摘要
针对石油、天然气、化工等管道的故障检测与定位,研制了一套带有可动摄像头的高性价比的轮式管道机器人。系统以STC12LE5A16S2单片机为处理核心,以基于PELCO-D协议的三维云台控制键盘作为操控单元、以RS485作为通信协议,以SM-S4315R舵机为动力源,采用输出比较的算法产生高分辨率的PWM控制脉冲,提高了舵机控制的平滑性和连续性;以基于查表匹配结合分段匹配的差速转向策略实现机器人的万向协调运动的控制,提高了系统操控的便捷性和运行的稳定性。样机的测试表明,管道机器人操控灵活、运行稳定、携带方便,在小型管道机器人领域具有较大的应用价值和推广空间。
A set of cost-effective wheeled pipeline robot with movable camera is designed and developed for fault detection and location of the pipes of the oil,gas,and chemical industryThe system is organized by taking STC12LE5At6S2 microcontroller as processing core,three-dimensional PTZ control keyboard based on PELCO-D protocol as a manipulation unit RS485 as communication protocol and SM-S4315R Servo as power source ln order to improve the smoothness and continuity of the steering gear control,algorithm of output comparing is used to produce high-resolution PWM control pulses ln order to improve the running stability and convenience of system control,a differential steering strategy based on table look-up matches with the segmentation matching is raised to achieve universal coordinated motion control of pipeline robot
出处
《工业控制计算机》
2013年第6期58-60,共3页
Industrial Control Computer
