管道机器人全程定位理论和方法研究——基于光纤光栅空间曲率传感器

Study on total distance positioning of in-pipe robot——based on fiber Bragg grating curvature spatial sensor

为了实现管道机器人在工作时对自身位置的全程定位,提出了一种基于光纤光栅空间曲率传感器全程定位的递推算法.该方法利用光纤光栅空间曲率传感器检测出管道机器人当前所处测量点的曲率和相邻测量点密切平面间夹角,并根据前一测量点的空间位置、密切平面、切向矢量方向、机器人移动步距等参数计算当前测量点的空间位置、密切平面和切向矢量方向.因此,只要给定初始测量点的空间位置、曲率、切向矢量方向和密切平面,就可以实现管道机器人的全程定位.同时由该算法得到每一个测量点的管孔轴心坐标,然后通过曲线拟合求出管孔的轴心轨迹曲线,从而实现对管道内表面形貌的三维重建.

A recurrence algorithm based on fiber Bragg grating curvature spatial sensor for total distance positioning of in-pipe robot was presented. Curvature and inclination of adjacent osculating plane of current point were obtained by curvature spatial sensor. Then the current point's coordinates were calculated according to position, osculating plane, tangent direction of the former point and step length of the in-pipe micro-robot. In this algorithm, the total distance positioning of the in-pipe robot was realized if position, curvature and tangent direction of the origination point were known. At the same time, the central coordinates tracked by the in-pipe robot were calculated and the orbit curve was fitted by B-spline algorithm. With the orbit curve and the correlative measured section, 3D reconstruction of the inner surface can be achieved.