摘要管道运输作为一种高效率、低成本能源输送方式，广泛应用于工业原料、石油、天然气的运输领域。然而，随着使用年限的增加，部分管道出现穿孔、锈蚀、淤积堵塞等问题，为生产生活和人类生命财产安全带来了极大的安全隐患。为了解决管道检测的难题，管道机器人应运而生。83827

本文针对螺旋驱动式管道机器人机械结构，实现了管道机器人的控制系统设计与仿真。首先，分析管道机器人工作环境及其设计要求，提出了管道机器人控制系统的总体目标，并据此建立了控制系统结构方案，将控制系统分为三个部分：

（1）上位机监视系统：基于LABVIEW编程环境开发，主要实现串口数据收发、数据处理、图形化数据展现等功能。

（2）通讯系统：采用双模通信机制，分为串口通信和无线局域网通信。主要实现上位机与下位机数据传送。

（3）下位机执行系统：以ARDUINO UNO为控制核心、，主要实现对驱动电机、舵机、传感器系统的控制。

在系统总体方案设计的基础上，完成了上述三个核心模块的详细设计，并对目标控制系统软硬件设计原理和方法进行详细论述。为了验证目标控制系统的可行性，本文对目标控制系统进行了串口通信、综合模块控制、实物模型三个方面的仿真调试。仿真结果证明了本系统稳定、可靠、满足工程实用性要求。

关键词：管道机器人；控制系统；LABVIEW；ARDUINO UNO；串口通讯

ABSTRACT

Pipe transport, as a kind of efficient and frugality transport patterns , is widely applied into the transportation of raw materials of industry, oil, natural gas。However, with the increase in service life, more and more safety problems are being faced,such as perforation, corrosion and blockage。 This problem has brought great safety hazards to human’s life。In order to solve the difficulty of sewer inspection, engineers have invitented pipe robot。

Based on the existing mechanical structure, this paper focus on the control system of pipe robot。At the beginning of this paper,we have analysed the working condition and the design requirements of pipe robot,and put forwarde the overall design of this control system。Then,in view of the above, we have bulit the basic mode to control system。 The model has three levels:

(1) The monitoring surveillance software,which can be used in data reception , transmission, data processing and data presentation in graphical ways,has been developed based on LABVIEW。

(2) Communication system works at two modes: serial communication and wireless local area network communication。 It was primarily responsible for passes data between the upper system and the lower system。

(3) The slave machine part,which based on ARDUINO UNO, was primarily responsible for motor contro, servo control and  sensor system control。

This paper has taken three points shown above as the core,studied the hardware circuit  and software program of the control system  respectively。At last,we simulate the control system in three aspects: serial communication, module match testing and real model testing。These simulation have a good grade,which show us that the control system is useful。

Keywords: pipe robot;control system;LABVIEW;ARDUINO UNO; 

serial communication

目录

第一章  绪论 1

1。1  课题的背景与意义 1

1。2  管道机器人的发展历史及研究现状 2

1。2。1  管道机器人国外研究现状 2

1。2。2  管道机器人国内研究现状