In order to meet the requirements of intelligent inspection of underground pipe gallery and make up for the defects of traditional manual inspection operations,a rail type inspection robot control system based on STM32 was designed.The system took STM32F407ZGT6 as microprocessor to processes sensor and odometer signals through AD sampling circuit,optical coupling isolation circuit and RS485 communication circuit.The velocity-position dual-mode matching motion control method and the fuzzy controller were used to improve the positioning accuracy and response speed.At the same time,the monitor in...
