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Positioning method of robot in hydraulic pipe culvert

A positioning method and robot technology, applied in the direction of instruments, using re-radiation, measuring devices, etc., can solve problems such as the disconnection of the controller, the failure of the detection results to correspond to the structure position, and the inability to know the exact position of the robot, so as to reduce interference. Effect

Pending Publication Date: 2020-11-17
南京智慧基础设施技术研究院有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

After the robot enters the closed pipe culvert, the built-in positioning device is shielded and interfered, and can work normally, and the exact position of the robot cannot be known
This will cause the detection results to fail to correspond to the structure position, and the robot may even fall into a steep slope, the card group is in a narrow part, and it loses connection with the controller, etc.

Method used

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  • Positioning method of robot in hydraulic pipe culvert
  • Positioning method of robot in hydraulic pipe culvert
  • Positioning method of robot in hydraulic pipe culvert

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Embodiment Construction

[0026] The present invention will be further explained below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the following specific embodiments are only used to illustrate the present invention and are not intended to limit the scope of the present invention.

[0027] As shown in the figure, a positioning method for a robot in a hydraulic pipe culvert according to the present invention includes the following steps:

[0028] (1) Close the outlet of the pipe culvert, fill the inside of the pipe culvert with water, and start testing when the water fills the pipe culvert. At this time, the inside of the pipe culvert is basically completely filled with water. By controlling the opening of the inlet gate, etc., the flow field inside the pipe culvert is minimized. In this environment, the robot can use its own power (propeller) to hover and work at any height of the pipe culvert section.

[0029] (2) Set up two robots to work toge...

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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...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S11/14
CPCG01S11/14
Inventor 王子健
Owner 南京智慧基础设施技术研究院有限公司
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