| 无缆泳动式煤矿管道检测机器人控制系统的研究 |
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| 引用本文： | 任思璟,董金波,王安华,徐益民,崔崇信.无缆泳动式煤矿管道检测机器人控制系统的研究[J].煤矿机械,2012,33(6):168-170. |
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| 作者姓名： | 任思璟 董金波 王安华 徐益民 崔崇信 |
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| 作者单位： | 1. 黑龙江科技学院电气与信息工程学院,哈尔滨,150027
2. 黑龙江科技学院机械工程学院,哈尔滨,150027 |
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| 基金项目： | 黑龙江省教育厅面上项目 |
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| 摘 要： | 针对煤矿生产中使用的大量管道存在内部老化而又难以检测的问题,提出了一种基于外磁场驱动的泳动式无缆机器人检测方案,该机器人控制系统以AVR单片机ATmegal6为核心处理器,可改变机器人的运动方向及速度,实现管道内裂缝的检测。在对控制系统硬件设计的基础上,给出系统软件流程图。该系统具有结构简单,适应性强,在井下管道检测方面具有广阔的应用前景。
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| 关 键 词： | 无缆 泳动式机器人 检测 ATmegal6单片机 |
Study of Control System on Wireless Swimming Coal Mine Pipeline Detection Robot |
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| REN Si-jing
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DONG Jin-bo
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WANG An-hua
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XU Yi-min
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CUI Chong-xin.Study of Control System on Wireless Swimming Coal Mine Pipeline Detection Robot[J].Coal Mine Machinery,2012,33(6):168-170. |
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| Authors: | REN Si-jing DONG Jin-bo WANG An-hua XU Yi-min CUI Chong-xin |
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| Affiliation: | 1(1.School of Electronics and Information Engineering,Heilongjiang Institute of Science and Technology,Harbin 150027,China;2.School of Mechanical Engineering,Heilongjiang Institute of Science and Technology,Harbin 150027,China) |
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| Abstract: | According to problems that a large number of pipelines used coal mine production are internal aging and difficult to detect,a detection scheme of swimming wireless robot driven by external magnetic field is given,ATmegal6 of AVR microcontroller is selected as core processor for the control system of robot,it can change motion direction and speed of robot to realize pipeline crack detection.Software flowchart is given on basis of hardware design of control system.The system has advantages of simple structure and strong adaptability,which has a wide application prospect in underground pipeline detection. |
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| Keywords: | wireless swimming robot detection ATmegal6 microcontroller |
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