基于STM32的轨道式巡检机器人控制系统的设计  

Design of Rail Type Inspection Robot Control System Based on STM32

作　　者：张申毅 樊绍胜[1] 程嘉翊 黄辉 ZHANG Shen-yi;FAN Shao-sheng;CHENG Jia-yi;HUANG Hui(College of Electrical and Information Engineering,Changsha University of Science and Technology,Changsha 410114,China;Hunan Zhongnan Bridge Installation Engineering Co.,Ltd.,Huaihua 418000,China)

机构地区：[1]长沙理工大学电气与信息工程学院,湖南长沙410114 [2]湖南省中南桥梁安装工程有限公司,湖南怀化418000

出　　处：《仪表技术与传感器》2020年第9期93-97,116,共6页Instrument Technique and Sensor

摘　　要：为了满足地下综合管廊智能化巡检的需求及弥补传统人工巡检作业的缺陷,设计了一种基于STM32的轨道式巡检机器人控制系统。该系统采用STM32F407ZGT6作为微处理器,通过AD采样、光耦隔离、RS485通信等模块对传感器及里程计信号进行处理。采用速度-位置双模式匹配运动控制方法与模糊控制器提高定位精度与响应速度。同时用QT开发框架设计了上位机监控界面,可实时监控机器人的运动状态与传感器数据。实验表明,使用该系统控制的机器人具有定位精度高,响应速度快等优点。In order to meet the requirements of intelligent inspection of underground pipe gallery and make up for the defects of traditional manual inspection operations,a rail type inspection robot control system based on STM32 was designed.The system took STM32F407ZGT6 as microprocessor to processes sensor and odometer signals through AD sampling circuit,optical coupling isolation circuit and RS485 communication circuit.The velocity-position dual-mode matching motion control method and the fuzzy controller were used to improve the positioning accuracy and response speed.At the same time,the monitor interface was designed with QT development framework,which can monitor the motion state and sensor data of the robot in real time.The experimental re-sult shows that the robot controlled by this system has the advantages of high positioning accuracy and fast response speed.

关 键 词：地下综合管廊 巡检机器人 STM32 控制系统 磁性开关 模糊控制器 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]