Wireless transmission three-core ten-axis crawler-type high-speed natural gas pipeline robot control system

Abstract

The invention discloses a wireless transmission three-nuclear and ten-shaft track type high-speed natural gas pipe robot control system. A controller adopts a three-nuclear controller, and includes an ARM, a FPGA and a DSP; and the ARM, the FPGA and the DSP are communicated through a wireless device. Through the mode, the wireless transmission three-nuclear and ten-shaft track type high-speed natural gas pipe robot control system autonomously researches and develops a brand new three-nuclear control mode based on ARM+FPGA+DSP. The controller uses the ARM as a processor core; the FPGA realizes servo control of an eight-shaft permanent magnet synchronous motor and a two-shaft direct current motor; the DSP realizes real-time processing of image acquiring digital signals and communication with the ARM; the ARM is liberated from complex work; the real-time position acquirement of an eight-shaft three-phase permanent magnet synchronous motor is realized; the interruption of the DSP is responded; and the data communication and the real-time signal storage are realized.

Description

technical field [0001] The invention relates to the field of large-scale pipeline robots, in particular to a wireless transmission three-core ten-axis crawler-type high-speed 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 t...

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 controllers is weak. The pipeline robots cannot quickly process the real-time environment, and the walking speed of the robots is low, and the inspection pipeline speed is slow and stable. poor sex;

[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 Complex 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; Although the dedicated motion control chip can reduce the processing time of the processor, its internal PID adjustment can only meet a single requirement, and cannot meet the application of pipeline robots in complex environments;

[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. The PID parameters of the robot will cause the robot to tilt when walking, and sometimes even roll over, causing the task 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 by analyzing the stored collected images, and the real-time situation identification is poor;

[0023] (9) For the pipeline robot driven by six-wheel power, the power adjustment ability of the robot is improved compared with the two-wheel and four-wheel power drive, which can meet the acceleration and climbing functions of the pipeline robot under simple working conditions. When there is a pipeline with a certain slope or a large obstacle, the required power is relatively large, and the six-wheel power will show the weakness of insufficient power, which will reduce the dynamic performance of the system;

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