Design Of Checking Robot Applied In Tunnel Drainage Ditch

In China’s urban supporting facilities and industrial facilities,drainage ditch/pipe can be seen everywhere,a wide range of uses.In order to ensure the normal operation of the facility,the maintenance of the trench pipe has become an indispensable work.Due to the particularity of the environment,the detection of drainage ditch/pipeline requires the participation of multiple people and the coordination of multiple units,which is time-consuming and laborious.With the development of science and technology,it has become a new research direction to apply robot technology to the detection of tunnel drainage ditch,which has great significance.First of all,according to the analysis of the requirements of the trench detection robot,the system composition is determined,and the structure design of each component of the trench detection robot is carried out by Solid Works.For example,in the part of the crawler,the moving mode,driving mode and transmission structure of the robot are established,and the motor selection scheme is obtained through mechanical analysis.In addition,the structure of the cradle head and cable car are designed.In the design process,the waterproof problem of the tractor and the cradle head system is fully considered.After the structural design,the ADAMS dynamic simulation software is used to study the influence of the driving speed on the slip rate of the trench robot when it works in the silt environment,which provides data support for the robot’s driving anti-skid in the following paper.Secondly,the robot control system of tunnel drainage trench is designed according to the functional requirements.A simple control panel is designed as a human-computer interface,and an industrial control PC system is built for displaying and storing the video images of trench detection.The communication system between the upper computer,robot body(crawler and pan-head system)and cable car is designed and realized.In the lower computer,a control system with STM32 as the main controller and motor driver as the auxiliary is established to realize the basic functions of the crawler walking,lifting and lifting of the cradle head,camera rotation,LED lighting,data acquisition and so on.Finally,the mathematical model of the brushless DC motor was established.According to the results of ADAMS simulation,the slip rate S =20% was taken as the control target,and the cable car releasing speed was taken as the feedback actual speed.The slip rate controller based on fuzzy PID control algorithm was constructed.