小径管道测绘机器人过弯道特性研究

Research on cornering characteristics of small diameterpipeline surveying and mapping robot

目前国内外对于城市地下铺设的小径管道的检测和定位定向技术还处于研究阶段,其弯道通过性是一项重要指标。对小径管道测绘机器人弯管通过性进行了研究,推导出小径管道测绘机器人过弯时的拐弯角计算方法,并通过实验验证该方法有效性。该研究不仅对惯性导航计算出的小径管道测绘机器人在管道内运动的位置和方向信息进行修正,提高管道机器人轨迹测绘精度。同时可用于指导小径管道测绘机器人机械机构的设计,使其能适应一定范围内的管径变化和机器人整体长度,保证其良好的弯管通过性。

At present,the detection,location and orientation technology of urban underground small diameter pipelines is still in the research stage,and the trafficability of bend pipelines is an important index.In this paper,the trafficability of the elbow of the small diameter pipeline mapping robot is studied,and the calculation method of the corner angle when the elbow is crossed and is deduced.The research not only modifies the position and direction information of the motion of the pipeline robot in the pipeline calculated by inertial navigation,but also improves the precision of the pipeline robot trajectory mapping.At the same time,it can be used to guide the design of the mechanical mechanism of the robot to adapt to the change of pipe diameter and the whole length of the robot in a certain range,so as to ensure the good trafficability of the bent pipe.