Drive Control System for Pipeline Crawl Robot Based on CAN Bus

摘要：

Drive control system plays important roles in pipeline robot. In order to inspect the flaw and corrosion of seabed crude oil pipeline, an original mobile pipeline robot with crawler drive unit, power and monitor unit, central control unit, and ultrasonic wave inspection device is developed. The CAN bus connects these different function units and presents a reliable information channel. Considering the limited space, a compact hardware system is designed based on an ARM processor with two CAn controllers. With made-to-order CAN protocol for the crawl robot, an intelligent drive control system is developed. The implementation of the crawl robot demonstrates that the presented drive control scheme can meet the motion control requirements of the underwater pipeline crawl robot.

作者: H J Chen B T Gao X H Zhang Z Q Deng

作者单位: Department of Electrical Engineering, Harbin Institute of Technology Harbin,Heilongjiang, 150001, Ch School of Mechanical Engineering, Harbin Institute of Technology Harbin,Heilongjiang, 150001, China

会议类型: 国际会议

会议名称: 第四届仪器科学与技术国际会议( 4th International Symposium on Instrumentation and Science and Tcchnology)

会议地点: 哈尔滨

会议语种:英文

页码: 1233-1237

在线出版日期: 2006-08-08（万方平台首次上网日期，不代表论文的发表时间）