Positioning method of robot in hydraulic pipe culvert

Abstract

The invention discloses a method for positioning a robot in a hydraulic pipe culvert, which comprises the following steps of: filling water into the pipe culvert to reduce the interference of a flow field on the robot; the two robots are fixed to the pile numbers a and b correspondingly, and it is guaranteed that the connecting lines of the robots are horizontal through gravity sensors; additionallayers with different densities are wrapped outside the cable, so that the cable is prevented from winding. The horizontal distance between a and b is measured through ultrasonic waves conducted by the pipe culvert; and the first robot is moved to a deeper pile number c, the process is repeated, and the detection work of the whole pipe culvert is completed. According to the method, steering of the detection path can be realized at the inflection point in the pipe culvert, and the distance measurement result of each station is corrected through the position of the internal structure of the pipe culvert. Under the condition that the pipe culvert is closed and robot positioning signals are blocked, local coordinates in the pipe culvert can be established, robot positioning is achieved, the robot is prevented from falling off a steep slope, getting stuck and losing communication, and it is guaranteed that the detection result corresponds to the structure position.

Description

technical field [0001] The invention belongs to the technical field of pipe and culvert detection, and in particular relates to a positioning method for a robot in a hydraulic pipe and culvert. Background technique [0002] Water conservancy projects contain a large number of penstocks, tunnels, culverts and other structures. Due to the corrosion and impact of water bodies, hydraulic pipes and culverts in Sheung Shui are prone to deterioration and failure. Regular inspection of hydraulic pipes and culverts is a key to improving project reliability and safety. effective method. [0003] At present, the relatively mature and reliable technology in engineering is manual inspection by divers. The divers carry cameras, measuring tools, detectors, etc. to go deep into the interior of hydraulic pipes and culverts for inspection and testing. However, due to the limitation of divers' operating time and operating depth, artificial diving detection has limitations. For ultra-long pipe...

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