小型管道机器人控制系统的研究

Research on Control System for Small Pipeline Robot

以小型管道机器人为研究对象,采用模块化设计思路,将控制系统分为多个独立的功能模块。以单片机为下位机控制平台,通过驱动直流齿轮电机实现管道机器人前进、后退、左转、右转、停止、加速、减速等运动,速度由脉冲宽度调制波控制。在上位机系统中,由LabVIEW软件搭建人机界面,可显示由机器人上互补金属氧化物半导体摄像头所采集的视频,以及机器人的速度等信息。上位机通过无线通信方式向机器人发送控制命令,可以在线控制机器人的速度和转向。

Abstraet： Taking the small pipeline robot as the research object, the modular design idea was adopted to divide the control system into several independent functional modules. Took the single-chip computer as the control platform of the lower computer while achieving various movement of the pipeline robot by driving the DC gear motor. These movements include forward, backward, turn left, turn right, stop, acceleration and deceleration etc. The speed of the pipeline is controlled by the PWM wave. In the host computer system, the MHI built by the LabVIEW software can display the video collect by the robot CMOS camera on the robot and the information such as the robot speed. The host computer sends the control command to the robot through the wireless communication mode with on-line control of the speed and the steering of the robot. Key Words： Robot Auto-control Design