基于LabWindows/CVI的排水管道机器人测控系统设计

介绍了国内排水管道现状及检测与维护情况,针对排水管道机器人特殊的作业环境,设计了一种基于LabWindows/CVI的排水管道机器人测控系统。该系统以PLC为核心,采用电涡流位移传感器与摄像头结合检测管道缺陷,引入模糊控制算法,增强了系统的鲁棒性和可靠性。通过基于LabWindows/CVI虚拟仪器设计的上位机软件与下位机PLC实时通信,实现了系统对机器人动作的控制,以及数据的采集、处理、存储、显示等功能。整个系统人机交互简单、抗干扰性强、可靠性好,可满足机器人作业时的清理和检测要求。

Design of Measurement and Control System of Sewer Pipe Robot Based on LabWindows/CVI

The current situation of detection and repair of domestic sewer pipeline is introduced.Considering the special working environment of the sewer pipe robot,a measurement and control system based on LabWindows/CVI is designed.The PLC is adopted as core controller of the system,the eddy current displacement sensor combined with the CCD camera is used for detecting defects of sewer pipe.To improve the robustness and reliability of the system,the fuzzy control algorithm is applied.The functions of robot motion control,as well as data acquisition,process,storage and display are realized through the real-time communication between the PLC and upper computer software based on LabWindows/CVI.The overall system design has the advantages of convenience to operation,easy human-computer interaction and high reliability,which can meet the needs of inspect and dredge during the robot operation.