一种分段式多CPU机电结合管道机器人系统的设计

Design of a Segmented Multi CPU Electromechanical Combined Pipe Robot System

本设计由柔性分段式结构、多CPU无线管道探测机器人和C#人机交互控制系统实现。机器人机械结构采用分段式设计,使其能够在复杂管道环境下灵活作业;电控设计采用主从式CPU控制,可实现多任务并行操作,且成本低廉。机器人携带摄像头及各种环境检测传感器,对管道内部现场状况进行探测,将探测数据无线传回地面PC终端控制系统。系统对传回数据进行分析处理,使工作人员了解管道内部状况并将分析结果保存备案。然后,通过PC控制界面向下发送控制协议,使机器人执行下一步动作展开维修工作,实现人机交互。

This design is based on flexible segmented structure, multi CPU wireless pipeline detection robot, and C# human-computer interaction control system. The mechanical structure of robot is segmented, so that it can work flexibly in complex pipeline environment. Master slave CPU control is adopted in electric control design, and it can realize multitask parallel operation with low cost. The robot carries the camera and all kinds of environmental detection sensors, detects the inside conditions of the pipeline, and wirelessly sends the detected data back to the ground PC terminal control system. The system analysis of the returned data, so that staff understand the internal condition of the pipeline was analyzed and the result was recorded, and then control the interface control protocol sent down by PC, the robot performs the next action, carry out maintenance work, the realization of human-computer interaction.