Drive control system for pipeline crawl robot based on CAN bus

被引：7
|
作者：
Chen, H. J. [1 ]
Gao, B. T. [1 ]
Zhang, X. H. [1 ]
Deng, Z. Q. [1 ]
机构：
[1] Harbin Inst Technol, Dept Elect Engn, Harbin 150001, Heilongjiang, Peoples R China
来源：
4TH INTERNATIONAL SYMPOSIUM ON INSTRUMENTATION SCIENCE AND TECHNOLOGY (ISIST' 2006) | 2006年 / 48卷
关键词：
D O I：
10.1088/1742-6596/48/1/229
中图分类号：
TH7 [仪器、仪表];
学科分类号：
0804 ; 080401 ; 081102 ;
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.
引用
收藏
页码：1233 / 1237
页数：5
相关论文
共 50 条
  • [1] Design and Preliminary Implementation of Distributed Control System for Pipeline Detection Serpentine Robot Based on CAN Bus
    Deng, Rui
    Wang, Yahui
    [J]. 2019 CHINESE AUTOMATION CONGRESS (CAC2019), 2019, : 3124 - 3128
  • [2] A CAN bus based control system for joint modular robot
    Han, Qingkai
    Wang, Li
    Ren, Yunpeng
    Zhang, Tianxia
    Wen, Bangchun
    [J]. ICMIT 2007: MECHATRONICS, MEMS, AND SMART MATERIALS, PTS 1 AND 2, 2008, 6794
  • [3] Design of Distributed Control System for the Pick-up Robot Based on CAN Bus
    Chen, Rui
    Liu, Biao
    Pan, Man
    Zhou, Haibo
    [J]. 2019 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION (ICMA), 2019, : 102 - 107
  • [4] CAN-Bus Based Distributed Control System for Hydraulic Turbine Blade Repairing Robot
    Xiang, Kangtai
    Sun, Zhenguo
    Dai, Hongjun
    Chen, Qiang
    Liu, Jiajun
    [J]. INTELLIGENT ROBOTICS AND APPLICATIONS, PT II, 2010, 6425 : 695 - 704
  • [5] Multi-channel LED Drive System Based on CAN Bus
    Cui, Helin
    Qi, Min
    Zhang, Yang
    [J]. APPLIED INFORMATICS AND COMMUNICATION, PT 4, 2011, 227 : 253 - +
  • [6] Multi-Channel LED Drive System Based on CAN Bus
    Cui, Helin
    Qi, Min
    Zhang, Yang
    [J]. 2010 THE 3RD INTERNATIONAL CONFERENCE ON COMPUTATIONAL INTELLIGENCE AND INDUSTRIAL APPLICATION (PACIIA2010), VOL IV, 2010, : 123 - 125
  • [7] Application and implementation of IMC in a drive system based on CAN BUS technology
    Wang, Honglei
    [J]. Zhongguo Jixie Gongcheng/China Mechanical Engineering, 2002, 13 (11):
  • [8] A control system of electric vehicle based on CAN bus
    Wang, Xiaolei
    Yao, Wendao
    Shi, Guangwen
    [J]. 2011 International Conference on Advanced Mechatronic Systems, ICAMechS 2011 - Final Program, 2011, : 580 - 582
  • [9] The Motion Control System of Servomotor Based on CAN Bus
    Tong, Jinglin
    Li, Bo
    Wang, Xiaobo
    [J]. HISTORY OF MECHANICAL TECHNOLOGY AND MECHANICAL DESIGN 2012, 2012, 163 : 260 - 263
  • [10] Security system based on CAN bus in accelerator control
    Cui, YG
    [J]. ACCELERATOR AND LARGE EXPERIMENTAL PHYSICS CONTROL SYSTEMS, 1997, : 318 - 320
12345