Mileage calculation method for pipeline cutting robot

Abstract

The invention discloses a mileage calculation method for a pipeline cutting robot. The mileage calculation method comprises dividing rear wheels in an equal proportion N times through a difference method, carrying out counting by magnetic steel and a magnetic proximity switch, calculating the walking mileage of the two rear wheels, acquiring data through an encoder, calculating the walking mileageof the robot through combination of a transmission ratio of a motor reducer and a transmission ratio of a bevel gear, acquiring data through an acceleration sensor installed at the front end, calculating the walking mileage at acceleration change time through a quadratic integral method, fusing the calculated walking mileages, and calculating the mileage of the pipe cutting robot through the multiple linear regression equations and the least square method. Through fusion of the calculation data of the above three methods, the calculation error produced by the single mode data acquisition is eliminated, the walking mileage of the robot is accurately calculated and the accuracy of the mileage calculation is improved. The mileage calculation method has high credibility, a simple calculationmethod and a low cost.

Description

technical field [0001] The invention relates to the technical field of measurement, in particular to a mileage calculation method for a pipe cutting robot. Background technique [0002] Pipe cutting robots have a wide range of functions and are relatively rare in the market, but the application prospects of pipe cutting robots are very promising. [0003] With the development of robot technology, a lot of research has been done on robot mileage calculation at home and abroad. First, a general standard for testing mileage error is proposed, which is used to correct the system error and operation error in mileage calculation. This method corrects the error in mileage calculation based on statistical analysis theory, but when the robot encounters special operating conditions, it is difficult to give accurate mileage calculation data. [0004] Later, a new omni-directional positioning system for orbital robots was studied. Its purpose is to eliminate the influence of accumulati...

AI Technical Summary

Problems solved by technology

This method corrects the error in mileage calculation based on statistical analysis theory, but when the robot encounters special operating conditions, it is difficult to give accurate mileage calculation data

[0004] Later, a new all-round positioning system for orbital robots was studied. Its purpose is to eliminate the impact of cumulative positioning errors, but this method is only suitable for fixed-orbit robots and is not universal.

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