燃气管网巡检机器人控制系统的设计与研究

Design and Research of Inspection Robot Control System for Gas Pipeline Network

针对燃气管道传统巡检方法存在巡检效率低、漏检误检现象严重、劳动强大等问题,设计基于中央处理器的燃气管道巡检机器人控制系统。首先,根据燃气管道实际工况,重点分析了巡检机器人硬件、软件设计方案;然后,以PCM3365E-S3A2中央处理器为核心,经CAN总线通信接收并处理环境、本体数据,分析并综合决策后控制巡检机器人运动;最后,完成实验与测试。结果表明,设计并实现的燃气管道巡检机器人的移动能力、感知能力、运动控制能力强,能够满足燃气管道日常巡检任务要求,提升了巡检效率,降低了漏检误检率,减轻了巡检工劳动强度。

In the view of the problems of the traditional inspection method of gas pipeline,such as low inspection efficiency,serious omission and misinspection,and strong labor,a gas pipeline inspection robot control system based on central processor is designed.Firstly,according to the actual working conditions of the gas pipeline,the hardware and software design scheme of the inspection robot is analyzed.Then,with the PCM3365E-S3A2 central processor as the core,the environment and ontology data are received and processed through CAN bus communication,and the movement of the inspection robot is controlled after analysis and comprehensive decision.Finally,the experiment and test were completed.The results show that the designed and realized gas pipeline inspection robot has strong mobility,sensing ability and motion control ability,which can meet the requirements of daily inspection tasks of gas pipeline,improve inspection efficiency,reduce the rate of missed inspection and false inspection,and reduce the labor intensity of inspection workers.