The Design And Implementation Of Pipeline Inspection Robot Control System

As one of the most important infrastructures of the towns, the underground pipelines bring great convenience to human life. However, due to the environmental corrosion, materials aging, construction quality and some other reasons, many of the pipelines have damage, perforation and even rupture, which may cause huge economic losses and serious environmental pollution. Owing to the particularity of the pipe environment, it is unrealistic to operate manually by entering into the pipeline. Pipe robot can carry various operating instruments into the pipe for detecting, maintaining and repairing, which is an efficient solution of pipeline problems. Therefore, there is great economic significance and practical value to explore and study the pipe robot technology.The research on the control system of a typical pipe detection robot is carried out in this dissertation. Firstly, according to the working characteristics and project requirements of pipe robot, the three-layer structure model of target control system is proposed, and the key techniques of the control system are analyzed. Then, in accordance with the three-layer structure model, this dissertation presents the hardware structure of target control system, and makes a detailed discussion about the PCB design of the circuit board on function layer and the interface design of main peripheral modules. In additon, according to the communication features of pipe robot, a mechanism for instruction interaction is designed, which is reliable and efficient. Meanwhile, referring to the mechanical characteristics of target robot, this dissertation makes a study of the motion control strategy, and analyzes the realization principle of self-balancing strategy and radiation centering strategy with emphasis. On this basis, this dissertation detailedly explains the programming process in each layer. Finally, this dissertation conducts a test on the key modules of the control system, and the drive capability of target control system is analyzed theoretically.Based on the elaboration of the structure and design of target control system, the functionality of the control system is tested and analyzed in the dissertation. The results show that each module of the control system has good performance, and the communication is stabile as well, which can meet the requirements of reliability, scalability and practicality.