管道检测机器人设计与实现

为了简化管道检测流程和提高效率,设计了一种以通信服务模块为中心的管道检测机器人系统.从硬、软件两方面介绍了该嵌入式系统的设计和实现方法.硬件部分采用低功耗、高性能的STM32处理器作为客户端,通信服务模块采用高通AR9331路由器处理芯片.软件部分主要使用基于Linux的小型开源系统OpenWRT,实现了运动控制、视频采集、参数检查、网络数据收发、级联工作等功能.根据管道机器人的特殊工作流程,制定了一套适用于管道检测的通信协议,保证了机器人的正常工作,提高了检查效率.各种测试结果表明该嵌入式系统设计合理,整体上满足管道检测机器人的各项功能要求.

Design and Implementation of Pipeline Detection Robot

In order to simplify the process and increase efficiency of pipeline detection,a pipeline detection robot system based on communication service module is designed.The design and implementation of the embedded system are introduced from two aspects of hardware and software.In the hardware part,a low power consumption and high performance STM32 processor is used as the client,and the Qualcomm AR9331 router processing chip is used as the communication service module.The software part mainly uses the small open source system OpenWRT based on Linux to implement the functions of motion control,video capturing,parameter checking,network data transceiving,cascading work and so on.According to the special working flow of pipeline robot,a set of communication protocol that is suitable for pipeline detection is developed to ensure the normal operation of the robot and improve the detection efficiency.All kinds of test results show that the design of the embedded system is reasonable,and it can meet the requirements of the pipeline detection robot.