基于单片机的管道机器人控制系统的设计

Design of Control System for the Pipeline Robot Based on Single Chip Processor

设计制造一台管道自动检测与修复机器人。采用STM32单片机作为机器人的主控。设计基于角度外环和转速内环的双环PID控制器,通过PWM控制技术调速,构成两轴云台的直流电机闭环控制系统。基于OPENMV摄像头的边缘检测技术,识别管道内壁腐蚀区域的特征轮廓。通过两轴云台转动,自动瞄准管道内壁的腐蚀区域,喷洒涂料修复该区域。机器人利用WIFI无线传输技术将管道内部的图像传输到上位机,基于2.4G无线通信技术,实现采用遥控器进行远程操作。经过多次测试,样机的实验结果表明:机器人具有良好的稳定性和可控性,并能够对管道进行自动检测和修复。

A pipeline robot was designed for detection and repair.The STM32 single chip processor was used as the main controller.The double loop PID controller was designed based on the outer angle-loop and the inner speed-loop,and the speed is adjusted by the PWM controller to form the DC motor closed-loop control system of the two-axis platform.The OPENMV camera,with the edge detection technology,was used to identify the corrosion characteristic on the inner wall of the pipeline.The corrosion areas of the inner wall of the pipeline were automatically scanned by rotating the two-axis platform,and then were repaired by spraying paint.The images on the pipeline were transmitted to the upper computer by the robot with the WiFi wireless transmission technology.The remote control was operated for remote operation by the 2.4G wireless communication technology.The experimental results of the prototype show that the robot has good stability and controllability,and can automatically detect and repair the pipeline.