1 road eCAN interfaces etc., and there are two event manager modules (EVA, EVB) for band.Separately
Outside, which also has 3 independent 32 bit CPU timers, and up to 56 GPIO pins being independently programmable.F2812 is used
Unified addressing mode, chip interior has the SARAM of 18K, including totally 5 memory blocks, each memory block are kept by MO, M1, L0, L1, H0
It is independent, it can access to different RAM blocks in the uniform machinery period, to reduce assembly line time delay.And inside F2812
There are the FLASH of 128K words, address space 3D8000h~3F7FFFh, is suitable for low-power consumption, high performance control system.In addition
F2812 provides external memory expansion interface (XINTF), facilitates carry out system extension, addressing space that can reach 1MB；
These characteristics make F2812 while having the data-handling capacity of digital signal processor brilliance, and with suitable for control
Piece in peripheral hardware and interface, can be widely applied in various high performance systems controls, These characteristics so that TMS320F2812 is special
Not Shi He crusing robot figure acquisition, image storage and location information storage.
It is detected automatically in order to accurate guide duct robot, the present invention is using two sets of sensors navigation patterns
（A set of Magnetic Sensor navigation, a set of front laser displacement sensor navigation）, pipe robot two-dimensional structure such as Fig. 2 of the invention
It is shown：The pipe robot includes robot shell K, front laser displacement sensor, magnetic navigation sensor ME1, Zuo Cha
Oral instructions sensor ME2, right fork sensor ME3, three-axis gyroscope G1, three axis accelerometer A1 and synchronous belt T, the front
Laser displacement sensor is separately mounted to the front end of robot shell K, the left fork sensor ME2 and right fork sensor
ME3 is located at the left and right ends below the laser displacement sensor of front, and the synchronous belt T is separately positioned on robot shell
The left and right sides of K and respectively with permanent magnet synchronous motor X, permanent magnet synchronous motor Y, permanent magnet synchronous motor Z, permanent magnet synchronous motor R,
Permanent magnet synchronous motor U is connected with permanent magnet synchronous motor W, and the magnetic navigation sensor ME1, three-axis gyroscope G1 and three axis accelerate
Degree meter A1 is arranged on robot shell K and between permanent magnet synchronous motor X and permanent magnet synchronous motor Y.Wherein, described
Front laser displacement sensor includes that front laser displacement sensor LSF, left front laser displacement sensor LSL and right front are swashed
The centre position immediately ahead of robot shell K is arranged in Optical displacement sensor LSR, the front laser displacement sensor LSF,
The left front laser displacement sensor LSL and right front laser displacement sensor LSR is angularly disposed in robot shell respectively
Left and right ends immediately ahead of body K.
The magnetic navigation sensor ME1 moment detects the magnetic stripe in pipeline, and sensor is the first navigation criterion according to this, works as magnetic stripe
When the deviation distance that is not present or navigates is larger, left laser displacement sensor LSL and right laser displacement sensor LSR collective effects are sentenced
Disconnected direction of advance moves along a straight line as pipe robot at a distance from the tube wall of left and right and provides navigation foundation, front laser displacement
Sensor LSF, which is provided according to and stopped for the differentiation of pipe robot advance barrier, does criterion.Left fork Magnetic Sensor ME2
Ground fork mark is detected respectively with right fork sensor ME3, then turns left respectively as cross pipeline or that turns right sentences
According to, and natural gas tube pipeline robot can accurately be compensated in this position, this calculates pipe robot inspection pipeline
Position is most important.
Measured values of the three axis accelerometer A1 in the long period（Determine pipe robot course）It is correct, and shorter
Due to the presence of signal noise in time, and there is certain error.Three-axis gyroscope G1 is then relatively more accurate within a short period of time, and compared with
Then certain error can be generated with the presence of drift for a long time, therefore, it is necessary to three axis accelerometer A1 and three-axis gyroscope G1
It mutually adjusts to ensure the correct of course.In order to improve natural gas tube pipeline robot navigate in closed conduit walking process it is steady
It is qualitative, it realizes the automatic and accurate adjustment of posture and promotes independent navigation ability, the present invention is in natural gas line robot servo
Three-axis gyroscope G1 and three axis accelerometer A1 are added in hardware system.It is whole during pipe robot walks pipeline to open
Three-axis gyroscope G1 and three axis accelerometer A1, three-axis gyroscope G1 and three axis accelerometer A1 are respectively used for measuring pipeline machine
The angular speed and angular acceleration of three directions of advance of people, controller are obtained according to the angular acceleration and angular speed measured by integral
Its accurate acceleration, speed and angle of inclination.It is new at one when the posture of pipe robot changes more than setting threshold values
Sampling period controller just immediately to its position compensation, avoid pipe robot from being turned in the process of walking because of tilting excessive
To the generation of phenomenon, stability when its quick walking navigation is improved；If to three-axis gyroscope G1 and three axis accelerometer
A1 is integrated, and it is transformed in navigational coordinate system, and pipe robot can be independent of any outer in closed conduit
Portion's information can obtain the information such as its acceleration in navigational coordinate system, speed, yaw angle and position, generated navigation
Information continuity is good and noise is very low, greatly enhances the autonomous inertial navigation ability of pipe robot.When pipeline machine
When people reads cross pipeline entrance, robot will realize the action of 90 or right-hand rotation 90, in this case, three axis tops
Spiral shell instrument G1 and three axis accelerometer A1 can accurately calculate the angle of pipe robot rotation, ensure that the accurate of its turning
Property；When pipe robot is in climbing inspection, three-axis gyroscope G1 and three axis accelerometer A1 can accurately measure upgrade angle
Degree, ARM can accurately calculate power needed for climbing according to this angle, ensure that pipe robot can be complete according to command speed
At inspection pipeline task.
Synchronous belt T transmissions are that the closed ring crawler belt and corresponding belt wheel institute group of equidistant tooth are equipped with by an inner peripheral surface
At.When movement, be meshed with tooth with the tooth socket of belt wheel transmission movement and power, is a kind of engaged transmission, thus is passed with gear
Dynamic, chain drive and Belt Drive various advantages.There is accurate transmission ratio, no slippage can get constant for synchronous belt K transmissions
Speed ratio, can precision drive, stable drive, can shock-absorbing, noise is small, transmission efficiency, is not required to lubricate, pollution-free, is particularly suitable for
It is not allow for working normally under pollution and the more severe occasion of working environment, compact-sized particularly suitable spinning transmission, therefore
The present invention forms six axis, eight wheel drive mode using synchronous belt technology.
The present invention has developed one kind by six rare-earth permanent-magnetic synchronous electricity to solve the problems, such as that domestic pipeline robot exists
The quick natural gas tube pipeline robot of eight wheel crawlers, three core of machine differential driving, the SERVO CONTROL of six rare earth permanent-magnet synchronization motors
Algorithm is completed by special sport control chip, increases the rapidity of system-computed, the larger permanent magnet synchronous electric of two of which power
For machine to provide energy requirement when robot normal speed inspection, the lower-powered permanent magnet synchronous electric acc power of four additional is equal,
Wherein two motors provide power when robot accelerates inspection, and in addition two low-power machine cooperations accelerate motor in robot
Extra power is provided when climbing；Multiple wheels of left and right sides pass through crawler belt mechanical linkages respectively；Natural gas tube pipeline robot relies on it
Carry sensors carry out inspection major gas pipeline.
The present invention has independently invented under the premise of absorbing external Dynamic matrix control thought and has been based on ARM+ IRMCK203+DSP
Completely new three nuclear control pattern.Controller principle figure such as Fig. 1 of this secondary design：Controller using ARM as processor core, by
IRMCK203 realize six axis permanent magnet synchronous motors SERVO CONTROL, DSP realize Image Acquisition digital signal it is real-time handle and with
ARM is communicated, and ARM is freed in complicated work, realizes the real time position acquisition of six axis three-phase permanent magnet synchronous motors,
And DSP interrupt is responded, realize data communication and storage live signal.
As shown in figure 3, the quick natural gas line robot control system is additionally provided with host computer procedure, is based on
ARM motion control programs are detected, the host computer procedure based on DSP Image Acquisition and based on Hall effect pipe damage
Further include pipeline read, position positioning and power information, it is described based on ARM motion control programs further include be based on IRMCK203
Six axis permanent magnet synchronous motor SERVO CONTROLs, data storage and I/O controls, it is described to be imitated based on DSP Image Acquisition and based on Hall
Pipe damage detection is answered to connect respectively with based on ccd image collecting unit and based on the communication of Hall effect pipeline inspection collecting unit
It connects.
In order to achieve the above object, the present invention takes following technical scheme, in order to improve the utilization rate of the energy and reduce robot
Volume, this system efficiency and the higher permanent magnet synchronous motor of power density are instead of motors such as stepper motor, direct current generators；
In order to improve system acceleration request, system adds two lower-powered permanent magnet synchronous motors and play for these extraordinary operating modes to be added
Fast power-assisted effect, increases system dynamic characteristic；In order to improve the general hill climbing demands of system, system is that these extraordinary operating modes add
Two lower-powered permanent magnet synchronous motors play the role of power-assisted of climbing, and increase system dynamic characteristic；In order to improve arithmetic speed,
Ensure that the stability and reliability of automatic pipeline robot system, the present invention introduce permanent-magnet synchronous in the controller based on ARM
Motor special integrated circuit IRMCK203 and digital signal processor DSP form completely new three based on ARM+ IRMCK203+DSP
Nuclear control device, this controller fully consider effect of the battery in this system, and maximum six axis of workload in control system is watched
Dress system gives IRMCK203 completions, battery cell monitoring, path reading, deviation processing etc. and gives ARM processing, gives full play to ARM numbers
According to the relatively fast feature of processing speed, and the functions such as image data acquiring and storage give DSP completions, thereby realize
The division of labor of ARM, IRMCK203 and DSP, while can also be communicated between three, data exchange and calling are carried out in real time.
As shown in figure 4, for the tri- nuclear control devices of ARM+ IRMCK203+DSP designed herein, under power-on state,
ARM is first to the battery SOC of pipe robot（State-of-charge）Judged, if battery power is relatively low, controller can send out report
Alert signal；It is first by USB interface that the information such as inspection natural gas line length and radius are defeated by PC machine if battery power is higher
Enter to ARM, then pipe robot is placed to pipe detection mouth, and pipe robot is introduced into self-locking state, waits for inlet valve
F1 is opened, and after when front, laser displacement sensor LSF determines that valve is opened, pipe robot enters buffer area to be checked, then
Inlet valve F1 is closed, and inlet valve F2 is opened, and pipe robot enters pipe detection region；The image that pipe robot carries
Acquisition system, humidity collection system and pipe damage detection device are opened, and pipe robot is according to setting speed along inspection
Navigation sensor parameter is input to IRMCK203 by route fast inspection, ARM, forever by bis- adjustment pipe robots of IRMCK203
The PWM of magnetic-synchro motor X and permanent magnet synchronous motor Y are exported, and realize that the real-time servo control of two permanent magnet synchronous motors, DSP are logical
It crosses CCD to acquire duct size information in real time and store, if some position has a question to inspection, will be communicated with ARM, ARM, which is sent out, to stop
Vehicle instructs and so that pipe robot is stopped by IRMCK203, then passes through the acquisition of DSP secondary images and fault localization device pair
The state of pipe-line system is judged.If pipe robot completes either right-hand rotation inspection subsidiary conduit and again returns to master
When pipeline, ARM will open power-assisted permanent magnet synchronous motor Z and permanent magnet synchronous motor R by IRMCK203, according to magnetic navigation sensor
ME1 parameters and the secondary adjustment pipe robot permanent magnet synchronous motor X of rate request, permanent magnet synchronous motor Y, permanent magnet synchronous motor Z
It is exported with the PWM of permanent magnet synchronous motor R, realizes the real-time servo control of four permanent magnet synchronous motors, in order to reduce energy consumption,
DSP will close the information collection of CCD before returning to main channel；If pipe robot is in inspection process, three-axis gyroscope G1 inspections
It measures pipe robot and is in climbing inspection pipeline, ARM will open power-assisted permanent magnet synchronous motor Z, permanent magnet synchronous motor R, permanent magnetism
Synchronous motor U, permanent magnet synchronous motor W adjust pipe robot forever again according to magnetic navigation sensor ME1 parameters and rate request
Magnetic-synchro motor X, permanent magnet synchronous motor Y, magneto Z, magneto R, permanent magnet synchronous motor U and permanent magnet synchronous motor W
PWM is exported, and realizes the real-time servo control of six permanent magnet synchronous motors.
Referring to Fig.1, Fig. 2, Fig. 3 and Fig. 4, specific function are realized as follows：
1）After pipe robot power supply opening, ARM can judge battery SOC, if battery SOC is relatively low, ARM will
IRMCK203 is forbidden to work, six navigation permanent magnet synchronous motor PWM waves control signals will be blocked, while alarm sensor is by work
Make and sends out alarm signal；If battery SOC is normal, pipe robot, which enters, waits for working condition；
2）Manually the information such as duct length, radius and pipeline topographic map are passed to by USB interface by PC machine handle
ARM anticipates duct size information by ARM, then the starting end of artificial conduit robot to pipe detection, in order to accurately lead
Walking of the aviation management pipeline robot in closed conduct, ARM are first turned on pipe robot and are added based on three-axis gyroscope G1 and three axis
The inertial navigation pattern of speedometer A1;
3）Pipe robot ARM begins through magnetic navigation sensor ME1 and reads area navigation magnetic stripe, magnetic navigation sensor
The value of feedback of ME1 is compared with actual set central value, and ARM inputs to IRMCK203 after this deviation is converted, by IRMCK203
According to its internal SERVO CONTROL program adjust automatically permanent magnet synchronous motor X, permanent magnet synchronous motor Y, permanent magnet synchronous motor Z, permanent magnetism
The PWM of synchronous motor R, permanent magnet synchronous motor U and permanent magnet synchronous motor W are exported, and keep pipe robot quick along navigation magnetic stripe
Advance, while according to peripheral environment, ARM adjusts the PI parameters of SERVO CONTROL program inside IRMCK203 in real time, in pipeline machine
For front laser displacement sensor LSF by work, ARM detects pipe robot and front entrance valve F1 in real time during people advances
Distance D, pipe robot automatic stopping is then allowed by IRMCK203 within the scope of stably stop, then original place self-locking；
4）When front, laser displacement sensor LSF detects that inlet valve F1 is opened, pipe robot will be opened automatic
Cruise mode, the distance that controller ARM moves real-time record pipe robot along magnetic stripe, when determining that pipe robot is complete
Into after region to be checked, inlet valve F1 will be again switched off, when natural gas leakage device detects that inlet valve F1 is completely closed
Afterwards, inlet valve F2 will be opened, and front laser displacement sensor LSF is by the state of secondary judgement front entrance valve F2 at this time,
After determining that front valve opening is errorless, pipe robot initially enters region of patrolling and examining and starts to detect practical feelings inside natural gas line
Condition；
5）After pipe robot enters detection zone, ARM reads three-axis gyroscope G1's and three axis accelerometer A1 first
Value of feedback, if ARM has found that pipe robot is in climbing and patrols by the feedback of three-axis gyroscope G1 and three axis accelerometer A1
Inspection state, in order to ensure that pipe robot can complete inspection pipeline task according to command speed, according to system speed and acceleration
Degree requires, and ARM calculates power needed for climbing first, and IRMCK203 is in conjunction with current of electric, photoelectric encoder, 3-axis acceleration
The feedback of A1 and three-axis gyroscope G1 are counted, it is same to adjust pipe robot permanent magnet synchronous motor X, permanent magnet synchronous motor Y, permanent magnetism in real time
The pwm control signal for walking motor Z, permanent magnet synchronous motor R, permanent magnet synchronous motor U and permanent magnet synchronous motor W, makes pipe robot
Meet constant speed inspection requirements for pipes；In detection process of climbing, ARM reads pipe machine according to the feedback of magnetic navigation sensor ME1
The numerical value of the actual location information of device people, three axis accelerometer A1 and three-axis gyroscope G1, and compared with setting position, determine
Pipe robot deviates centre distance and inclined angle, IRMCK203 is fed back in conjunction with current of electric, photoelectric encoder is fed back,
It is same to obtain six permanent magnetism according to its internal three Close loop servo control program for the feedback of three axis accelerometer A1 and three-axis gyroscope G1
The PWM wave for walking motor controls signal, and adjusts pipe robot posture in real time by driving circuit, and pipe robot is made to stablize fortune
Row is in magnetic stripe immediate vicinity, ARM and the air line distance that record pipe robot has been run in real time, distance correction sensor S
It carves detection ground and corrects mark, once reading correcting device, the positional distance information of ARM records will be to correct the position of mark
Subject to information, the caused site error of pipe robot when walking is eliminated, when ARM passes through three-axis gyroscope G1 and three axis
Accelerometer A1 has found that pipe robot has completed climbing action and entered normal inspection environment, and controller blocks permanent magnet synchronous electric
The pwm control signal of machine Z, permanent magnet synchronous motor R, permanent magnet synchronous motor U and permanent magnet synchronous motor W make system enter permanent magnetism same
Walk motor X and permanent magnet synchronous motor Y driving conditions；
6）After pipe robot enters normal detection zone, if pipe robot left fork during main pipeline inspection
Sensor ME2 reads ground turning mark, and ARM corrects the position of pipe robot in the duct according to ground installation first and believes
Breath eliminates pipe robot walking error；IRMCK203 according to system speed and acceleration requirement, then in conjunction with current of electric,
The feedback of photoelectric encoder, three axis accelerometer A1 and three-axis gyroscope G1 adjusts pipe robot permanent magnet synchronous motor X in real time
With the pwm control signal of permanent magnet synchronous motor Y, pipe robot is made to stop in distance R, then IRMCK203 combines three axis tops
The feedback of spiral shell instrument G1 and three axis accelerometer A1 make pipe robot rotate in place left 90 degree, pipe robot enter left turnout into
Row cruise；In left turnout detection process, the doubtful tamper of front laser displacement sensor LSF moment open detections and detect with
The distance of front terminal；ARM records forward travel distance in real time according to the feedback of front laser displacement sensor LSF, and branches off in distance
Pipe robot is set effectively to stop in effective range before road terminal, robot is in three-axis gyroscope G1 and three axis accelerometer A1 controls
180 degree is rotated in place under system to prepare to return to main channel；Since inspection finishes on left turnout, in order to make pipe robot quickly return
It returns in main pipeline, IRMCK203 opens power-assisted permanent magnet synchronous motor Z and permanent magnet synchronous motor R, so that system is entered acceleration and returns
State；In entire return course, IRMCK203 is according to system speed and acceleration requirement, then in conjunction with current of electric, photoelectricity
It is same to adjust robot permanent magnet synchronous motor X, permanent magnetism in real time for the feedback of encoder, three axis accelerometer A1 and three-axis gyroscope G1
The pwm control signal for walking motor Y, permanent magnet synchronous motor Z and permanent magnet synchronous motor R makes pipe robot can speed up edge and lands
Face magnetic stripe returns to main pipeline；Into after normal inspection environment, IRMCK203 blocks permanent magnet synchronous motor Z, permanent magnet synchronous motor R
Pwm control signal makes system enter permanent magnet synchronous motor X and permanent magnet synchronous motor Y driving conditions；
7）After pipe robot enters normal detection zone, if pipe robot right trouble during main pipeline inspection
Oral instructions sensor ME3 reads ground turning mark, and ARM corrects permanent magnet synchronous motor robot in the duct according to ground installation first
Location information, eliminate pipe robot walk error；IRMCK203 is according to system speed and acceleration requirement, then in conjunction with electricity
It is same to adjust pipe robot permanent magnetism in real time for the feedback of electromechanical stream, photoelectric encoder, three axis accelerometer A1 and three-axis gyroscope G1
The pwm control signal for walking motor X and permanent magnet synchronous motor Y, makes pipe robot stop in distance R, and then IRMCK203 is tied
Closing the feedback of three-axis gyroscope G1 and three axis accelerometer A1 makes pipe robot rotate in place 90 degree of the right side, and pipe robot enters
It cruises on right turnout；In right turnout detection process, the front laser displacement sensor LSF moment opens and detects doubtful blocking
Object simultaneously detects at a distance from the terminal of front；ARM records forward travel distance in real time according to the feedback of front laser displacement sensor LSF,
And so that pipe robot is effectively stopped in effective range before the terminal of turnout, pipe robot is in three-axis gyroscope G1 and three
180 degree is rotated in place under axis accelerometer A1 controls to prepare to return to main channel；Since inspection finishes on right turnout, in order to make pipe
Pipeline robot returns quickly in main pipeline, IRMCK203 open power-assisted permanent magnet synchronous motor Z and permanent magnet synchronous motor R, make be
System, which enters, accelerates return state；In entire return course, ARM is according to system speed and acceleration requirement, then in conjunction with motor
The feedback of electric current, photoelectric encoder, three axis accelerometer A1 and three-axis gyroscope G1 adjusts pipe robot permanent-magnet synchronous in real time
The pwm control signal of motor X, permanent magnet synchronous motor Y, permanent magnet synchronous motor Z and permanent magnet synchronous motor R, enable pipe robot
It is enough to accelerate to return to main pipeline along landing ground magnetic stripe；Into after normal inspection environment, controller blocks permanent magnet synchronous motor Z, permanent magnetism
The pwm control signal of synchronous motor R makes system enter permanent magnet synchronous motor X and permanent magnet synchronous motor Y driving conditions；
8）After pipe robot enters normal detection zone, if pipe robot left fork during main pipeline inspection
Sensor ME2 and right fork sensor ME3 reads ground turning mark simultaneously, illustrates that pipe robot enters the friendship of cross pipeline
Prong, ARM correct the location information of pipe robot in the duct according to ground installation first, eliminate pipe robot walking and miss
Difference；IRMCK203 is according to system speed and acceleration requirement, then in conjunction with current of electric, photoelectric encoder, three axis accelerometer
The feedback of A1 and three-axis gyroscope G1 adjust the PWM controls of pipe robot permanent magnet synchronous motor X and permanent magnet synchronous motor Y in real time
Signal processed makes pipe robot enter right turnout and cruises, and ARM is real-time according to the feedback of front laser displacement sensor LSF
Forward travel distance is recorded, and so that pipe robot is effectively stopped in effective range before the terminal of turnout, robot is in three axis tops
180 degree is rotated in place under the G1 controls of spiral shell instrument and returns to main channel, and IRMCK203 opens power-assisted permanent magnet synchronous motor Z and permanent magnet synchronous electric
Machine R makes system enter four-wheel and accelerates return state；It is anti-as right laser displacement sensor LSR and left laser displacement sensor LSL
When feeding out existing higher magnitude variation, illustrate that robot comes into cross mouth position, ARM starts to correct pipe robot row at this time
The error walked ensures that pipe robot positional distance information is correct.When right laser displacement sensor LSR and left laser displacement are sensed
When higher magnitude variation occurs again in the feedback of device LSL, illustrate that pipe robot comes into left fork pipeline, at this time ARM
Start to correct the error that pipe robot is walked, ensures that pipe robot positional distance information is correct, IRMCK203 is according to system
Speed and acceleration requirement, then in conjunction with the anti-of current of electric, photoelectric encoder, three axis accelerometer A1 and three-axis gyroscope G1
Feedback, in real time adjust pipe robot permanent magnet synchronous motor X and permanent magnet synchronous motor Y pwm control signal, make pipe robot into
Enter left turnout to cruise, ARM records forward travel distance in real time according to the feedback of front laser displacement sensor LSF, and in distance
Pipe robot is set effectively to stop in effective range before the terminal of turnout, pipe robot is in three-axis gyroscope G1 and 3-axis acceleration
180 degree is rotated in place under meter A1 controls and returns to main channel, and IRMCK203 opens power-assisted permanent magnet synchronous motor Z and permanent magnet synchronous motor
R makes system enter four-wheel and accelerates return state；When the feedback of right laser displacement sensor LSR and left laser displacement sensor LSL
When there is higher magnitude variation, illustrate that pipe robot has returned to cross mouth position, ARM starts to correct pipe robot walking
Error, ensure that pipe robot positional distance information is correct, controller is walked by pipe robot steadily to stop after a distance
At the parting of the ways, it is then turn 90 degrees in three-axis gyroscope G1 and three axis accelerometer A1 controls bottom left and comes back to main pipeline detection
Region；
9）Pipe robot is in entire detection zone motion process, the first feedbacks according to magnetic navigation sensor ME1 of ARM,
Read the numerical value of the actual location information of pipe robot, three axis accelerometer A1 and three-axis gyroscope G1, then with setting position
It sets and compares, determine that pipe robot deviates centre distance and inclined angle, ARM is inputed to after this deviation signal is converted
IRMCK203, IRMCK203 control signal according to the PWM wave that its internal SERVO CONTROL program obtains two permanent magnet synchronous motors, and
It adjusts pipe robot posture in real time by driving circuit, makes pipe robot stable operation in magnetic stripe immediate vicinity, according to outer
Collarette border ARM adjusts the PI parameters of SERVO CONTROL program inside IRMCK203 in real time；The real-time recorder people of ARM have run
Air line distance, the distance correction sensor S moment detects ground and corrects mark, once correcting device is read, the position of ARM records
Range information will be subject to the location information for correcting mark, eliminate pipe robot caused site error when walking；
10）If pipe robot is either encountered magnetic stripe fracture, magnetic conductance in normal motion by external interference
Boat sensor ME1 can not read ground magnetic strip information, at this time left laser displacement sensor LSL and right laser displacement sensor
LSR will open work, and by the distance input measured to ARM controller, then controller obtains partially the two compared with setting value
Excentric position, ARM input to IRMCK203 after converting this deviation signal, IRMCK203 is according to its internal servo control processing procedure
Sequence obtains the PWM wave control signal of two permanent magnet synchronous motors, and adjusts pipe robot posture in real time by driving circuit, makes
Pipe robot stable operation adjusts servo inside IRMCK203 in real time near pipeline planar central, according to peripheral environment ARM
Control the PI parameters of program；ARM records the air line distance that pipe robot has been run, distance correction sensor S moment in real time
It detects ground and corrects mark, once reading correcting device, ARM record positions range information will be to correct the location information of mark
Subject to, eliminate site error when pipe robot walking；
11）In pipe robot motion process, the CCD moment in Image Acquisition opens, and simultaneously real-time storage CCD is adopted DSP
The image collected, DSP are compared the image of acquisition with the standard pipe information of setting, if the two comparison result occur compared with
Big abnormal, maloperation in order to prevent, DSP sends out secondary judgement interrupt requests immediately, and ARM makes an immediate response DSP interrupt, and with
IRMCK203 is communicated, and allows pipe robot to stop by IRMCK203, and DSP makes CCD secondary acquisitions duct size information and and standard pipe
Road information is compared, and is stored after obtaining latest result, and IRMCK203 controllers open permanent magnet synchronous motor X, permanent magnet synchronous motor
Y, permanent magnet synchronous motor Z and permanent magnet synchronous motor R makes robot be in boost phase, and IRMCK203 is controlled after reaching setting speed
The pwm control signal of device processed block permanent magnet synchronous motor Z and permanent magnet synchronous motor R, make robot be in permanent magnet synchronous motor X with
The two axis driving conditions of permanent magnet synchronous motor Y simultaneously continue to move ahead along pipeline navigation marker；
12）In pipe robot motion process, the humidity sensor moment in humidity collection system opens, and ARM is real-time
The collected humidity information of humidity sensor is stored, and is compared with the standard pipe humidity information of setting, if the two ratio
There is larger gap, in order to prevent maloperation to result, ARM and IRMCK203 is communicated, and passes through servo control inside IRMCK203
The PWM wave of processing procedure sequence active accommodation two permanent magnet synchronous motors X and permanent magnet synchronous motor Y control signal, reduce pipe robot
Speed make it at a slow speed by the region having a question, servo control processing procedure inside IRMCK203 is adjusted according to peripheral environment ARM in real time
The PI parameters of sequence；ARM sends out interrupt requests to DSP immediately simultaneously, and DSP makes an immediate response ARM interruptions, and increases the acquisition of CCD pipelines
The comparison of liquid water in information, DSP store the doubtful image of steam and actual position information in the region；When passing through suspicious region
Afterwards, ARM and IRMCK203 are communicated, IRMCK203 open permanent magnet synchronous motor X, permanent magnet synchronous motor Y, permanent magnet synchronous motor Z and
Permanent magnet synchronous motor R makes pipe robot be in boost phase, and IRMCK203 controllers block permanent magnetism after reaching setting speed
The pwm control signal of synchronous motor Z and permanent magnet synchronous motor R make pipe robot be in permanent magnet synchronous motor X and permanent-magnet synchronous
The two axis driving conditions of motor Y simultaneously continue to move ahead along pipeline navigation marker；
13）In pipe robot motion process, the front laser displacement sensor LSF moment opens, and ARM is in real time before processing
Square location information, when there is anomalies in front of conduit running, exception will occur in front laser displacement sensor LSF probe values,
ARM and IRMCK203 is communicated, and by SERVO CONTROL program active accommodation two permanent magnet synchronous motors X inside IRMCK203 and forever
The PWM wave of magnetic-synchro motor Y controls signal, and reducing the speed of pipe robot makes it drive towards barrier at a slow speed；According to outer collarette
Border ARM adjusts the PI parameters of SERVO CONTROL program inside IRMCK203 in real time；ARM sends out interrupt requests to DSP immediately simultaneously,
DSP make an immediate response ARM interruption, and increase CCD pipelines acquisition information in tamper comparison, DSP store the region blocking doubt
Like image and actual position information, since the pipe robot of this secondary design is more wheel crawler structures, so ARM control pipelines
Robot can be moved ahead by clearing the jumps and can continue；After by suspicious region, ARM and IRMCK203 is communicated,
IRMCK203, which opens permanent magnet synchronous motor X, permanent magnet synchronous motor Y, permanent magnet synchronous motor Z and permanent magnet synchronous motor R, makes pipe machine
Device people is in boost phase, and IRMCK203 blocks permanent magnet synchronous motor Z's and permanent magnet synchronous motor R after reaching setting speed
Pwm control signal, make pipe robot be in permanent magnet synchronous motor X and permanent magnet synchronous motor Y two axis driving conditions and along
Pipeline navigation marker continues to move ahead；
14）In pipe robot motion process, the pipeline inspection sensor based on Hall effect is by work, when pipeline is transported
There is exception in row front probe value, and ARM and IRMCK203 is communicated, and passes through SERVO CONTROL program active accommodation inside IRMCK203
The PWM wave of two permanent magnet synchronous motors X and permanent magnet synchronous motor Y control signal, and reducing the speed of pipe robot makes it at a slow speed
Drive towards pipe damage suspicious region；According to peripheral environment, ARM adjusts the PI ginsengs of SERVO CONTROL program inside IRMCK203 in real time
Number；ARM sends out interrupt requests to DSP immediately simultaneously, and DSP makes an immediate response ARM interruptions, and increases CCD pipelines acquisition information middle pipe
The comparison of road damage, if DSP has found that doubtful pipe damage image will store this image, if DSP does not have found pipe damage figure
Picture will record suspicious lesion actual position information, and mark outer damage, and after by suspicious region, ARM and IRMCK203 is logical
News, IRMCK203 controllers open permanent magnet synchronous motor X, permanent magnet synchronous motor Y, permanent magnet synchronous motor Z and permanent magnet synchronous motor R
Pipe robot is set to be in boost phase, IRMCK203 blocks permanent magnet synchronous motor Z and permanent-magnet synchronous after reaching setting speed
The pwm control signal of motor R makes pipe robot be in the two axis driving conditions of permanent magnet synchronous motor X and permanent magnet synchronous motor Y
And continue to move ahead along pipeline navigation marker；
15）In pipe robot motion process, ARM can store the location of passed through pipeline the moment and either pass through
The reference point crossed, and relatively next reference point pipe robot permanent-magnet synchronous is calculated by ARM according to these range informations
Distance, speed and acceleration command value, the ARM that motor X and permanent magnet synchronous motor Y to be run respectively are anti-in conjunction with current of electric
The feedback of feedback, photoelectric encoder feedback and ground magnetic stripe obtains position error signal, and ARM and IRMCK203 is communicated, and is passed through
The PWM wave control letter of SERVO CONTROL program active accommodation two permanent magnet synchronous motors X and permanent magnet synchronous motor Y inside IRMCK203
Number, so that pipe robot is quickly moved ahead according to setting speed, while being adjusted inside IRMCK203 and being watched in real time according to peripheral environment ARM
The PI parameters of clothes control program；
16）During the motion if asking occurs endless loop and will send out interruption to ARM in the solution of pipe robot detective distance
It asks, ARM can do interruption and respond at the first time, and ARM will forbid pipe robot in Information revision of adjusting the distance, and ARM is according to pipeline
Magnetic stripe navigation marker is fed back and the feedback of left laser displacement sensor LSL and right laser displacement sensor LSR, adjusts permanent magnetism in real time
The speed of synchronous X-motor and motor Y ensures that pipe robot is slowly driven out to towards outlet, and abandons all collecting works；
17）It is same mounted in permanent magnet synchronous motor X, permanent magnet synchronous motor Y, permanent magnet synchronous motor Z, permanent magnet synchronous motor R, permanent magnetism
Photoelectric encoder on step motor U, permanent magnet synchronous motor W can export its position signal A and position signal B, photoelectric encoder
Position signal A pulses and B pulsed logics state often change once, and the location register in ARM can be according to the traffic direction of motor
1 is added either to subtract 1；When the position signal A pulses and B pulses and Z pulses of photoelectric encoder are low level simultaneously, one is just generated
INDEX signals give ARM internal registers, record the absolute position of permanent magnet synchronous motor, are then convert into pipe robot in pipe
Specific location in road detecting system；
18）Pipe robot calculates battery SOC in real time in operational process ARM according to its internal algorithm, if controller is sent out
When now power supply energy is relatively low, ARM can be communicated with IRMCK203, DSP, and be deposited by DSP closing ccd image collecting works and image
Work is stored up, and defeated by the PWM of SERVO CONTROL program adjustment permanent magnet synchronous motor X and permanent magnet synchronous motor Y inside IRMCK203
Go out, pipe robot is made to drive towards exit with slower speed, ensures that pipe robot can smoothly arrive exit；
19）During pipe robot inspection, if servo controller detects that the torque of permanent magnet synchronous motor occurs
Pulsation, due to the orientation on rotor flux that the present invention uses, controller can be easy to compensate this interference, reduce motor
Influence of the torque to crusing robot motion process；
20）During pipe robot drives towards outlet valve, when the front laser displacement sensor LSF carried understands
It carves and detects its displacement between valve, when determining outlet valve F3 in opening state, pipe robot will open cruise mode,
Controller ARM records the distance that pipe robot has been moved along magnetic stripe in real time, when determining that robot waits for completely into outlet
After examining region, outlet valve F3 will be closed, and natural gas suction unit will aspirate the natural gas situation in region to be checked, when natural gas is let out
When dew device is not detected region to be checked and has natural gas residual, outlet valve F4 will be opened, at this time in front of laser displacement sensor
LSF is by the state of secondary judgement front exit valve F4, and after determining that front valve opening is errorless, pipe robot is driven out to detection pipe
Road returns to detection terminal, waits for next sense command.
The invention has the advantages that：
1：In pipe robot motion process, the effect of battery in this system has been fully considered, be based on ARM+
The tri- nuclear control device moment of IRMCK203+DSP is all being monitored its state and operation, both avoided due to heavy-current discharge and
The generation of caused lithium ion battery overaging phenomenon, and the energy of battery can be effectively predicted, it is pipe robot inspection
It provides and is effectively ensured；
2：By IRMCK203 processing six permanent magnet synchronous motors of pipe robot based on rotor field-oriented SERVO CONTROL,
So that control is fairly simple, arithmetic speed is substantially increased, solves the problems, such as that the control algolithm occupancy ARM cycles of operation are longer,
It is short to shorten the development cycle, and program transportability ability is strong；
3：The present invention realizes full SMD components material substantially, realizes veneer control, not only saves control panel occupancy
Space, and be conducive to the mitigation of pipe robot volume and weight；
4：The pipe robot of the present invention is using permanent magnet synchronous motor instead of common stepping in traditional robot system
Motor, direct current generator, DC brushless motor, due to its small volume, efficiency is higher so that pipe robot volume can be into one
Step reduces, and energy utilization rate greatly improves；
5：It is based on orientation on rotor flux since permanent magnet synchronous motor uses so that speed adjustable range is wider, speed ratio
It is relatively steady, it is very small even if the pulsating torque of low-speed stage motor, be conducive to the dynamic property of raising system；
6：Since this controller is using the mass data and algorithm of the DSP acquisition of processing figure and storage, by IRMCK203
The SERVO CONTROL for managing four axis permanent magnet synchronous motors frees ARM from hard work amount, effectively prevents program
" run and fly ", anti-interference ability greatly enhances；
7：In control, ARM can adjust six axis permanent magnet synchronous motor servos in due course according to robot periphery operating condition
The PI parameters of control, make dynamic performance greatly improve；
8：Equipped with humidity collection system on pipe robot, the humidity exceptions area in tunnel can be detected easily
Domain can effectively find the presence of pipeline water droplet；
9：Equipped with image capturing system on pipe robot, it can detect that pipeline internal pipeline corrosion etc. is different easily
Reason condition, and effectively store its image；
10：Image store function based on DSP facilitates staff to read inspection after making pipe robot completion task
As a result, pipeline corrupted information and specific location can easily be read from storage result, then on-call maintenance；
11：Equipped with the fault localization acquisition system based on Hall effect on pipe robot, can detect easily
The abnormal conditions such as pipeline external corrosive pipeline and damage, are conducive to pipeline of pinpointing the problems early；
12：The addition of three-axis gyroscope G1 and three axis accelerometer A1 effectively can accurately detect pipe robot and deviate pipeline
The angle of inclination of plane, ARM can be adjusted this angle at the moment, effectively control the posture of pipe robot；
13：The addition of three-axis gyroscope G1 and three axis accelerometer A1 effectively can be detected accurately when pipe robot is climbed
Angle, ARM can be detected this angle at the moment, and it is that the robot acclive pipeline of inspection tool carries effectively to open assist motor
For power demand；
14：Turning navigation marker cooperation left and right sides laser displacement sensor in ground allows system easily to read pipeline letter
Breath, is conducive to the elimination of positioning and site error of the pipe robot in complicated pipeline；
15：The addition of three-axis gyroscope G1 and three axis accelerometer A1 effectively can be measured accurately when pipe robot is turned
The turning navigation that angle is pipe robot in complicated pipeline improves reliable basis；
16：The addition of magnetic navigation sensor ME1 and laser displacement sensor have certain redundancy so that system is navigated,
Greatly improve the stability of pipe robot；
17：The addition of four power assist motors is so that the power performance of system is adjusted with optional so that robot
The power demand under different operating modes can be met, the adaptability of robot further strengthens；
18：The ARM moment adjusts the power of each motor according to duty requirements dynamic, and each motor is made all to be operated in optimal shape
Under condition, be conducive to the utilization rate for improving energy；
19：The addition of synchronous belt technology makes mechanical-assisted wheel all have power, while the addition of crawler belt effectively increases
The area that pipe robot contacts in the duct allows pipe robot effectively by with obstruction object area, improving
Environmental suitability；
20：The addition of three-axis gyroscope G1 and triaxial accelerometer A1 can effectively measure pipe robot and occur in line navigation
Three axis accelerometer, speed and direction offset, improve reliable basis for inertial navigation of the robot in complicated pipeline.
It to sum up tells, the quick natural gas line robot control system of three core, six axis crawler type of the invention, in order to improve
The utilization rate of the energy and reduce robot volume, this system efficiency and the higher permanent magnet synchronous motor of power density instead of
The motors such as stepper motor, direct current generator；In order to improve system acceleration request, system is that these extraordinary operating modes add two power
Smaller permanent magnet synchronous motor plays the role of accelerating power-assisted, increases system dynamic characteristic；In order to improve the general hill climbing demands of system,
System adds two lower-powered permanent magnet synchronous motors for these extraordinary operating modes and plays the role of power-assisted of climbing, and it is dynamic to increase system
Force characteristic；In order to improve arithmetic speed, ensure the stability and reliability of automatic pipeline robot system, the present invention based on
Permanent magnet synchronous motor special integrated circuit IRMCK203 is introduced in the controller of ARM and digital signal processor DSP, formation are based on
The completely new three nuclear control device of ARM+ IRMCK203+DSP, this controller fully consider effect of the battery in this system, control
The maximum six axis servo-drive system of workload gives the friendships such as IRMCK203 completions, battery cell monitoring, path reading, deviation processing in system
ARM processing is given, the relatively fast feature of ARM data processing speeds is given full play to, and the functions such as image data acquiring and storage are handed over
It is completed to DSP, thereby realizes the division of labor of ARM, IRMCK203 and DSP, while can also be communicated between three, it is real
Shi Jinhang data exchanges and calling.
Example the above is only the implementation of the present invention is not intended to limit the scope of the invention, every to utilize this hair
Equivalent structure or equivalent flow shift made by bright description is applied directly or indirectly in other relevant technology necks
Domain is included within the scope of the present invention.
Claims (2)
1. a kind of quick natural gas line robot control system of three core, six axis crawler type, which is characterized in that including robot shell
Body, laser displacement sensor, magnetic navigation sensor, left fork sensor, right fork sensor, three-axis gyroscope, three axis accelerate
Spend meter, synchronous belt, permanent magnet synchronous motor X, permanent magnet synchronous motor Y, permanent magnet synchronous motor R, permanent magnet synchronous motor Z, permanent-magnet synchronous
Motor U and permanent magnet synchronous motor W, the laser displacement sensor are separately mounted to the front end of robot shell, the left side
Fork sensor and right fork sensor are located at the left and right ends below laser displacement sensor, synchronous belt difference
Be arranged robot shell left and right sides and respectively with permanent magnet synchronous motor X, permanent magnet synchronous motor Y, permanent magnet synchronous motor
Z, permanent magnet synchronous motor R, permanent magnet synchronous motor U are connected with permanent magnet synchronous motor W, the magnetic navigation sensor, three axis accelerometer
Instrument and three axis accelerometer are separately positioned on robot shell and between permanent magnet synchronous motor X and permanent magnet synchronous motor Y,
Further include controller, the controller uses three nuclear control devices, including ARM, IRMCK203 and DSP, the ARM,
IRMCK203 and DSP carries out mutually communication connection, and the ARM and IRMCK203 send out first control signal, the second control respectively
Signal, third control signal, the 4th control signal and the 5th control signal processed, by the first control signal, the second control
It is same that signal, third control signal, the 4th control signal, the 5th control signal and the 6th control signal control the permanent magnetism respectively
Walk motor Y, permanent magnet synchronous motor X, permanent magnet synchronous motor Z, permanent magnet synchronous motor R, permanent magnet synchronous motor U and permanent magnet synchronous motor
The movement of control pipeline robot again after the signal synthesis of W, the synchronous belt uses six axis, eight wheel drive mode, is by one
Root inner peripheral surface is equipped with the closed ring crawler belt of equidistant tooth and corresponding belt wheel is formed, the first control signal, the
Two control signals, third control signal, the 4th control signal, the 5th control signal and the 6th control signal are PWM wave control
Signal, the ARM use STM32F746；The DSP uses TMS320F2812, the quick natural gas line machine
People's control system further includes battery, is based on ccd image collecting unit, image storage unit, humidity collection unit, is based on Hall effect
Pipeline inspection collecting unit and pipe robot are answered, the electric current driving controller is provided separately in the battery, described
Communicated and connect with DSP based on ccd image collecting unit and image storage unit, the humidity collection unit and based on suddenly
You connect with ARM and IRMCK203 communications effect pipeline inspection collecting unit, and the battery uses lithium ion battery, described
Quick natural gas line robot control system be additionally provided with host computer procedure, based on ARM motion control programs, be based on DSP
Image Acquisition and based on Hall effect pipe damage detect, the host computer procedure further include pipeline read, position positioning
And power information, it is described based on ARM motion control programs further include be based on six axis permanent magnet synchronous motor servo controls of IRMCK203
System, data storage and I/O control, it is described based on DSP Image Acquisition and based on Hall effect pipe damage detection respectively with base
In ccd image collecting unit and based on the communication connection of Hall effect pipeline inspection collecting unit, the quick natural gas line
Robot control system further includes photoelectric encoder, and it is same that the photoelectric encoder is separately mounted to permanent magnet synchronous motor X, permanent magnetism
It walks on motor Y, permanent magnet synchronous motor Z, permanent magnet synchronous motor R, permanent magnet synchronous motor U and permanent magnet synchronous motor W.
2. quick natural gas line robot control system according to claim 1, which is characterized in that the laser position
Displacement sensor includes front laser displacement sensor, left laser displacement sensor and right laser displacement sensor, the front
The centre position immediately ahead of robot shell, the left laser displacement sensor and right laser is arranged in laser displacement sensor
Displacement sensor angularly disposed left and right ends immediately ahead of robot shell respectively.
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| CN101887037A (en) * | 2010-04-27 | 2010-11-17 | 丹东奥龙射线仪器有限公司 | Wheel-type X-ray flaw detection robot device |
| CN105137975A (en) * | 2015-08-24 | 2015-12-09 | 铜陵学院 | Six-wheel double-core automatic high speed fire extinguishing robot servo controller |
| CN205247210U (en) * | 2015-12-21 | 2016-05-18 | 广州艾若博机器人科技有限公司 | Robot control system based on RFID location |
| CN205281258U (en) * | 2015-12-31 | 2016-06-01 | 浙江同筑科技有限公司 | Double -deck control system of AGV based on ARM |
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| CN104827469B (en) * | 2013-10-10 | 2016-10-19 | 精工爱普生株式会社 | Robot controller, robot system, robot and robot control method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101887037A (en) * | 2010-04-27 | 2010-11-17 | 丹东奥龙射线仪器有限公司 | Wheel-type X-ray flaw detection robot device |
| CN105137975A (en) * | 2015-08-24 | 2015-12-09 | 铜陵学院 | Six-wheel double-core automatic high speed fire extinguishing robot servo controller |
| CN205247210U (en) * | 2015-12-21 | 2016-05-18 | 广州艾若博机器人科技有限公司 | Robot control system based on RFID location |
| CN205281258U (en) * | 2015-12-31 | 2016-06-01 | 浙江同筑科技有限公司 | Double -deck control system of AGV based on ARM |
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