Research On Controller Of The "Through Cordage And Inspecting In The City's Main Drainage Pipelines" Robot

As a special type of working robot, "Through cordage in the city drainage pipelines" robot has almost not been used in this areas. The "Through cordage in the city drainage pipelines" robot researched in this paper is supported by Harbin Technology Fund and it has a wide application value.At first, the author systematically overviews the developing situation of the pipeline robot and the city drainage pipeline cleaning technology, and puts forward the structure scheme which adopts double crawler movement for the robot. The paper also described the structure's design of each important section.The paper studies and designs the circuit driving of the DC motor, and the communication circuit based on the proxy of EIA 485, and the hand controller, and the sensor data input circuit etc. The author develop the embedded controller software based the advanced language-C and the operation system- μC/OS II, and also the ASIC design based on VHDL.In order to meet the requirement of trace and posture controlling when the robot works in complex and badly environment, the paper pup forward a new advanced PED to design the controller and ensure the robot to have well trace and posture adjusting ability.At last, we have done some experiments on the robot. Test results indicate that the controller have a good ability and the robot has the characteristic of good holding load, smooth and steady movement, adjustable speed, strong anti-topple capability and good deviation-rectifying. Performance index of the robot is in accordance with the design specifications.In conclusions, the development of the pipeline robot opens up a new domain for the solution of the dredge of the city's blocked drainage pipelines.