| With the development of robot technology, the application of small ground mobile robots in explosives disposal, anti-terrorism, fire, pipeline testing is more and more extensive. The robot control system has become one of the hot areas of scientific research recently. Many research institutes are strengthening its research efforts.This issue stems from an actual project - "cable tunnel detection robot system", which is a project for China Power. Its significance lies in achieving automation of fire and hazardous gas monitoring in cable tunnel in the type of applying robot.This issue focuses on cable tunnel detection robot control system, the main tasks include the following:First, the robot control system framework design; the robot hardware design, including the robot power supply system, the motion control system based on TMS320LF2407-DSP, Ultrasonic obstacle avoidance systems, multi-sensor data acquisition system, video images system, wireless transmission system.Secondly, study the behavior control to achieve robot walks independently, and study the tunnel path navigation using image processing techniques.Finally, develop wireless communications systems; use Delphi language to design man-machine interface and PC control software, and develop tunnel condition rating system based on multi-sensor data fusion technology.Experiment proved that this robot control system is stable and reliable. In the mode of wireless remote operation, obstacle avoidance, obstacle crossing, and other functions can be achieved. Simple autonomy walking and obstacle crossing also can be achieved. And tunnel condition rating system is satisfactory as well. The overall function of robot achieved the expected design goal. |
PDF Full Text Request