基于激光测距的双机器人管道测绘方法

为解决传统天然气管道测绘设备只能测绘直管道且测绘距离近的问题，提出基于激光测距的双机器人管道测绘方法.管道分为水平直管道段、90°水平弯管道段、上/下坡管道段和复合管道.方法中两机器人从管道入口处开始交替匀速前进，直至离开管道，通过解算机器人获取的距离数据，得到每段运动中管道段的三维模型，最后进行拼接，完成对整条管道的测绘.实验结果表明，本方法实现了对不同管道的测绘，并有效提升了管道测绘的距离，2000m距离误差在4m内，误差率约为0.178%.

Dual-Robot Pipeline Mapping Method Based on Laser Ranging

To solve the problem that traditional natural gas pipeline mapping equipment can only map straight pipelines with close distances， a dual-robot pipeline mapping method based on laser ranging is proposed. Pipelines are divided into the horizontal straight pipeline section， the 90° horizontal bent pipeline section， the uphill/downhill pipeline section and the composite pipeline. In this method， the two vehicles move alternately at a uniform speed from the entrance to the exit of the pipeline. Through calculating the distance data captured by the robots， the 3-D model of each section can be obtained. Finally the mapping result of the whole pipeline can be spliced by each section. The experiment results show that this method can map different pipelines， and increase the mapping distance effectively: the distance error in 2000m is within 4m and the error rate is about 0.178%.