输油管道机器人的测力定位法研究

Relative Research of the Locating Method by Measuring Its Acceleration for In-pipelines Inspection Robots

根据牛顿力学和运动学定律提出管道机器人的测力定位法。研究了振动噪声的滤除、异常情况的解决以及测力定位法的性能,并指出测力定位法和光电码盘定位法的综合运用将是有效解决定位问题的最佳切入点。最后,对测力定位法的应用进行了分析,并给出了应用结构流程图。

Based on the law of Newtonian Mechanics and Kinematics, the locating method by measuring its acceleration for in-pipelines inspection robots is presented.To resist the influence of vibrational noise on the acceleration data,lowpass filter is designed and applied .It is possible to meet with abnormal instances, whose resolvents is descriped in this paper too.At last,the cumulation of the error,which increase by square of the time,is discovered after the analysis of performance for this method. To solve the problem of the error＇s cumulation,it is mentioned that this method and the locating method by photoelectric cyclometer should be integrated for their own strongpoints.At last,the application flow chart of LMMA is presented.