自动避障三轮管道机器人设计  

Design of three-wheeled pipeline robot with autonomous obstacle avoidance

作　　者：杜云[1] 隋博 孟凡华[1] 闫亚男[1] 田国樽 

机构地区：[1]河北科技大学电气工程学院,河北石家庄050018 [2]大连九信生物化工科技有限公司,辽宁大连116000

出　　处：《河北科技大学学报》2014年第5期447-453,共7页Journal of Hebei University of Science and Technology

摘　　要：管道机器人作为一种有效的探测设备,可以深入人类无法到达的狭小空间内执行勘查任务。轮式机器人具有结构简单、运动连续平稳、速度快、可靠性高等诸多优点,因此开发了基于STC系列单片机的三轮轮式结构管道机器人。应用红外传感器电路实现有效避障功能;加入角度传感器模块,确保机器人可以在管道最底端平稳行进;采用脉宽调制技术驱动直流电机,通过改变占空比来控制机器人运动。设计的轮式管道机器人实物具有体积小、可裁剪性强、便捷等特点,能够完成管道内探测、数据收集等功能。As an effective detection equipment, pipeline robot can do detection work in the narrow place beyond human reach. Wheeled robot has advantages such as simple structure, continually stable movement, high speed and high reliability, so three- wheeled pipeline robot is designed based on STC series single-chip microcomputer. Infrared sensor is applied to implement ef- fective obstacle avoidance function; angle sensor module ensures that the robot can move on the bottom of pipe smoothly; using pulse width modulation technology to drive I）C motor, and the robot movement can be controlled by changing the duty ratios. With the features of small volume, convenience and being easily-clipped, the designed robot can complete the pipe detection, data collection and other functions.

关 键 词：管道机器人 三轮轮式结构 STC单片机 红外传感器 角度传感器 脉宽调制 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]