A pipeline detector posture detection method and its detection device

Abstract

The invention provides a gesture detection method and device for a pipeline detector. The method comprises the following steps: at a gesture preparation phase, taking a detector peripheral angle as shown in the description and resolved by a gyro as standard information; revising an error as shown in the description of a peripheral angle as shown in the description and resolved by an inclined angle sensor to obtain an angle compensation output as shown in the description of the inclined angle sensor; at the operation phase of the detector, taking the revised angle compensation output as shown in the description of the inclined angle sensor as the standard and estimating a drift error epsilon of the gyro in real time; and revising a peripheral angle as shown in the description and resolved by gyro information to obtain the revised peripheral angle as shown in the description of the detector. The device comprises a gesture preparation combination resolving unit and a detector operation combination resolving unit. According to the gesture detection method and device for the pipeline detector, the gyro information and three axial gravity information are fused so as to resolve the gesture information of the pipeline detector; the device is small in volume and low in power consumption, and is suitable for various track requirements of the pipeline detector; and the detection method does not need to be combined with other devices to use and can guarantee the gesture precision in a long-time detection task.

Description

technical field [0001] The invention relates to a pipeline detector attitude detection method and a detection device thereof, belonging to the technical field of pipeline detection. Background technique [0002] The attitude detection device of the pipeline detector provides the angular position information of the pipeline defect for the detector, which is indispensable detection information for pipeline defect detection. At present, there are two main attitude detection methods for pipeline detectors. One method is to use a three-axis gyroscope and a three-axis accelerometer to form an inertial measurement system to measure the attitude information of the pipeline detector. However, the attitude error calculated by this method diverges with time, and must It is used in combination with other devices, and the system is large in size and high in power consumption, which is not conducive to the task requirements of the pipeline detector; one method is to use the attitude detec...

AI Technical Summary

Problems solved by technology

At present, there are two main attitude detection methods for pipeline detectors. One method is to use a three-axis gyroscope and a three-axis accelerometer to form an inertial measurement system to measure the attitude information of the pipeline detector. However, the attitude error calculated by this method diverges with time, and must It is used in combination with other devices, and the system is large in size and high in power consumption, which is not conducive to the task requirements of the pipeline detector; one method is to use the attitude detection system composed of three-axis gravity sensors, and use the gravity information of the three axes to solve the problem. Attitude, but this attitude detection system fails when the angle of the detector is close to vertical, which cannot meet the requirements of pipeline detection tasks

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