Research on Data Acquisition System of Pipeline Snake Robot

Abstract

The number of underground pipelines is increasing, and their unique transport methods provide convenience and reduce costs. However, many pipelines are buried deep underground and are damaged by the oxidation of underground air or erosion of chemical substances, which affects their normal transportation.In order to regularly detect and clean the inside of pipelines, this paper proposes a study of a data acquisition system based on pipeline snake robots. The overall framework of the serpentine data acquisition system is proposed, including the control communication and sensing acquisition parts. The CAN bus is used as the control communication bus, and the master-slave distributed control can transmit the information from the upper computer to the master controller in real time, while the slave controller can use its own sensing (sensors) to collect the surrounding information and its own state and transmit it upward to the master controller. The upper computer uses Configuration King to develop the interface and display the information transmitted back from the controller in real time. The system is stable and reliable in the actual field test, and has great application value.