CN105922263A - Two-core and six-axis caterpillar type natural gas pipeline robot control system - Google Patents
Two-core and six-axis caterpillar type natural gas pipeline robot control system Download PDFInfo
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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
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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)
- Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- General Engineering & Computer Science (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Chemical & Material Sciences (AREA)
- Aviation & Aerospace Engineering (AREA)
- Combustion & Propulsion (AREA)
- Mathematical Physics (AREA)
- Computer Vision & Pattern Recognition (AREA)
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Abstract
The invention discloses a two-core and six-axis caterpillar type natural gas pipeline robot control system. A double-core controller is adopted as a controller and comprises an ARM and a DSP which are in communication connection. The ARM sends out a first control signal, a second control signal, a third control signal, a fourth control signal, a fifth control signal and a sixth control signal to control signal synthesis of a permanent magnet synchronous motor X, a permanent magnet synchronous motor Y, a permanent magnet synchronous motor Z, a permanent magnet synchronous motor R, a permanent magnet synchronous motor U and a permanent magnet synchronous motor W, and then movement of a pipeline robot is controlled. In this way, the brand new double-core control mode based the ARM and the DSP is autonomously developed, the ARM is liberated from complex work, real-time control of a six-axis three-phase permanent magnet synchronous motor is achieved, interruption of the DSP is responded to, and data communication and storage of real-time signals are achieved.
Description
Technical field
The present invention relates to the field of large-scale pipeline robot, particularly relate to a kind of dinuclear six axle crawler type natural gas line robot control system.
Background technology
The pumped (conveying) medium of natural gas line belongs to material inflammable, explosive, the impurity such as the hydrogen sulfide contained in medium, carbon dioxide, free water, dust, makes the pipeline laid be in inside and outside etching condition, and the most internal congestion situations that can produce occurs.Adding the factors such as environment, geology, meteorology and hydrological disaster, tubing and design defect, operational error or even artificial destruction, the safety of pipeline is threatened by many factors.
On June 4th, 1989, one gas pipeline of the former Soviet Union leaks, and when two row pass through in the railway line to running a train outside distance leakage point 1 kilometer, train friction produces spark and causes the natural-gas blast of leakage, causing people more than 600 dead, hundreds of hectares of forests are burnt；In August, 2000, the gas pipeline generation gas explosion of one the 720 mm bore in the southeast, New Mexico, causing fights the most greatly at least causes 10 people dead, place beyond more than 30 kilometers can see that huge fireball rushes to sky, and after blast, ground leaves long 25m, the hollow place of deep 6m together；The oil and gas pipeline of China the most repeatedly has an accident, and the accident such as pipeline generation explosion, leakage, stopping transportation not only causes huge property loss, and jeopardizes ecological environment.
Pipe robot is that one can be carried one or more sensors and operation machinery along pipe interior or outside walking automatically, or complete the electro-mechanical system of a series of pipeline operations under the control of operator under computer controlled automatic.The research of pipe robot starts from eighties of last century the forties, to the seventies due to microelectric technique, computer technology, the development and progress of automatic technology, external pipeline robot technique has obtained fast development the beginning of the nineties, have developed many experimental prototypes, and achieve substantial amounts of achievement in research.
Patrol and examine natural gas line with pipe robot, be possible not only to improve the efficiency of pipe detection, and for improving working conditions, reduce labor intensity, improve working performance, reduce operating cost, guarantee personal safety and suffer from highly important meaning.But domestic the most not using pipe robot to patrol and examine natural gas line, natural gas line blast happens occasionally, and causes huge economic loss and environmental pollution.
One practical natural gas tube pipeline robot must possess following components:
1) image capturing system: image capturing system is it appeared that produced problem in pipeline, it is possible to provides pipeline impaired and congestion situations for staff, provides reliable basis for changing pipeline or cleaning pipeline；
2) damage acquisition system: damage acquisition system can find the abnormal conditions that tubing outer wall occurs in time, it is to avoid pipeline and long-term breakage causes anti-pressure ability to weaken, ultimately result in natural gas and reveal in a large number and produce explosion accident generation；
3) humidity detection and obturator detect: if humidity is excessive, the pumped (conveying) medium of natural gas line is easily formed corrosive pipeline, and moieties can pile up generation congestion situations simultaneously；
4) motor: actuating motor is that the power of pipe robot implements parts, and it converts the energy of power supply in real time, performs the robot relevant walking motion in natural gas line according to the instruction of pipe robot microprocessor；
5) algorithm: algorithm is the soul of natural gas tube pipeline robot, owing to natural gas line is a pipeline closed, inner case is extremely complex, natural gas tube pipeline robot must use certain intelligent algorithm just a little can accurately arrive the most a bit in pipeline, form point-to-point patrolling and examining, and real-time storage gathers 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 the brain of natural gas tube pipeline robot.All of information in pipeline, is required for through microprocessor processes including the humidity in pipeline, congestion situations, pipe damage information and damage position information, motor status information, battery status information etc. and makes corresponding judgement.
The domestic research to pipe robot is the most at the early-stage, is all to use monokaryon controller, is in the laboratory prototype design phase, has a certain distance from large-scale use, mainly face problems with:
(1) controlled technique influence, all of pipe robot all uses monokaryon controller, and the computing capability of controller is more weak, and pipe robot cannot quickly process real time environment, and robot ambulation speed is relatively low, and inspection pipeline speed is relatively slow, and less stable；
(2) for using the energy entrained by motor-driven pipe robot all to use chargeable storage; these accumulator are all by forming high-voltage great-current energy resource system after simple series connection and parallel connection; the most unprotected circuit; life-span is shorter, often occurs the abnormal work even interfering with pipe robot during normal work；
(3) for using the pipe robot of motor or DC motor Driver, being affected by motor own efficiency, energy utilization rate is relatively low, causes robot displacement in pipeline shorter；
(4) for using the pipe robot of motor or DC motor Driver, being affected by power of motor density, owing to the motor volume used is the biggest, the volume ultimately resulting in robot is bigger, heavier-weight, has had a strong impact on the range of pipe robot；
(5) pipe robot kinestate oneself adjustment capability is poor, controlled mode affects, robot attitude parameter identification in pipeline is poor, robot None-identified oneself's plane and the angle of pipeline principal plane, cause, during robot ambulation, inclination occurs, overturn the most sometimes, cause mission failure；
(6) for there being the natural gas line of obstruction, common wheeled robot is less with contact area of ground, and obstacle climbing ability is more weak, the most even cannot clear the jumps, and finally cannot patrol and examine task；
(7) for using the power-actuated pipe robot of four-wheel, the power adjustment capability relatively two-wheeled power drive of robot increases, the acceleration under the simple operating mode of pipe robot can be met, but run into the pipeline with certain slope, demand power is bigger, demand power is caused to be not being met under the conditions of this so that dynamic performance reduces；
(8) value measured during the work of single three-axis gyroscope can be drifted about in time, can accumulate extra error through work three-axis gyroscope for a long time, eventually result in pipe robot and lose position in the duct.
The stator of permasyn morot and common electrically excited synchronous motor have identical stator structure, excitation pole and the Exciting Windings for Transverse Differential Protection of synchrodrive is simply instead of on rotor using Nd-Fe-B rare earth permanent magnetic material as magnetic pole, the structure making motor is relatively simple, and eliminate easy out of order collector ring and brush, achieve non-brushing, improve the reliability of motor running.Because being not required to exciting current, therefore can save the copper loss of Exciting Windings for Transverse Differential Protection, greatly improving the efficiency of motor；The use of rare earth permanent-magnetic material makes power of motor density higher, so the volume of motor be can be made smaller, and the occasion that applicable volume requirement is higher.Permasyn morot is in addition to having obvious energy-saving effect, also there is the characteristic that rotating speed is accurate, noise is low, rare earth permanent-magnet synchronization motor based on rotor field-oriented or based on vector control system be capable of high accuracy, 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 the robot control system that pipe robot these requirements are more special.
Crawler-type mobile mechanism is the expansion of wheeled locomotion mechanism, and crawler belt itself plays a part to pave the way continuously to wheel.Relative to ratcheting mechanism, there is plurality of advantages in crawler-type mobile mechanism, such as: bearing area is big, and grounding pressure is little；Resistance to rolling is little, passes through better performances；Off-road mobility is good；Having grouser on crawler belt bearing-surface, be difficult to skid, traction adhesion property is good, is conducive to playing bigger pull strength；Displacement crawler-type mobile mechanism is by changing the mechanism form of the position of crawler belt or crawler belt to reach to adapt to the requirement of varying environment, and the angle of two crawler belts can regulate, to adapt to different operation calibers.
Summary of the invention
The technical problem that present invention mainly solves is to provide a kind of dinuclear six axle crawler type natural gas line robot control system, the brand-new double-core control model of based on ARM+DSP of independent research, controller is with ARM as processor core, DSP realize image acquisition digital signal process in real time and with ARM communication, ARM is freed in the middle of complicated work, realize the real-time control of six axle three-phase permanent magnet synchronous motors, and respond DSP interrupt, it is achieved data communication and storage live signal.
nullFor solving above-mentioned technical problem，The technical scheme that the present invention uses is: provide a kind of dinuclear six axle crawler type natural gas line robot control system，Including battery、Controller、Permagnetic synchronous motor X、Permagnetic synchronous motor Y、Permagnetic synchronous motor Z、Permagnetic synchronous motor R、Permagnetic synchronous motor U、Permagnetic synchronous motor W、Based on ccd image collecting unit、Image storage unit、Humidity collection unit、Based on Hall effect pipeline inspection collecting unit and pipe robot，Described battery is provided separately the controller described in electric current driving，Described controller uses dual-core controller，Including ARM and DSP，Described ARM and DSP carries out communication connection，Described ARM sends the first control signal respectively、Second control signal、3rd control signal、4th control signal、5th control signal and the 6th control signal，By the first described control signal、Second control signal、3rd control signal、4th control signal、5th control signal and the 6th control signal control described permagnetic synchronous motor X respectively、Permagnetic synchronous motor Y、Permagnetic synchronous motor Z、Permagnetic synchronous motor R、The motion of pipe robot is controlled again after the signal syntheses of permagnetic synchronous motor U and permagnetic synchronous motor W，Described is all connected with DSP communication based on ccd image collecting unit and image storage unit，Described humidity collection unit and being all connected with ARM communication based on Hall effect pipeline inspection collecting unit.
In a preferred embodiment of the present invention, described battery uses lithium ion battery.
In a preferred embodiment of the present invention, described the first control signal, the second control signal, the 3rd control signal, the 4th control signal, the 5th control signal and the 6th control signal are PWM wave control signal.
In a preferred embodiment of the present invention, described ARM uses STM32F746；Described DSP uses TMS320F2812.
nullIn a preferred embodiment of the present invention，Described pipe robot includes robot housing、Front laser displacement sensor、Magnetic navigation sensor、Left fork sensor、Right fork sensor、Three-axis gyroscope、Three axis accelerometer and Timing Belt，Described front laser displacement sensor is separately mounted to the front end of robot housing，Described left fork sensor and right fork sensor lay respectively at the two ends, left and right below the laser displacement sensor of front，Described Timing Belt be separately positioned on robot housing limit, the left and right sides and respectively with permagnetic synchronous motor X、Permagnetic synchronous motor Y、Permagnetic synchronous motor Z、Permagnetic synchronous motor R、Permagnetic synchronous motor U and permagnetic synchronous motor W connects，Described magnetic navigation sensor、Three-axis gyroscope and three axis accelerometer are separately positioned on robot housing and between permagnetic synchronous motor X and permagnetic synchronous motor Y.
In a preferred embodiment of the present invention, described front laser displacement sensor includes front laser displacement sensor, left front laser displacement sensor and right front laser displacement sensor, described front laser displacement sensor is arranged on the most angularly disposed two ends, left and right at robot housing dead ahead of the centre position of robot housing dead ahead, described left front laser displacement sensor and right front laser displacement sensor.
In a preferred embodiment of the present invention, described Timing Belt uses six axle eight wheel drive mode, an inner peripheral surface be provided with the closed ring crawler belt of equidistant tooth and corresponding belt wheel is formed.
In a preferred embodiment of the present invention, described natural gas line robot control system is additionally provided with host computer procedure, motion control program, detect based on DSP image acquisition and based on Hall effect pipe damage, described host computer procedure also includes that pipeline reads, location positioning and power information, described motion control program also includes based on ARM six axle permagnetic synchronous motor SERVO CONTROL, data storage and I/O control, described it is connected with based on ccd image collecting unit with based on Hall effect pipeline inspection collecting unit communication respectively based on DSP image acquisition with based on the detection of Hall effect pipe damage.
In a preferred embodiment of the present invention, described natural gas line robot control system also includes that photoelectric encoder, described photoelectric encoder are separately mounted on permagnetic synchronous motor X, permagnetic synchronous motor Y, permagnetic synchronous motor Z, permagnetic synchronous motor R, permagnetic synchronous motor U and permagnetic synchronous motor W.
The invention has the beneficial effects as follows: the dinuclear six axle crawler type natural gas line robot control system of the present invention, in order to the utilization rate improving the energy and the permagnetic synchronous motor reducing robot volume, native system efficiency and power density the highest instead of the motor such as motor, direct current generator；In order to improve system acceleration request, system is that these extraordinary operating modes add two lower-powered permagnetic synchronous motors and play acceleration 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 permagnetic synchronous motors and play climbing power-assisted effect, increases system dynamic characteristic；In order to improve arithmetic speed, ensure stability and the reliability of automatic pipeline robot system, the present invention introduces digital signal processor DSP in controller based on ARM, form brand-new dual-core controller based on ARM+DSP, this controller takes into full account the battery effect in this system, the six axle Permanent magnet synchronous servo system that workload in control system is maximum, battery cell monitoring, path is read and is given ARM process, give full play to the comparatively faster feature of ARM data processing speed, and the function such as image data acquiring and storage is given DSP and is completed, thus achieve the division of labor of ARM Yu DSP, therebetween can also carry out communication simultaneously, carry out data exchange in real time and call.
Accompanying drawing explanation
For the technical scheme being illustrated more clearly that in the embodiment of the present invention, in describing embodiment below, the required accompanying drawing used is briefly described, apparently, accompanying drawing in describing below is only some embodiments of the present invention, for those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to obtain other accompanying drawing according to these accompanying drawings, wherein:
Fig. 1 is the present invention schematic diagram with dinuclear six axle crawler type natural gas line robot control system one preferred embodiment；
Fig. 2 is pipe robot two-dimensional structure schematic diagram；
Fig. 3 is the programme diagram of Fig. 1；
Fig. 4 is that pipe robot patrols and examines schematic diagram.
Detailed description of the invention
Technical scheme in the embodiment of the present invention will be clearly and completely described below, it is clear that described embodiment is only a part of embodiment of the present invention rather than whole embodiments.Based on the embodiment in the present invention, all other embodiments that those of ordinary skill in the art are obtained under not making creative work premise, broadly fall into the scope of protection of the invention.
As it is shown in figure 1, the embodiment of the present invention includes:
nullA kind of dinuclear six axle crawler type natural gas line robot control system，Including battery、Controller、Permagnetic synchronous motor X、Permagnetic synchronous motor Y、Permagnetic synchronous motor Z、Permagnetic synchronous motor R、Permagnetic synchronous motor U、Permagnetic synchronous motor W、Based on ccd image collecting unit、Image storage unit、Humidity collection unit、Based on Hall effect pipeline inspection collecting unit and pipe robot，Described battery is provided separately the controller described in electric current driving，Described controller uses dual-core controller，Including ARM and DSP，Described ARM and DSP carries out communication connection，Described ARM sends the first control signal respectively、Second control signal、3rd control signal、4th control signal、5th control signal and the 6th control signal，By the first described control signal、Second control signal、3rd control signal、4th control signal、5th control signal and the 6th control signal control described permagnetic synchronous motor X respectively、Permagnetic synchronous motor Y、Permagnetic synchronous motor Z、Permagnetic synchronous motor R、The motion of pipe robot is controlled again after the signal syntheses of permagnetic synchronous motor U and permagnetic synchronous motor W，Described is all connected with DSP communication based on ccd image collecting unit and image storage unit，Described humidity collection unit and being all connected with ARM communication based on Hall effect pipeline inspection collecting unit.Wherein, described the first control signal, the second control signal, the 3rd control signal, the 4th control signal, the 5th control signal and the 6th control signal are PWM wave control signal.
In above-mentioned, described ARM uses STM32F746；Described DSP uses TMS320F2812.
STMicroelectronics
The brand-new STM32F7 MCU series of products produced are first volume productions in the whole world and have 32 bit ARM
The microcontroller of Cortex-M7 processor.Cortex-M7 is up-to-date release and the highest processor core of usefulness in Cortex-M series of products, brand-new STM32F7 MCU be ST STM32 MCU series of products in the highest product of usefulness, combine Cortex-M7 core and high-order peripheral unit, can promote application program usefulness, newly-increased New function, extend battery life, guarantee safety and reducing as far as possible use outer member with cost-effective with space etc. unrivaled advantage.
STM32F7 series of products include STM32F745 and STM32F746, and these two products are all equipped with the Cortex-M7 core having floating-point operation unit and DSP extended function, the highest 216MHz of arithmetic speed.STM32F7
ARM Cortex-M7 usefulness is surmounted the advantage of core (such as Cortex-M4) in early days and applies to ultimate attainment by MCU series of products, and usefulness reaches nearly DSP twice, makes this MCU be highly suitable for the application of high-speed electric expreess locomotive control.
TMS320F2812 is 32 fixed-point dsps of novel high-performance of the C28x kernel compatible based on code, the instruction execution cycle of C28x kernel has reached 6.67ns, maximum running frequency can reach 150MHz, F2812 is integrated with many peripheral hardwares, provide the SOC(system on a chip) of the whole series, its On-Chip peripheral mainly includes 12,2 × 8 tunnel ADC (the fastest 80ns changes the time), 2 road SCI, 1 road SPI, 1 road McBSP, 1 road eCAN interface etc., and with two event manager modules (EVA, EVB).It addition, this device also has 3 32 independent bit CPU intervalometers, and up to 56 GPIO pin being independently programmable.F2812 uses unified addressing mode, and chip internal has the SARAM of 18K, and including MO, M1, L0, L1, H0 totally 5 memory blocks, each memory block keeps independent, can conduct interviews different RAM block in the uniform machinery cycle, thus reduce streamline time delay.And inside F2812, have the FLASH of 128K word, address space 3D8000h～3F7FFFh, it is adaptable to low-power consumption, high performance control system.In addition F2812 provides external memory storage expansion interface (XINTF), conveniently carries out system extension, and its addressing space can reach 1MB；These characteristics makes F2812 while possessing the data-handling capacity that digital signal processor is remarkable, there is again peripheral hardware and interface in the sheet being suitable to control, can be widely applied in the control of various high performance system, These characteristics makes TMS320F2812 be particularly suitable for the figure collection of crusing robot, image storage and positional information storage.
nullIn order to accurately guide duct robot detects automatically，The present invention uses two set sensor navigation patterns, and (a set of Magnetic Sensor navigates，A set of front laser displacement sensor navigation)，The pipe robot two-dimensional structure of the present invention is as shown in Figure 2: described pipe robot includes robot housing K、Front laser displacement sensor、Magnetic navigation sensor ME1、Left fork sensor ME2、Right fork sensor ME3、Three-axis gyroscope G1、Three axis accelerometer A1 and Timing Belt T，Described front laser displacement sensor is separately mounted to the front end of robot housing K，Described left fork sensor ME2 and right fork sensor ME3 lays respectively at the two ends, left and right below the laser displacement sensor of front，Described Timing Belt T be separately positioned on robot housing K limit, the left and right sides and respectively with permagnetic synchronous motor X、Permagnetic synchronous motor Y、Permagnetic synchronous motor Z、Permagnetic synchronous motor R、Permagnetic synchronous motor U and permagnetic synchronous motor W connects，Described magnetic navigation sensor ME1、Three-axis gyroscope G1 and three axis accelerometer A1 is arranged on robot housing K and between permagnetic synchronous motor X and permagnetic synchronous motor Y.Wherein, described front laser displacement sensor includes front laser displacement sensor LSF, left front laser displacement sensor LSL and right front laser displacement sensor LSR, described front laser displacement sensor LSF is arranged on the centre position of robot housing K dead ahead, the most angularly disposed two ends, left and right at robot housing K dead ahead of described left front laser displacement sensor LSL and right front laser displacement sensor LSR.
The magnetic navigation sensor ME1 moment detects the magnetic stripe in pipeline, and sensor is the first navigation criterion according to this, when magnetic stripe does not exists or the deviation distance that navigates is bigger, left front laser displacement sensor sensor LSL and right front laser displacement sensor sensor LSR acts on the distance judging direction of advance with left and right tube wall jointly, and providing navigation foundation as pipe robot linear motion, the differentiation that front laser displacement sensor sensor LSF is pipe robot advance barrier provides according to and stops does criterion.Left fork Magnetic Sensor ME2 and right fork sensor ME3 detects fork, ground mark respectively, then the criterion turned left respectively as cross pipeline or turn right, and natural gas tube pipeline robot accurately can be compensated in this position, it is most important that this patrols and examines pipeline calculating position for pipe robot.
The three axis accelerometer A1 measured value (determining pipe robot course) in the long period is correct, and within a short period of time is due to the existence of signal noise, and has certain error.Three-axis gyroscope G1 is then the most accurate within a short period of time, and the long period then can produce certain error, accordingly, it would be desirable to three axis accelerometer A1 and three-axis gyroscope G1 mutually adjusts and guarantees the correct of course along with the existence of drift.In order to improve the stability that natural gas tube pipeline robot navigates in closed conduit walking process, realizing the most accurately adjusting and promoting independent navigation ability of attitude, the present invention adds three-axis gyroscope G1 and three axis accelerometer A1 in natural gas line robot servo's hardware system.Omnidistance unlatching three-axis gyroscope G1 and three axis accelerometer A1 during pipe robot walking pipeline, three-axis gyroscope G1 and three axis accelerometer A1 is respectively used for measuring angular velocity and the angular acceleration of three directions of advance of pipe robot, and controller obtains its accurate acceleration, speed and angle of inclination according to the angular acceleration recorded and angular velocity by integration.When the attitude of pipe robot changes and exceedes setting threshold values, at a new sampling period controller the most immediately to its position compensation, avoid pipe robot in the process of walking and translate into the generation of phenomenon because of tilting excessive, improve stability during its quick walking navigation；If three-axis gyroscope G1 and three axis accelerometer A1 is integrated, and it is transformed in navigational coordinate system, pipe robot can not rely on any external information in closed conduit just can obtain the information such as its acceleration, speed, yaw angle and position in navigational coordinate system, produced navigation information seriality is good and noise is the lowest, greatly enhances the autonomous inertial navigation ability of pipe robot.When pipe robot reads cross pipeline entrance, robot to realize 90 or turn right 90 action, in this case, three-axis gyroscope and three axis accelerometer can accurately calculate robot rotate angle, it is ensured that its turn accuracy；When pipe robot be in climbing patrol and examine time, three-axis gyroscope and three axis accelerometer can accurately measure ramp angle, and ARM can accurately calculate climbing power demand according to this angle, it is ensured that robot can complete to patrol and examine pipeline task according to command speed.
Toothed belt transmission is provided with the closed ring adhesive tape of equidistant tooth by an inner peripheral surface and corresponding belt wheel is formed.During motion, band tooth is meshed with the teeth groove of belt wheel transmitting movement and power, is a kind of engaged transmission, thus has the various advantages of gear drive, Chain conveyer and Belt Drive.Toothed belt transmission has gear ratio accurately, without slippage, can obtain constant speed ratio, can precision drive, stable drive, energy shock-absorbing, noise is little, transmission efficiency is high, it is not required to lubrication, pollution-free, it is particularly suitable for normally working under being not allow for the occasion that pollution is the most severe with working environment, the particularly suitable spinning transmission of compact conformation, therefore the present invention uses Timing Belt technology to form six axle eight wheel drive mode.
The present invention is to solve the problem that domestic pipeline robot exists, have developed a kind of eight wheel crawler double-core natural gas tube pipeline robots driven by six rare earth permanent-magnet synchronization motors, energy requirement is provided when the rare earth permanent-magnet synchronization motor that two of which power is bigger is patrolled and examined for robot normal speed, four additional lower-powered rare earth permanent-magnet synchronization motor power is equal, two rare earth permanent-magnet synchronization motors therein provide power when robot accelerates to patrol and examine, and other two small-power rare earth permanent-magnet synchronization motors provide power when robot climbs；The multiple of left and right sides take turns respectively by crawler belt mechanical linkages, and natural gas tube pipeline robot relies on its carry sensors to carry out patrolling and examining major gas pipeline.
The present invention, on the premise of absorbing external Dynamic matrix control thought, has independently invented brand-new double-core control model based on ARM+DSP.Controller principle figure such as Fig. 1 of this design: controller is with ARM as processor core, DSP realize image acquisition digital signal process in real time and with ARM communication, ARM is freed in the middle of complicated work, realize the real-time control of six axle three-phase permanent magnet synchronous motors, and respond DSP interrupt, it is achieved data communication and storage live signal.
As shown in Figure 3, described natural gas line robot control system is additionally provided with host computer procedure, motion control program, detect based on DSP image acquisition and based on Hall effect pipe damage, described host computer procedure also includes that pipeline reads, location positioning and power information, described motion control program also includes based on ARM six axle permagnetic synchronous motor SERVO CONTROL, data storage and I/O control, described it is connected with based on ccd image collecting unit with based on Hall effect pipeline inspection collecting unit communication respectively based on DSP image acquisition with based on the detection of Hall effect pipe damage.
For reaching above-mentioned purpose, the present invention takes techniques below scheme, in order to the utilization rate improving the energy and the permagnetic synchronous motor reducing robot volume, native system efficiency and power density the highest instead of the motor such as motor, direct current generator；In order to improve system acceleration request, system is that these extraordinary operating modes add two lower-powered permagnetic synchronous motors and play acceleration 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 permagnetic synchronous motors and play climbing power-assisted effect, increases system dynamic characteristic；In order to improve arithmetic speed, ensure stability and the reliability of automatic pipeline robot system, the present invention introduces digital signal processor DSP in controller based on ARM, form brand-new dual-core controller based on ARM+DSP, this controller takes into full account the battery effect in this system, the six axle Permanent magnet synchronous servo system that workload in control system is maximum, battery cell monitoring, path is read and is given ARM process, give full play to the comparatively faster feature of ARM data processing speed, and the function such as image data acquiring and storage is given DSP and is completed, thus achieve the division of labor of ARM Yu DSP, therebetween can also carry out communication simultaneously, carry out data exchange in real time and call.
As shown in Figure 4, for the ARM+DSP dual-core controller designed herein, under power-on state, the battery SOC (state-of-charge) of pipe robot is first judged by ARM, if battery power is relatively low, controller can send alarm signal；If battery power is higher, first inputed to ARM by USB interface patrolling and examining the information such as natural gas line length and radius by PC, then pipe robot is placed to pipe detection mouth, pipe robot is introduced into self-locking state, waits that inlet valve F1 opens, after front laser displacement sensor LSF determines that valve is opened, pipe robot enters buffer area to be checked, then inlet valve F1 closes, and inlet valve F2 opens, and pipe robot enters pipe detection region；The image capturing system that pipe robot carries, humidity collection system and pipe damage detection device are all opened, pipe robot according to setting speed along patrolling and examining route fast inspection, ARM adjusts pipe robot permagnetic synchronous motor X according to navigation sensor parameter secondary, the PWM output of permagnetic synchronous motor Y, the real-time servo realizing two permanent magnet synchronous motors controls, DSP is by CCD Real-time Collection duct size information and stores, if had a question to patrolling and examining some position, DSP will be with ARM communication, ARM sends cutoff command makes pipe robot stop, then by DSP secondary image collection and fault localization device, the state of tubing is judged；If pipe robot completes or turns right to patrol and examine subsidiary conduit when again returning to main pipeline, ARM will open power-assisted permagnetic synchronous motor Z and permagnetic synchronous motor R, the PWM output of pipe robot permagnetic synchronous motor X, permagnetic synchronous motor Y, magneto Z and magneto R is adjusted according to navigation sensor parameter and rate request secondary, the real-time servo realizing four permanent magnet synchronous motors controls, in order to reduce energy resource consumption, before returning to main channel, DSP will close the information gathering of CCD；If pipe robot is in the process of patrolling and examining, three-axis gyroscope G1 detects that robot is in climbing and patrols and examines pipeline, ARM again adjusts the PWM output of pipe robot permagnetic synchronous motor X, permagnetic synchronous motor Y, permagnetic synchronous motor Z, permagnetic synchronous motor R, permagnetic synchronous motor U and permagnetic synchronous motor W by opening power-assisted permagnetic synchronous motor Z, permagnetic synchronous motor R, permagnetic synchronous motor U and permagnetic synchronous motor W according to magnetic navigation sensor ME1 parameter and rate request, it is achieved the real-time servo of six permanent magnet synchronous motors controls.
With reference to Fig. 1, Fig. 2, Fig. 3 and Fig. 4, its concrete functional realiey is as follows:
1) after pipe robot power supply opening, battery SOC can be judged by ARM, if battery SOC is relatively low, ARM will forbid that six permanent magnet synchronous motors work, motor input PWM ripple are blocked, and alarm sensor by work and sends alarm signal simultaneously；If battery SOC is normal, pipe robot enters treats duty, waits work order；
2) manually by PC handle, the information such as duct length, radius and pipeline topography are passed to ARM by USB interface, duct size information is anticipated by ARM, then artificial guiding tube pipeline robot is to the starting end of pipe detection, for the walking in closed conduct of the precision navigation pipe robot, ARM first turns on pipe robot inertial navigation based on three-axis gyroscope G1 and three axis accelerometer A1 pattern；
3) pipe robot ARM begins through magnetic navigation sensor ME1 and reads area navigation magnetic stripe, the value of feedback of magnetic navigation sensor ME1 is compared with actual set central value, ARM adjusts permagnetic synchronous motor X according to inclined extent by its internal three Close loop servo control Automatic Program, permagnetic synchronous motor Y, permagnetic synchronous motor Z, permagnetic synchronous motor R, the PWM output of permagnetic synchronous motor U and permagnetic synchronous motor W, pipe robot is made to fast forward through along navigation magnetic stripe, laser displacement sensor LSF in front is by work simultaneously, ARM detects distance D of pipe robot and front inlet valve F1 in real time, then automatic stopping in the range of stably stop, original place self-locking；
4) when front laser displacement sensor LSF detects that inlet valve F1 opens, pipe robot will open automatic cruise mode, the distance that real time record pipe robot is moved by controller ARM along magnetic stripe, after controller determines that pipe robot is completely into region to be checked, inlet valve F1 will be again switched off；After natural gas leakage device detects that inlet valve F1 completely closes, inlet valve F2 will open, now secondary is judged the state of front inlet valve F2 by front laser displacement sensor LSF, determine front valve open errorless after, pipe robot initially enters patrols and examines the internal practical situation of region detection natural gas line；
5) after pipe robot enters detection region, first ARM reads three-axis gyroscope G1 and the value of feedback of three axis accelerometer A1, if by the feedback of three-axis gyroscope G1 and three axis accelerometer A1, ARM finds that pipe robot is in climbing and patrols and examines state, in order to ensure that pipe robot can complete to patrol and examine pipeline task according to command speed, according to system speed and acceleration requirement, first ARM calculates climbing power demand, in conjunction with current of electric, photoelectric encoder, three-axis gyroscope G1 and the feedback of three axis accelerometer A1, adjust pipe robot permagnetic synchronous motor X in real time, permagnetic synchronous motor Y, permagnetic synchronous motor Z, permagnetic synchronous motor R, permagnetic synchronous motor U and the pwm control signal of permagnetic synchronous motor W, make pipe robot meet constant speed and patrol and examine requirements for pipes；nullIn climbing detection process，ARM is according to the feedback of Magnetic Sensor ME1，Read the actual positional information of pipe robot and three-axis gyroscope G1 and the numerical value of three axis accelerometer A1，And compared with setting position，Determine pipe robot off-center distance and the angle of inclination，ARM feeds back in conjunction with current of electric、Photoelectric encoder feeds back、Three axis accelerometer A1 and the feedback of three-axis gyroscope G1，The PWM wave control signal of six permanent magnet synchronous motors is obtained according to its internal three Close loop servo control programs，And adjust pipe robot attitude in real time by drive circuit，Make pipe robot stable operation at magnetic stripe immediate vicinity，The air line distance that ARM real time record robot have run，The distance correction sensor S moment is detected ground and revises mark，Once read correcting device，The positional distance information of ARM record to be as the criterion to revise the positional information of mark，Eliminate the pipe robot site error caused when walking，When by three-axis gyroscope G1 and three axis accelerometer A1, ARM finds that pipe robot is complete climbing action entrance and normally patrols and examines environment，Controller block permagnetic synchronous motor Z、Permagnetic synchronous motor R、Permagnetic synchronous motor U and the pwm control signal of permagnetic synchronous motor W，System is made to enter magneto X and magneto Y driving condition；
6) after pipe robot enters normal detection region, if pipe robot left fork sensor ME2 during main pipeline is patrolled and examined reads ground turning mark, ARM, first according to ground installation correction pipe robot positional information in the duct, eliminates pipe robot walking error；ARM is according to system speed and acceleration requirement, then in conjunction with current of electric, photoelectric encoder and the feedback of three-axis gyroscope G1, adjust pipe robot permagnetic synchronous motor X and the pwm control signal of permagnetic synchronous motor Y in real time, pipe robot is made to stop in distance R, then ARM combines three-axis gyroscope G1, the feedback of three axis accelerometer A1 makes pipe robot rotate in place left 90 degree, and pipe robot enters left turnout and cruises；In the detection process of left turnout, the front laser displacement sensor LSF moment opens and detects doubtful tamper and detects the distance with front terminal；ARM is according to the feedback real time record forward travel distance of front laser displacement sensor LSF, and effective range Nei Shi robot effectively stops before the terminal of distance turnout, pipe robot rotates in place 180 degree under three-axis gyroscope G1, three axis accelerometer A1 control and prepares to return to main channel；Owing to left turnout has been patrolled and examined complete, in order to make pipe robot return quickly in main pipeline, ARM controller opens power-assisted permagnetic synchronous motor Z and permagnetic synchronous motor R, makes system enter and accelerates return state；In whole return course, ARM is according to system speed and acceleration requirement, then in conjunction with current of electric, photoelectric encoder, three axis accelerometer A1 and the feedback of three-axis gyroscope G1, adjust pipe robot permagnetic synchronous motor X, permagnetic synchronous motor Y, permagnetic synchronous motor Z and the pwm control signal of permagnetic synchronous motor R in real time, make pipe robot can speed up and return to main pipeline along landing ground magnetic stripe；Enter after normally patrolling and examining environment, controller block permagnetic synchronous motor Z, the pwm control signal of permagnetic synchronous motor R, make system enter magneto X and magneto Y driving condition；
7) after pipe robot enters normal detection region, if pipe robot right fork sensor ME3 during main pipeline is patrolled and examined reads ground turning mark, first ARM according to ground installation correction robot positional information in the duct, eliminates pipe robot walking error；ARM is according to system speed and acceleration requirement, then in conjunction with current of electric, photoelectric encoder, three axis accelerometer A1 and the feedback of three-axis gyroscope G1, adjust pipe robot permagnetic synchronous motor X and the pwm control signal of motor Y in real time, pipe robot is made to stop in distance R, then ARM combines three-axis gyroscope G1, the feedback of three axis accelerometer A1 makes pipe robot rotate in place right 90 degree, and pipe robot enters right turnout and cruises；In the detection process of right turnout, the front laser displacement sensor LSF moment opens and detects doubtful tamper and detects the distance with front terminal；ARM is according to the feedback real time record forward travel distance of front laser displacement sensor LSF, and making pipe robot effectively stop in effective range before the terminal of distance turnout, pipe robot rotates in place 180 degree under three-axis gyroscope G1, three axis accelerometer A1 control and prepares to return to main channel；Owing to right turnout has been patrolled and examined complete, in order to make pipe robot return quickly in main pipeline, ARM opens power-assisted permagnetic synchronous motor Z and permagnetic synchronous motor R, makes system enter and accelerates return state；In whole return course, ARM is according to system speed and acceleration requirement, then in conjunction with current of electric, photoelectric encoder, three axis accelerometer A1 and the feedback of three-axis gyroscope G1, adjust pipe robot permagnetic synchronous motor X, permagnetic synchronous motor Y, permagnetic synchronous motor Z and the pwm control signal of permagnetic synchronous motor R in real time, make pipe robot can speed up and return to main pipeline along landing ground magnetic stripe；Enter after normally patrolling and examining environment, controller block permagnetic synchronous motor Z, the pwm control signal of permagnetic synchronous motor R, make system enter magneto X and magneto Y driving condition；
8) after pipe robot enters normal detection region, if pipe robot left fork sensor ME2 and right fork sensor ME3 during main pipeline is patrolled and examined reads ground turning mark simultaneously, illustrate that pipe robot enters cross pipeline crossing, ARM, first according to ground installation correction pipe robot positional information in the duct, eliminates pipe robot walking error；ARM is according to system speed and acceleration requirement, then in conjunction with current of electric, photoelectric encoder, three axis accelerometer A1 and the feedback of three-axis gyroscope G1, adjust pipe robot permagnetic synchronous motor X and the pwm control signal of motor Y in real time, make pipe robot enter right turnout to cruise, ARM is according to the feedback real time record forward travel distance of front laser displacement sensor LSF, and effective range Nei Shi robot effectively stops before the terminal of distance turnout, pipe robot rotates in place 180 degree under three-axis gyroscope G1 and three axis accelerometer A1 controls and returns to main channel, ARM opens power-assisted permagnetic synchronous motor Z and permagnetic synchronous motor R, make system enter four-wheel and accelerate return state；nullWhen the feedback of left front laser displacement sensor LSL and right front laser displacement sensor LSR occurs that higher magnitude changes，Illustrate that pipe robot comes into cross mouth position，Now ARM starts to revise the error of pipe robot walking，Ensure that pipe robot positional distance information is correct，When the feedback of left front laser displacement sensor LSL and right front laser displacement sensor LSR occurs that higher magnitude changes again，Illustrate that pipe robot comes into left fork pipeline，Now ARM starts to revise the error of robot ambulation，Ensure that robot location's range information is correct，ARM is according to system speed and acceleration requirement，Then in conjunction with current of electric、Photoelectric encoder、Three axis accelerometer A1 and the feedback of three-axis gyroscope G1，Adjust pipe robot permagnetic synchronous motor X and the pwm control signal of motor Y in real time，Make pipe robot enter left turnout to cruise，ARM is according to the feedback real time record forward travel distance of front laser displacement sensor LSF，And effective range Nei Shi robot effectively stops before the terminal of distance turnout，Pipe robot rotates in place 180 degree under three-axis gyroscope G1 controls and returns to main channel，ARM opens power-assisted permagnetic synchronous motor Z and permagnetic synchronous motor R，Make system enter four-wheel and accelerate return state；When the feedback of left front laser displacement sensor LSL and right front laser displacement sensor LSR occurs that higher magnitude changes, illustrate that robot has returned to cross mouth position, ARM starts to revise the error of pipe robot walking, ensure that pipe robot positional distance information is correct, controller is walked by pipe robot and is steadily parked in crossroad after a segment distance, then controls bottom left at three-axis gyroscope G1 and three axis accelerometer A1 and turn 90 degrees and come back to main pipeline detection region；
null9) pipe robot is in the constant speed motor process of whole detection region，ARM is first according to the feedback of magnetic navigation sensor ME1，Read the positional information that pipe robot is actual、Three axis accelerometer A1 and the numerical value of three-axis gyroscope G1，And compared with setting position，Determine pipe robot off-center distance and the angle of inclination，ARM feeds back in conjunction with current of electric、Photoelectric encoder feeds back、Three axis accelerometer A1 and the feedback of three-axis gyroscope G1，The PWM wave control signal of two permanent magnet synchronous motors is obtained according to its internal three Close loop servo control programs，And adjust pipe robot attitude in real time by drive circuit，Make pipe robot stable operation at magnetic stripe immediate vicinity，The air line distance that ARM real time record robot have run，The distance correction sensor S moment is detected ground and revises mark，Once read correcting device，The positional distance information of ARM record to be as the criterion to revise the positional information of mark，Eliminate the pipe robot site error caused when walking；
null10) if pipe robot in normal motion by external interference or run into magnetic stripe and rupture，Magnetic navigation sensor ME1 cannot read ground magnetic strip information，Now left front laser displacement sensor LSL and right front laser displacement sensor LSR will open work，The two by the distance input that records to ARM controller，Controller obtains off-centered position compared with setting value，ARM controller is fed back in conjunction with current of electric、Photoelectric encoder feeds back、Three axis accelerometer A1 and the feedback of three-axis gyroscope G1，The pwm control signal of two permanent magnet synchronous motors is obtained according to its internal three Close loop servo control programs，And adjust pipe robot attitude in real time by drive circuit，Make pipe robot stable operation near pipeline planar central，The air line distance that ARM real time record robot have run，The distance correction sensor S moment is detected ground and revises mark，Once read correcting device，ARM record position range information to be as the criterion to revise the positional information of mark，Eliminate site error during robot ambulation；
null11) in pipe robot motor process，The CCD moment in image capturing system opens，The image that DSP real-time storage CCD collect，DSP compares the standard pipe information of the image gathered with setting，If there is bigger gap in the two comparison result，In order to prevent maloperation，DSP sends secondary interrupt requests immediately，ARM makes an immediate response DSP interrupt，And allow pipe robot stop，DSP controls CCD secondary acquisition duct size information，DSP stores this image for bis-times and compares with standard pipe information and obtain latest result and store，ARM opens permagnetic synchronous motor X、Permagnetic synchronous motor Y、Permagnetic synchronous motor Z and permagnetic synchronous motor R makes pipe robot be in boost phase，ARM block permagnetic synchronous motor Z and the pwm control signal of permagnetic synchronous motor R after reaching setting speed，Pipe robot is made to be in the two axle driving conditions of permagnetic synchronous motor X and permagnetic synchronous motor Y and continue to move ahead along pipeline navigation marker；
null12) in pipe robot motor process，The humidity sensor moment in humidity collection system opens，The humidity information that ARM real-time storage humidity sensor collects，And compare with the standard pipe humidity information set，If there is bigger gap in the two comparison result，In order to prevent maloperation，ARM is by internal three Close loop servo control program active accommodation two permanent magnet synchronous motors X and the pwm control signals of motor Y，The speed reducing pipe robot makes it at a slow speed by the region that has a question，ARM sends interrupt requests to DSP immediately simultaneously，DSP make an immediate response ARM interrupt，And strengthen the comparison of aqueous water in CCD pipeline collection information，DSP stores the doubtful image of aqueous water and the actual position information in this region，Then ARM control pipe robot continues to move ahead，After by suspicious region，ARM opens permagnetic synchronous motor X、Permagnetic synchronous motor Y、Permagnetic synchronous motor Z and permagnetic synchronous motor R makes robot be in boost phase，ARM block permagnetic synchronous motor Z and the pwm control signal of permagnetic synchronous motor R after reaching setting speed，Pipe robot is made to be in the two axle driving conditions of permagnetic synchronous motor X and permagnetic synchronous motor Y and continue to move ahead along pipeline navigation marker；
null13) in pipe robot motor process，The front laser displacement sensor LSF moment opens，ARM processes anterior position information in real time，When having anomalies in conduit running front，Front laser displacement sensor LSF probe value will appear from exception，ARM can be by internal three Close loop servo control program active accommodation two permanent magnet synchronous motors X and the pwm control signals of motor Y，The speed reducing pipe robot makes it drive towards at a slow speed barrier，ARM sends interrupt requests to DSP immediately simultaneously，DSP make an immediate response ARM interrupt，And strengthen the comparison of tamper in CCD pipeline collection information，DSP stores the doubtful image of blocking and the actual position information in this region，After confirming to be the doubtful thing of blocking，Owing to this pipe robot designed is many wheel crawlers structure，ARM controls pipe robot and opens permagnetic synchronous motor X simultaneously、Permagnetic synchronous motor Y、Permagnetic synchronous motor Z、Permagnetic synchronous motor R、Permagnetic synchronous motor U、Permagnetic synchronous motor W is passed to clear the jumps and continue to move ahead，After by suspicious region，ARM controller closes permagnetic synchronous motor Z、Permagnetic synchronous motor R、Permagnetic synchronous motor U and permagnetic synchronous motor W drives signal，Pipe robot is made to be in the two axle driving conditions of permagnetic synchronous motor X and permagnetic synchronous motor Y and continue to move ahead along pipeline navigation marker；
null14) in pipe robot motor process，Pipeline inspection sensor based on Hall effect is by work，When conduit running front probe value occurs abnormal，ARM can be by internal three Close loop servo control program active accommodation two permanent magnet synchronous motors X and the pwm control signals of motor Y，The speed reducing pipe robot makes it drive towards at a slow speed pipe damage suspicious region，ARM sends interrupt requests to DSP immediately simultaneously，DSP make an immediate response ARM interrupt，And strengthen the comparison of pipe damage in CCD pipeline collection information，If DSP finds that doubtful pipe damage image will store this image，If DSP does not finds pipe damage image，Will record suspicious lesion actual position information，And labelling outer damage，After by suspicious region，ARM opens permagnetic synchronous motor X、Permagnetic synchronous motor Y、Permagnetic synchronous motor Z and permagnetic synchronous motor R makes robot be in boost phase，ARM controller block permagnetic synchronous motor Z and the pwm control signal of permagnetic synchronous motor R after reaching setting speed，Pipe robot is made to be in the two axle driving conditions of permagnetic synchronous motor X and permagnetic synchronous motor Y and continue to move ahead along pipeline navigation marker；
15) in pipe robot motor process, ARM can store in the moment the pipeline location of process or the reference point of process, and it is calculated relatively next distance to be run for reference point pipe robot permagnetic synchronous motor X and permagnetic synchronous motor Y according to these range informations by ARM, speed and acceleration, ARM feeds back in conjunction with current of electric, photoelectric encoder feeds back, ground magnetic stripe, three axis accelerometer A1 and the feedback of three-axis gyroscope G1, the pwm control signal of two permanent magnet synchronous motors is obtained according to its internal three Close loop servo control programs, pipe robot is made quickly to move ahead according to setting speed；
16) if pipe robot detective distance solves and occurs that endless loop will send interrupt requests to ARM in motor process, ARM can be to interrupting doing very first time response, ARM will forbid that pipe robot is at Information revision of adjusting the distance, ARM is according to pipeline magnetic bar navigation mark feedback and left front laser displacement sensor LSL and the feedback of right front laser displacement sensor LSR, adjust permanent-magnet synchronous X-motor and the speed of permagnetic synchronous motor Y in real time, ensure that pipe robot slowly rolls away from towards outlet, and abandon all collecting works；
17) photoelectric encoder being contained on permagnetic synchronous motor X, permagnetic synchronous motor Y, permagnetic synchronous motor Z, permagnetic synchronous motor R, permagnetic synchronous motor U, permagnetic synchronous motor W can export its position signalling A and position signalling B, position signalling A pulse and the B pulsed logic state of photoelectric encoder often change once, and the location register in ARM can add 1 according to the traffic direction of motor or subtract 1；When the position signalling A pulse of photoelectric encoder and B pulse and Z pulse are low level simultaneously, just produce an INDEX signal to ARM internal register, the absolute position of record permagnetic synchronous motor, is then convert into pipe robot particular location in pipe detection system；
18) pipe robot calculates battery SOC at running ARM in real time according to its internal algorithm, if controller finds when power supply energy is relatively low, ARM can be with DSP communication, and close ccd image collecting work and image storage work by DSP, and the PWM output of permagnetic synchronous motor X and permagnetic synchronous motor Y is adjusted by its internal three closed loop servo-control system programs, pipe robot is made to drive towards exit with slower speed, it is ensured that pipe robot can arrive exit smoothly；
19) during pipe robot is patrolled and examined, if there is pulsation in the torque that servo controller detects permagnetic synchronous motor, the six axle permagnetic synchronous motors used due to the present invention control to be all based on vector controlled, therefore controller can be easy to compensate this interference, decreases the motor torque impact on crusing robot motor process；
null20) during pipe robot drives towards outlet valve，The front laser displacement sensor LSF that it carries can detect the displacement between itself and valve in the moment，When determining that outlet valve F3 is in open mode，Pipe robot will open cruise mode，The distance that controller ARM real time record pipe robot has moved along magnetic stripe，After determining that robot is completely into exporting region to be checked，Outlet valve F3 will close，Natural gas aspirator will aspirate the natural gas situation in region to be checked，When natural gas leakage device be not detected by region to be checked have natural gas to remain time，Outlet valve F4 will open，Now secondary is judged the state of front exit valve F4 by front laser displacement sensor LSF，Determine front valve open errorless after，Pipe robot rolls detection pipeline away from，Return to detect terminal，Wait next sense command.
The invention have the advantages that:
1: in pipe robot motor process, take into full account battery effect in this system, all its state is being monitored and computing based on the ARM+DSP dual-core controller moment, both the generation of the lithium ion battery overaging phenomenon caused due to heavy-current discharge had been avoided, can effectively predict again the energy of battery, patrol and examine to provide for pipe robot and be effectively ensured；
2: processed pipe robot six permagnetic synchronous motors SERVO CONTROL based on vector controlled by ARM and power adjusts, make to control fairly simple, substantially increase arithmetic speed, solve scm software and run slower bottleneck, shorten the construction cycle short, and program transportability ability is strong；
3: the present invention realizes full SMD components material substantially, it is achieved that veneer controls, and not only saves panel and takes up room, and beneficially the alleviating of pipe robot volume and weight；
4: present tube pipeline robot uses permagnetic synchronous motor to instead of in conventional machines people's system conventional motor, direct current generator, DC brushless motor, due to its small volume, efficiency is higher so that pipe robot volume can reduce further, and energy utilization rate is greatly improved；
5: owing to using permagnetic synchronous motor based on vector controlled so that speed adjustable range is relatively wide, contrast of regulating speed is steady, even if the pulsating torque at low-speed stage motor is the least, the dynamic property of beneficially raising system；
6: owing to this controller uses DSP to process figure collection and the mass data of storage and algorithm, ARM being freed from hard work amount, effectively prevent " race flies " of program, capacity of resisting disturbance is greatly enhanced；
7: in the controlling, ARM controller can adjust the six servo-controlled pid parameters of axle permagnetic synchronous motor according to robot periphery ruuning situation in good time, it is achieved segmentation P, PD, PID control and nonlinear PID controller, make dynamic performance be greatly improved；
8: equipped with humidity collection system on pipe robot, the humidity abnormal area in tunnel can be detected easily, can effectively find the existence of pipeline water droplet；
9: equipped with image capturing system on pipe robot, the abnormal conditions such as pipe interior corrosive pipeline can be detected easily, and effectively store its image；
10: image based on DSP storage function makes pipe robot facilitate staff to read after completing task to patrol and examine as a result, it is possible to read pipeline corrupted information and particular location, then on-call maintenance from storage result easily；
11: equipped with fault localization acquisition system based on Hall effect on pipe robot, can detect the abnormal conditions such as pipeline external corrosive pipeline and damage easily, be conducive to pinpointing the problems early pipeline；
12: the addition of three-axis gyroscope G1 and three axis accelerometer A1 can effectively detect the angle of inclination of pipe robot deviation pipeline plane, this angle can be adjusted, effectively controls the attitude of pipe robot by ARM in the moment；
13: the addition of three-axis gyroscope G1 and three axis accelerometer A1 can effectively detect angle during pipe robot climbing, this angle can be detected in the moment by ARM, and effectively unlatching assist motor patrols and examines tool acclive pipeline offer power demand for robot；
14: turning navigation marker in ground coordinates left and right sides front laser displacement sensor to make system can easily read duct size information, the beneficially pipe robot location in complicated pipeline and the elimination of site error；
15: angle when pipe robot is turned can be effectively measured in the addition of three-axis gyroscope G1 and three axis accelerometer A1, improve reliable basis for robot turning navigation in complicated pipeline；
16: the addition of magnetic navigation sensor and laser displacement sensor makes system navigation have certain redundancy, greatly improve the stability of pipe robot, and make this pipe robot can patrol and examine non-equant complicated pipeline；
The addition of 17: four power assist motors makes the power performance adjustment of system have optional so that pipe robot can meet the power demand under different operating mode, and the adaptation ability of pipe robot is strengthened further；
The 18:ARM moment dynamically adjusts the power of each motor according to duty requirements, makes each motor all be operated under optimum condition, is conducive to putting forward high-octane utilization rate；
19: the addition of Timing Belt technology makes mechanical assistance wheel all have power, and the addition of crawler belt simultaneously effectively increases the area that pipe robot contacts in the duct, makes pipe robot can improve environmental suitability effectively by having obstruction object area；
20: three axis accelerometer, speed and the direction skew that pipe robot occurs can be effectively measured in the addition of three-axis gyroscope G1 and three axis accelerometer A1 at line navigation, improves reliable basis for robot inertial navigation in complicated pipeline.
To sum up tell, the dinuclear six axle crawler type natural gas line robot control system of the present invention, in order to the utilization rate improving the energy and the permagnetic synchronous motor reducing robot volume, native system efficiency and power density the highest instead of the motor such as motor, direct current generator；In order to improve system acceleration request, system is that these extraordinary operating modes add two lower-powered permagnetic synchronous motors and play acceleration 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 permagnetic synchronous motors and play climbing power-assisted effect, increases system dynamic characteristic；In order to improve arithmetic speed, ensure stability and the reliability of automatic pipeline robot system, the present invention introduces digital signal processor DSP in controller based on ARM, form brand-new dual-core controller based on ARM+DSP, this controller takes into full account the battery effect in this system, the six axle Permanent magnet synchronous servo system that workload in control system is maximum, battery cell monitoring, path is read and is given ARM process, give full play to the comparatively faster feature of ARM data processing speed, and the function such as image data acquiring and storage is given DSP and is completed, thus achieve the division of labor of ARM Yu DSP, therebetween can also carry out communication simultaneously, carry out data exchange in real time and call.
The foregoing is only embodiments of the invention; not thereby the scope of the claims of the present invention is limited; every equivalent structure utilizing description of the invention content to be made or equivalence flow process conversion; or directly or indirectly it is used in other relevant technical field, the most in like manner it is included in the scope of patent protection of the present invention.
Claims (9)
- null1. a dinuclear six axle crawler type natural gas line robot control system，It is characterized in that，Including battery、Controller、Permagnetic synchronous motor X、Permagnetic synchronous motor Y、Permagnetic synchronous motor Z、Permagnetic synchronous motor R、Permagnetic synchronous motor U、Permagnetic synchronous motor W、Based on ccd image collecting unit、Image storage unit、Humidity collection unit、Based on Hall effect pipeline inspection collecting unit and pipe robot，Described battery is provided separately the controller described in electric current driving，Described controller uses dual-core controller，Including ARM and DSP，Described ARM and DSP carries out communication connection，Described ARM sends the first control signal respectively、Second control signal、3rd control signal、4th control signal、5th control signal and the 6th control signal，By the first described control signal、Second control signal、3rd control signal、4th control signal、5th control signal and the 6th control signal control described permagnetic synchronous motor X respectively、Permagnetic synchronous motor Y、Permagnetic synchronous motor Z、Permagnetic synchronous motor R、The motion of pipe robot is controlled again after the signal syntheses of permagnetic synchronous motor U and permagnetic synchronous motor W，Described is all connected with DSP communication based on ccd image collecting unit and image storage unit，Described humidity collection unit and being all connected with ARM communication based on Hall effect pipeline inspection collecting unit.
- Natural gas line robot control system the most according to claim 1, it is characterised in that described battery uses lithium ion battery.
- Natural gas line robot control system the most according to claim 1, it is characterized in that, described the first control signal, the second control signal, the 3rd control signal, the 4th control signal, the 5th control signal and the 6th control signal are PWM wave control signal.
- Natural gas line robot control system the most according to claim 1, it is characterised in that described ARM uses STM32F746；Described DSP uses TMS320F2812.
- nullNatural gas line robot control system the most according to claim 1，It is characterized in that，Described pipe robot includes robot housing、Front laser displacement sensor、Magnetic navigation sensor、Left fork sensor、Right fork sensor、Three-axis gyroscope、Three axis accelerometer and Timing Belt，Described front laser displacement sensor is separately mounted to the front end of robot housing，Described left fork sensor and right fork sensor lay respectively at the two ends, left and right below the laser displacement sensor of front，Described Timing Belt be separately positioned on robot housing limit, the left and right sides and respectively with permagnetic synchronous motor X、Permagnetic synchronous motor Y、Permagnetic synchronous motor Z、Permagnetic synchronous motor R、Permagnetic synchronous motor U and permagnetic synchronous motor W connects，Described magnetic navigation sensor、Three-axis gyroscope and three axis accelerometer are separately positioned on robot housing and between permagnetic synchronous motor X and permagnetic synchronous motor Y.
- Natural gas line robot control system the most according to claim 5, it is characterized in that, described front laser displacement sensor includes front laser displacement sensor, left front laser displacement sensor and right front laser displacement sensor, described front laser displacement sensor is arranged on the most angularly disposed two ends, left and right at robot housing dead ahead of the centre position of robot housing dead ahead, described left front laser displacement sensor and right front laser displacement sensor.
- Natural gas line robot control system the most according to claim 5, it is characterised in that described Timing Belt uses six axle eight wheel drive mode, is provided with the closed ring crawler belt of equidistant tooth by an inner peripheral surface and corresponding belt wheel is formed.
- Natural gas line robot control system the most according to claim 1, it is characterized in that, described natural gas line robot control system is additionally provided with host computer procedure, motion control program, detect based on DSP image acquisition and based on Hall effect pipe damage, described host computer procedure also includes that pipeline reads, location positioning and power information, described motion control program also includes based on ARM six axle permagnetic synchronous motor SERVO CONTROL, data storage and I/O control, described it is connected with based on ccd image collecting unit with based on Hall effect pipeline inspection collecting unit communication respectively based on DSP image acquisition with based on the detection of Hall effect pipe damage.
- Natural gas line robot control system the most according to claim 1, it is characterized in that, described natural gas line robot control system also includes that photoelectric encoder, described photoelectric encoder are separately mounted on permagnetic synchronous motor X, permagnetic synchronous motor Y, permagnetic synchronous motor Z, permagnetic synchronous motor R, permagnetic synchronous motor U and permagnetic synchronous motor W.
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