Research On Dragon Of Puncturing Mud Robot's Examine And Control System

"Dragon of puncturing mud" robot is a kind of device that can walk by itself in the mud. It is can following the track which is scheduled prepunch to enter into the mud, changes the direction and correction deviation real-time, at last comes out of the mud from the destined spot finally. So under the mud it can mainly used to pave PE or PVC pipe, cable and optical fiber cable, etc.This paper takes the hydraulic "Dragon of puncturing mud" robot's control and detection system as the research object. Through the study to the principle of small diameter underground pipe equipment at home and abroad, the hydraulic system general scheme of "Dragon of puncturing mud" robot has been designed. the author puts forward hydraulic impacting and steering system that is controlled by PWM high-speed on-off value and steering system hydraulic self-lock scheme. While analysis steering axiom of the robot, which is offers theory foundation for structure design of the steering mechanism.According to the working environment of the robot, the author puts forward control strategy which is a ambipolar control system by PC computer and chip microcomputer, meanwhile position and attitude detection strategy has been designed by digital compass and distance sensor. Control system hardware including the high-speed on-off value drive circuit, the serial communication circuit, the A/D converting circuit, etc. The author designs the chip microcomputer software by modularization method, and study PC computer software preliminarily. Parameter selfsetting fuzzy PID controller has been designed according to the robot nonline arity feature. Following computer emulation outcome indicates the system has adequate adaptability and dynamic performance.Finally, the paper has established the"Dragon of puncturing mud" robot experiment system, carried on the robot's dash, steering, position and attitude detection experiment, confirmed the feasibility of the design, The result indicates that the robot can be ensured to walk according the scheduled track under the mud and complete the task of drilling.