【作者】 张波；

【导师】 江秀臣； 曾奕；

【作者基本信息】 上海交通大学 ， 高电压与绝缘技术， 2007， 硕士

【摘要】 随着电缆排管敷设方式的逐渐推广,电缆敷设已基本由排管替代了直埋。现有的排管疏通方法,不仅浪费了大量的人力、物力,而且在有些情况下根本就无法使用。为解决现有电力电缆敷设与检测维护过程、方法中存在的问题与不足,实现电力电缆的自动敷设及排管检测自动化,本文提出一种电缆排管监视机器人系统的设计实现。本文以电缆排管监视机器人系统硬件的设计与实现为主要内容,文章首先从电缆排管疏通监视系统的工作原理入手,介绍了系统的结构组成以及实现的功能;然后按照系统功能组成,从电缆排管疏通监视机器人、电缆排管疏通监视机器人控制器两大部分具体展开,详细地介绍了机器人内部电子硬件部分以及手持控制器部分的硬件组成,重点论述了视频方案的解决和在手持控制器上图像显示的实现。系统以NXP的32位ARM7TDMI-S内核芯片LPC2119和LPC2292为机器人和控制器的核心MCU,机器人和控制器之间采用CAN总线方式通讯,在保证通讯距离和通讯速率的基础上,能较好的满足地下管道环境的要求。在文章的最后,对整个系统的设计过程中解决的技术难点及创新进行了总结。根据实际使用的情况,提出了一些建议和改进措施。更多还原

【Abstract】 With the gradually spread of laying the power cable in pipeline, it has been instead of buried cable. The existing way of opening up pipeline wastes huge amount of labor force and resources, and even can not be used in some extreme condition. In order to resolve the problem and realize the automation of examining and laying down the power cable pipeline. A design of online power cable pipeline monitoring system is proposed.This paper emphasizes on power cable pipeline online monitoring system hardware design. Firstly, the principle and function of power cable pipeline online monitoring system is introduced. Then, two main parts are expanded specifically. One is hardware system of Power Cable Pipeline Monitoring Robot and the other is controller. The video scheme and image display are implemented and described in detail.The system uses chip LPC2119 and LPC2292 as 32 bits ARM7TDMI-S the inner core as robot and controller MCU. They use the CAN Bus as communication mode. And its communication distance and speed rates can meet underground pipeline environment requirement.Finally, technique difficulty and innovation in develop process are summarized, and some improved methods are proposed based on actual application.更多还原