水下石油管道巡查机器人控制系统的设计  

Design of Underwater Oil Pipeline Inspection Robot Based on μC/OS-Ⅲ

作　　者：李雪 杨大勇[1] 刘家毅 张扬[2] LI Xue;YANG Da-yong;LIU Jia-yi;ZHANG Yang(School of Information Engineering,Nanchang University,Nanchang 330031,China;School of Energy and Mechanical Engineering,Jiangxi University of Science and Technology,Nanchang 330013,China)

机构地区：[1]南昌大学信息工程学院,江西南昌330031 [2]江西理工大学能源与机械工程学院,江西南昌330013

出　　处：《测控技术》2019年第8期15-20,共6页Measurement & Control Technology

摘　　要：水下石油管道是海上油气田生产设施的重要组成部分,必须定期或适时对其进行检测以保障其安全运营。针对水下石油管道巡查及检测的目的,采用STM32主控芯片、串口摄像头、舵机和通信模块,搭载最新版本的μC/OS-Ⅲ实时操作系统,设计了一种鱼雷型仿生式水下机器人。该机器人应用在浅水层区域,通过WiFi远程控制并实现水下画面上传至上位机,上位机处理图片使泄漏点特征清晰。通过系统调试和记录分析表明,该水下机器人可以远程无线控制和无线图像传输,能够实现水下巡查任务,并且具有控制系统简单化、功能灵活化、性价比高等优点。利用水下机器人可以对水下石油气管道完好性进行巡查,防止出现泄漏事故,杜绝安全隐患。功能多样的水下机器人将成为机器人研究领域的热点之一.Underwater oil pipelines are an important part of offshore oil and gas production facilities and must be tested regularly or in time to ensure their safe operation.For the purpose of inspection and detection of underwater oil pipelines,STM32 main control chip,serial port camera,steering gear and communication module were adopted,and the latest version of μC/OS-Ⅲreal-time operating system was equipped to design a torpedo bionic underwater robot.The robot is applied in the shallow water area,remotely controll by WiFi and the underwater images are uploaded to the upper computer for processing to make the leakage point feature clear.Through system debugging and record analysis,the underwater robot can be remotely controlled wirelessly and wirelessly transmit images,realizes underwater inspection tasks,and has the advantages of simple control system,flexible function and high cost performance.The underwater robot can be used to inspect the integrity of the underwater LPG pipeline to prevent leakage accidents and prevent potential safety hazards.A variety of underwater robots will become one of the hotspots in the field of robotics research.

关 键 词：水下机器人 控制系统 μC/OS-Ⅲ 水下石油管道 无线传输 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]