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A method for static discrimination of detection device

A detection device and static technology, applied in the detection field, can solve the problem that the output of the device cannot fully meet the ideal state

Active Publication Date: 2022-04-12
广东零偏科技有限公司 +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In actual situations, there are many interference factors, such as accelerometer drift and random noise, odometer accuracy limitation, gyro drift and random noise, slipping, etc., so that the output of the above devices cannot fully meet the ideal state

Method used

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  • A method for static discrimination of detection device
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  • A method for static discrimination of detection device

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Experimental program
Comparison scheme
Effect test

Embodiment 1

[0063] Such as figure 1 As shown, the present application provides a method for fuzzy static discrimination of detection devices, including:

[0064] S101, respectively acquire the detection data of the accelerometer, gyroscope and odometer arranged on the pipeline detection device, and input the corresponding data into the accelerometer three-axis fuzzy discriminator, the accelerometer modulus fuzzy discriminator, and the gyro modulus fuzzy discriminator , and the odometer discriminator to obtain the discrimination results of each discriminator.

[0065] The reason for designing this step is: for the output characteristics of the accelerometer and the gyroscope, adopting a fuzzy judgment mode is an effective method for dealing with the technical problems of the present invention. The fuzzy judgment method can deal with uncertain problems with the help of fuzzy variables. The fuzzy variable describes the fuzzy state, and its membership function describes the relationship bet...

Embodiment 2

[0077] Such as figure 2 As shown, the present application provides a method for fuzzy static discrimination of detection devices, including:

[0078] S201, design the fuzzy discriminator, including: accelerometer three-axis fuzzy discriminator design, accelerometer modulus fuzzy discriminator and gyroscope modulus fuzzy discriminator design, specifically:

[0079] S201.1 Accelerometer three-axis fuzzy discriminator design

[0080] Such as image 3 As shown, the input is: the three-axis output of the accelerometer in the navigation system minus the acceleration of gravity, that is The output is the motion state of the vehicle, ie stationary, low dynamic or high dynamic. Among them, the accelerometer three-axis fuzzy discriminator ( image 3 shown in the dotted box) will be the As an input, the output is judged as the precise value of the degree of movement, and then the output indicates the precise value of the degree of movement is converted into the language value of ...

Embodiment 3

[0189] Such as Figure 14 As shown, the present application also provides a system for fuzzy static discrimination of detection devices, based on the methods described in Embodiments 1 and 2, including:

[0190] The obtaining module is used to separately obtain the detection data of the accelerometer, gyroscope and odometer provided on the pipeline detection device.

[0191] The input module inputs the corresponding data into the accelerometer three-axis fuzzy discriminator, the accelerometer modulus fuzzy discriminator, the gyro modulus fuzzy discriminator, and the odometer discriminator, and obtains the discrimination results of each discriminator.

[0192] The operation module is used to perform logic "AND" operation according to the discrimination results of each discrimination sub-module to obtain the final static discrimination result.

[0193] Preferably, the accelerometer three-axis fuzzy discriminator, the accelerometer modulus fuzzy discriminator, and the gyro modul...

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Abstract

The embodiment of the present invention discloses a method for static discrimination of a detection device, comprising: A. Obtaining the detection data of the accelerometer, gyroscope and odometer respectively arranged on the detection device; Input to accelerometer three-axis fuzzy discriminator, accelerometer modulus fuzzy discriminator, gyroscope modulus fuzzy discriminator, and odometer discriminator, to obtain the discriminant result whether each discriminator distinguishes whether detection device is stationary respectively; B, according to each The discriminant results of the discriminator are voted to determine whether the detection device is in a static state. Based on the above, the present application is beneficial to more accurately judge whether the current pipeline detection device is in a static state.

Description

technical field [0001] The invention relates to the detection field, in particular to a method for static discrimination of a detection device. Background technique [0002] In the field of detecting pipelines using a pipeline detection device equipped with a position detection system, a three-dimensional coordinate and position map of the central axis of the pipeline is generated through the moving track of the pipeline detection device passing through the pipeline. The position detection device usually includes a three-axis accelerometer, gyroscope and odometer. [0003] When the position detection system is in motion, the output of the accelerometer is only used to calculate the position information; when the system is stationary, the output of the accelerometer is used to correct the attitude information. Therefore, the judgment of the static state is particularly important for the rational use of accelerometer information, and even the overall accuracy of the pipeline ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01P13/00G01C23/00
CPCG01P13/00G01C23/00
Inventor 宋华张军香武璐
Owner 广东零偏科技有限公司