Wireless transmission quad-core eight-axis crawler fast natural gas pipeline robot control system

Abstract

The invention discloses a wireless transmission four-core eight-axis crawler type rapid natural gas pipeline robot control system. The controller adopts a four-core controller, including ARM, IRMCK203, DSP and MC51113. The ARM, IRMCK203, DSP and The MC51113 communicates via a wireless device. Through the above method, the present invention independently developed a new quad-core control mode based on ARM+IRMCK203+DSP+MC51113. The controller uses ARM as the processor core, and IRMCK203 realizes the servo control of the six-axis permanent magnet synchronous motor, and DSP realizes digital image acquisition. Real-time signal processing and cooperation with MC51113 realize servo control of two-axis DC motors, freeing ARM from complex work and responding to DSP interrupts to achieve data communication and storage of real-time signals.

Description

technical field [0001] The invention relates to the field of large-scale pipeline robots, in particular to a wireless transmission four-core eight-axis crawler type fast natural gas pipeline robot control system. Background technique [0002] The transmission medium of natural gas pipelines is flammable and explosive substances. The impurities such as hydrogen sulfide, carbon dioxide, free water, and dust contained in the medium make the laid pipelines in internal and external corrosion conditions, and sometimes even internal blockages occur. Coupled with factors such as environmental, geological, meteorological and hydrological disasters, pipe material and design defects, operational errors and even man-made sabotage, the safety of pipelines is threatened by many factors. [0003] On June 4, 1989, a gas pipeline in the former Soviet Union leaked. When two opposite trains passed on the railway line 1 km away from the leak point, the sparks generated by the friction of the tr...

AI Technical Summary

Problems solved by technology

[0015] (1) Affected by the control technology, all pipeline robots use single-core controllers. The computing power of the controller is weak, and the pipeline robots cannot quickly process the real-time environment. poor;

[0016] (2) For the energy carried by the pipeline robot driven by the motor, rechargeable batteries are used. These batteries are all connected in series and parallel to form a high-voltage and high-current energy system. There is no protection circuit, and the service life is short. Abnormalities often occur and even interfere with the work of pipeline robots;

[0017] (3) For pipeline robots driven by stepping motors or DC motors, due to the influence of the motor's own efficiency, the energy utilization rate is low, resulting in a short moving distance of the robot in the pipeline;

[0018] (4) For pipeline robots driven by stepping motors or DC motors, affected by the power density of the motors, due to the large volume of the motors used, the robot is eventually larger in size and heavier in weight, which seriously affects The scope of use of pipeline robots;

[0019] (5) Regardless of whether it is based on vector control or based on rotor field oriented control algorithm servo control of permanent magnet synchronous motors, in addition to multiple coordinate transformations and inverse transformations, it is also necessary to perform closed-loop control of current and speed, thus achieving comparison Complexity and high real-time requirements; using DSP technology or ARM technology and implementing it in software, the system development cycle is relatively long, and the algorithm takes up a lot of processor time, which affects the processing function of DSP or ARM;

[0020] (6) The self-adjustment ability of the pipeline robot's motion state is poor. Affected by the control method, the robot's attitude parameter recognition in the pipeline is poor. Sometimes the car will overturn, causing the mission to fail;

[0021] (7) For blocked natural gas pipelines, ordinary wheeled robots have a small contact area with the ground, and their ability to overcome obstacles is weak, and sometimes they cannot even overcome obstacles, and ultimately cannot complete the task of inspection;

[0022] (8) At present, most of the pipeline robots have poor recognition of the environment in the pipeline, and they analyze the pipeline situation through the collected images stored in the later analysis, and the real-time situation identification is poor;

[0023] (9) For the pipeline robot driven by four-wheel power, the power adjustment ability of the robot is improved compared with the two-wheel power drive, which can meet the acceleration of the pipeline robot under simple working conditions, but when encountering a pipeline with a certain slope, the demand The power is relatively large. Under such conditions, the required power cannot be met, which reduces the dynamic performance of the system;

[0024] (10) The measured value of a single three-axis gyroscope will drift with time. After a long time of work, the three-axis gyroscope will accumulate additional errors, which will eventually cause the pipeline robot to lose its position in the pipeline.

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