Method and device for tracing positioning error of pipeline robot

A pipeline robot and positioning error technology, applied in the direction of measuring devices, instruments, etc., can solve the problems of calibration and measurement technology gaps, and achieve the effects of enhancing comparability, improving accuracy, and improving reliability

Pending Publication Date: 2021-12-24
中国测试技术研究院机械研究所
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] The errors of key measurement results such as distance parameters and angle parameters in the performance of specific pipeline robots are very important to the overall measurement accuracy and reliability of pipeline robots. The positioning accuracy is evaluated, and the relevant calibration and measurement technology involved is still blank

Method used

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  • Method and device for tracing positioning error of pipeline robot
  • Method and device for tracing positioning error of pipeline robot

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Embodiment Construction

[0022] In the following, the present invention will be further described in detail in conjunction with the embodiments, so as to make the purpose, technical solutions and advantages of the present invention more clearly understood. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0023] According to the method for tracing the source of a pipeline robot positioning error according to the first exemplary embodiment of the present invention, the method in this embodiment mainly includes the following steps.

[0024] Step 1: Control the pipeline robot to maintain the first state on the traceability workbench, and obtain the first positioning reading through the first measuring device

[0025] The positioning error of the pipeline robot can be calibrated by the static distance error, and can further be calibrated by the static angle error and other precision errors. The first ...

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Abstract

The invention discloses a method and device for tracing the positioning error of a pipeline robot. With the method and device adopted, the positioning precision of the pipeline robot can be efficiently and conveniently calibrated, and the accuracy and the reliability of the positioning measurement result of the pipeline robot can be improved on the basis of the self measurement result of the pipeline robot. The method comprises the following steps of: acquiring a first positioning reading through first measuring equipment; acquiring a second positioning reading of the pipeline robot through second measuring equipment; calculating a single-time positioning indication error value; repeating the steps to obtain two or more positioning indication error values; taking the value with the maximum absolute value in the two or more positioning indication error values as a positioning error measurement result of the pipeline robot; calculating a standard uncertainty component; calculating synthesis standard uncertainty according to the standard uncertainty component of the pipeline robot; and calculating expansion measurement uncertainty according to the synthesis standard uncertainty, and taking the expansion measurement uncertainty as the positioning error measurement result uncertainty of the pipeline robot.

Description

technical field [0001] The invention relates to the technical field of testing and calibration, in particular to a method and device for tracing the source of a pipeline robot positioning error. Background technique [0002] In order to improve the life of various pipelines (such as gas pipelines, water supply and drainage pipelines, communication pipelines, etc.), prevent accidents such as leakage, and ensure the normal operation of pipelines, it is necessary to carry out effective inspection and maintenance of pipelines on a regular basis. Due to the advantages of low maintenance cost and low environmental pollution, pipeline robots are increasingly used in pipeline inspection. A pipeline robot usually refers to an integrated system of machinery, electricity, and instrumentation that can automatically walk along the inside or outside of a small pipeline, carry one or more sensors and operate machinery, and perform a series of pipeline operations under remote control or com...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C25/00
CPCG01C25/00
Inventor 胡常安李万泽薛靓李建钢赵涛蒋丽
Owner 中国测试技术研究院机械研究所
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