摘要
文章首先对蛇形机器人的行走关节机构单元模块进行了设计,在不同的燃气管径中以直行或螺旋的形式进行勘察任务.利用ADAMS软件进行了受力分析,并通过软件仿真了蛇形机器人在竖直管道内壁攀爬的效果.文章对基于STM32的小型管道探测蛇形机器人的控制系统进行了设计,并对其控制器进行了设计与开发,采用分布式控制通过该控制器输出的PWM信号控制蛇形机器人在不同的管径内实现自由的前进、后退和转弯等,该控制器可实现对蛇形机器人的姿态、管道内部图像、可燃气体浓度等信息的获取和处理.对管道探测蛇形机器人控制系统框架的搭建、控制方法、控制器原理、硬件电路图及软件的设计,对上位机显示界面进行了配置,经测试各功能符合要求.
In this paper,the moving joint mechanism unit module of the snake-shaped robot is designed first,and the survey task is carried out in the form of straight or spiral in different gas pipe diameters.The force analysis was carried out by using ADAMS software,and the effect of the snake-shaped robot climbing on the inner wall of the vertical pipe was simulated by software.In this paper,the control system of small pipeline detection snake robot based on STM32 is designed,and the controller is designed and developed.The distributed control is used to control the snake robot in different diameters through the PWMsignal output by the controller.The controller realizes the free advance,retreat and turn,etc.The controller can realize the acquisition and processing of the posture of the snake-shaped robot,the image of the inside of the pipeline,the concentration of the combustible gas and the like.The construction,control method,controller principle,hardware circuit diagram and software design of the pipeline detection snake robot control system frame are configured.The upper computer display interface is configured,and the tested functions meet the requirements.
作者
邢利辉
王亚慧
邓蕊
XING Li-hui;WANG Ya-hui;DENG Rui(School of electrical and Information Engineering,Beijing University of Civil Engineering and Architecture,Beijing 100044,China)
出处
《小型微型计算机系统》
CSCD
北大核心
2020年第6期1340-1344,共5页
Journal of Chinese Computer Systems
基金
国家自然科学基金项目(51471019)资助.
关键词
蛇形机器人
螺旋前进
控制系统
软硬件设计
检测与维护
serpentine robot
spiral advance
control system
software and hardware design
inspection and maintenance
