Wheeled Robot Control System For In-situ Exploration Of Loess Geology

Under the background of geological hazards in loess,loess geological information accurate and effective in situ detection become geological research on loess slope structure and intensity change is the key,the traditional test methods and in situ detection instrument is generally indirect test plan,it is difficult to control location and the intensity of structural plane and potential slide surface of the key parameters in situ,to illustrate the strength change rule,for the study of loess change rule,degradation process and mechanism of the mutual feedback and prevent the happening of the sliding slope disaster,research and development hole robot collaborative detection system for the loess geology in situ information become the preferred solution.Loess hole robot is mainly facing the loess collapsibility hole diameter changes,and the subsidence condition,for the loess hole diameter changes,based on pressure feedback is adopted in the system of the total quantity type PID control algorithm for real-time adjustment of variable diameter expansion,by measuring the variable diameter agencies connecting rod bearing size calculation of driving wheel and the hole wall of pre-tightening force,judge whether meet the requirements of the prestressing force of robot moving,through the feedback regulation change step motor,change the size of the adaptive pre-tightening force so as to guarantee the normal work of the robot.For working condition of collapse,the angle-speed double closed-loop incremental PID control algorithm for real-time adjustment of three groups of driving wheel walking speed,Angle of inner ring according to the change of the robot posture adjusting speed of three groups of gear motor,the robot have a certain capacity under the condition of the collapse,the outer ring is guarantee without any change in the robot posture,robot run three groups of deceleration motor can synchronization,obstacle capability,and achieve better performance of traffic.In the case of loess subsidence,the cooperative control strategy of multi-robot was developed.Through the analysis of the control function of loess hole robot,the hardware system scheme design and circuit design are carried out,and the software programming design of the lower computer control system is completed.Visual Studio 2015 platform and Microsoft SQL Server 2014 are used to develop the upper computer measurement and control platform,so as to realize the remote monitoring and data storage of the robot motion state.This paper resistive strain gauge measuring bending moment is used to sense the hole wall,prestressing force between driving wheel and USES MPU6050 Angle sensor and encoder of double closed loop control,adopt the way of timing interrupt cyclical combined with PID controller to adjust motor motion state,realize the hole diameter and working condition of collapse of adaptive,for attitude control to variable diameter pipe robot and provides a good reference.