管道检测机器人加速度定位方法

针对目前运用较为广泛的几种管道检测机器人定位法所存在的一些局限性,提出了受环境影响较小的加速度定位法,介绍了其理论原理,给出了适合整个管道的定位公式（包括水平管段和倾斜管段）;通过定位误差分析,发现其误差随时间的平方而递增,采用加速度定位和光电码盘定位相结合,同时结合内外时钟的办法降低定位误差,得到改进后的应用结构流程图,并根据机器人行进中振动噪声的影响分析确定了加速度计的安装位置。

Localization technique of pipeline robot based on the method of acceleration

In accordance with the limitation of existing localization methods for pipeline robot used widely, a localization method by dint of acceleration is put forward with slight influence by the environment. Theoretical principles were introduced and the formula of localization （the plane tube and the declining tube） was brought forward. The analysis of the localization precision indicated that the error increased with the square of time. And the combination of the acceleration method with the photo-electrical coded compass was adopted to reduce the error, thus an improved structure flowchart for application was obtained. According to the influence of vibration noise produced by the robot’s movement, the installation position of the accelerometer was ascertained.