The invention discloses an SLAM
system for pipeline detection. The SLAM
system comprises a pipeline
robot, a controller, a forward-looking
laser radar, a
pipe diameter measuring device and a mileage wheel, wherein the pipeline
robot moves in a pipeline; and the forward-looking
laser radar, the
pipe diameter measuring device and the mileage wheel are respectively connected with the controller; theforward-looking
laser radar is used for detecting information of a front unknown
pipe section in the pipeline and transmitting the detected information to the controller to establish a basic model; the pipe
diameter measuring device is used for measuring the pipe diameter information of the current position of the pipeline
robot and transmitting the measured pipe diameter information to the controller, and the controller optimizes and adjusts the basic model to form a trust model; and the mileage wheel is used for measuring the distance information of the pipeline robot travelling along the central axis of the pipeline and transmitting the measured distance information to the controller, and the controller calculates the
pose of the pipeline robot at the moment by combining the distance information and the trust model. The SLAM
system for pipeline detection can help to locate the defects of the long-distance oil
gas pipeline and model the surveying and mapping of the detected pipeline.