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Calibration method, device and system for a pipeline measuring robot

A technology for measuring robots and calibration methods, which is applied in the calibration field of pipeline three-dimensional measurement robots, can solve problems such as difficult calibration of three-dimensional attitude deviation, and achieve the effect of reducing friction

Active Publication Date: 2020-07-24
SHENZHEN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] In view of the deficiencies in the above-mentioned prior art, the object of the present invention is to provide a calibration method, device and system for a pipeline measurement robot, which overcomes the difficulty in calibration of tiny three-dimensional posture deviations when the measurement robot is performing measurement in the prior art. defect

Method used

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  • Calibration method, device and system for a pipeline measuring robot
  • Calibration method, device and system for a pipeline measuring robot
  • Calibration method, device and system for a pipeline measuring robot

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Embodiment 1

[0038] The first embodiment provided by the present invention is a calibration method for a pipeline measuring robot, such as figure 1 As shown, the calibration method includes:

[0039] Step S1. Control the measuring robot to rotate with a fixed axis, and at the same time, the inertial measurement unit installed on the measuring robot collects inertial navigation data.

[0040] In this step, the measuring robot is erected on the calibration device, and the measuring robot is controlled to rotate with a fixed axis. The calibration device used in this step can be a device capable of elevating the pipeline measurement robot, and the device can only have a support for the measurement robot, and a base for fixing the support, or it can be a device with two fixed The stand realizes the means for elevating the measuring robot.

[0041] After the measuring robot is elevated, control the measuring robot to rotate with a fixed axis. Since an inertial measurement unit is installed in...

Embodiment 2

[0085] The second embodiment provided by the present invention is a calibration device for a pipeline measuring robot, such as image 3 As shown, it is used to measure and calibrate the measuring robot, combined with Figure 4 , the measurement robot includes: an electronic warehouse 301 with an inertial measurement unit installed inside, a sliding bar 303 symmetrically arranged on both sides of the electronic warehouse 301, and a walking wheel 302 evenly arranged on the sliding bar 303;

[0086] The calibration device includes:

[0087] A base 10, a bracket 20 arranged on the base 10;

[0088] The bracket includes: a left bracket and a right bracket;

[0089] The upper ends of the left bracket and the right bracket are both provided with a V-shaped bracket 201 , one end of the slide bar 303 is connected to the center of both sides of the electronic compartment, and the other end is erected on the V-shaped bracket 201 .

[0090] Optionally, the structures of the left bracke...

Embodiment 3

[0095] The third embodiment provided by the present invention is a calibration system for a pipeline measuring robot, which combines image 3 and Figure 4 As shown, the system includes: a pipeline measurement robot and a calibration device;

[0096]The measuring robot includes: the measuring robot includes: an electronic cabin with an inertial measurement unit installed inside, sliding bars symmetrically arranged on both sides of the electronic box, and walking wheels evenly arranged on the sliding bars;

[0097] The calibration device includes: a base, a bracket arranged on the base;

[0098] The bracket includes: a left bracket and a right bracket;

[0099] The upper ends of the left bracket and the right bracket are both provided with V-shaped brackets, one end of the slide bar is connected to the center of both sides of the electronic warehouse, and the other end is erected on the V-shaped bracket.

[0100] Preferably, the left bracket and the right bracket are arrange...

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Abstract

The invention provides a calibration method, device and system for a pipeline measuring robot. The calibration method comprises the steps of arranging a V-shaped bracket on the base of the calibrationdevice, mounting the measuring robot on the V-shaped bracket of the calibration device; controlling the measuring robot to rotate in a fixed axis, and ensuring that the geometric center of the measuring robot remains unchanged and is located at the origin of a preset coordinate system at the same time; and calculating the attitude shift of the measuring robot according to the inertial navigationdata collected by the inertial sensing axis in the inertial measurement unit. Under the action of gravity, the V-shaped bracket can ensure that the contact when the measuring robot and the V-shaped bracket rotate in a fixed axis is a point contact and the friction force is reduced such that the pipeline measuring robot can perform high-precision rotation. The calibration device can adapt to the calibration of pipeline measuring robots with different lengths and different diameters of rotating shafts, which facilitates the accurate measurement of pipeline three-dimensional curves.

Description

technical field [0001] The invention relates to the technical fields of engineering survey and pipeline survey, in particular to a calibration method, device and system for a three-dimensional pipeline survey robot based on inertial navigation / odometer. Background technique [0002] The pipeline measurement robot can accurately measure the three-dimensional space curve of the pipeline by moving inside the pipeline, and is widely used in the position measurement of underground pipelines. The key functional modules of the pipeline measurement robot include car body structure, measurement unit module and auxiliary modules (including acquisition board, power supply, etc.). The pipe measuring robot has a design centering the center line of the pipe in the car body structure. If the retractable spring triangular wheel device is used, it can adapt to pipe diameters of different sizes and ensure that the axis of the pipe measuring robot and the axis of the pipe are on the same curve...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/16
Inventor 李清泉陈智鹏陈起金
Owner SHENZHEN UNIV
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