| This paper introduces a design of control system for crawler pipe robot to detect the pipeline notch size with high precision.Long distance notch size detection and data matching is realized by the robot in a heavily oiled and special configuration of pipeline environment.On the basis of the analysis of the research status of the pipeline robot,rubber tribology and the tracer localization technique,this paper tries to ensure the accuracy of robot pose,data acquisition precision and position accuracy.The robot dynamics and mechanical structure,hardware circuit system,software control system and tracing and positioning system are studied in this paper to achieve high notch accuracy measurement of the pipeline.The main work of pipeline robot control system design is as follows.1)The mechanical structure of pipeline detection robot prototype is improved.The tribological behavior of the rubber track contact of the robot is studied,and the friction model of the rubber steel under oil lubrication is proposed.The dynamic modeling of the pipeline detection robot is carried out and the pose accuracy of the robot is simulated by ADAMS.2)The hardware circuit of the pipeline detection robot is designed.3)The upper computer software and lower computer program as well as the CAN bus communication program is designed.This issue also describes the robot localization method of absolute position reference based on multi-sensor data fusion.4)The performance of the pipeline detection robot is tested and the test results are analyzed. |
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