管沟机器人自动化检测系统设计  

Design of Automatic Detection System for Pipe Ditch Robot

作　　者：傅茂龙 孟文[1] 孟祥印[1] 杨子镱 郭学理 FU Maolong;MENG Wen;MENG Xiangyin;YANG Ziyi;GUO Xueli(School of Mechanical Engineering,Southwest Jiaotong University,Chengdu 610031,China)

机构地区：[1]西南交通大学机械工程学院,成都610031

出　　处：《计算机测量与控制》2024年第2期7-13,28,共8页Computer Measurement &Control

摘　　要：随着铁路涵洞、公路排水渠和城市管网的快速发展,管沟维护任务的工作量逐年增加;为了确保工作人员的安全和提高管沟维护的效率,设计了一套管沟自动化检测系统;该系统由PC、控制手柄、管沟机器人和线缆车构成;管沟自动化检测系统以PC为核心,PC通过RS485与控制手柄、管沟机器人和线缆车进行通信;PC下发指令给机器人和线缆车,对管沟机器人和线缆车进行远程操控与传感器数据监测;PC通过同轴电缆接收管沟内部图像,实时对管沟进行监控;经实验测试,该管沟自动化检测系统能够正常运行在管沟环境中,机器人通信距离超过100 m,PC上位机实时显示1080P 30 Hz的管沟视频;该管沟自动化检测系统具有一定的应用价值,符合设计需求,具有一定的推广价值。With the rapid developments of railway culverts,highway drainage channels,and urban pipe networks,pipe trench maintenance tasks increase year by year.In order to ensure the safety of staff and improve the efficiency of trench maintenance,an automatic trench detection system is designed.This system comprises a personal computer(PC),control handle,trench robot,and cable car.The trench automatic detection system takes the PC as the core,the PC communicates with the control handle,trench robot,and cable car via RS485,transmits the instructions to the robot and cable car,enabling the remote control and sensor data monitoring of the trench robot and cable car.Moreover,the PC receives the internal image of the trench through the coaxial cable,enabling the real-time monitoring of the trench during operation.Experimental tests indicate that the automatic trench detection system can normally run in harsh trench environments,with the communication distance of the robot exceeding 100 m.Additionally,the PC upper computer displays the 1080 P 30 Hz video of the trench in real time.Overall,the pipe trench automatic detection system has a significant application and promotion value,and it meets design requirements effectively.

关 键 词：排水管沟 管沟机器人 总线协议 自动化管沟检测 

分 类 号：TN911.73[电子电信—通信与信息系统]