基于信息融合的海底管道机器人自主定位控制  

Autonomous Localization Technique of Submarine In-pipe Robot Based on Multisensor Data Fusion

作　　者：王忠巍[1] 曹其新[1] 栾楠[1] 张蕾[1] 

机构地区：[1]上海交通大学机器人研究所,上海200240

出　　处：《上海交通大学学报》2008年第10期1707-1711,共5页Journal of Shanghai Jiaotong University

基　　金：国家高技术研究发展计划(863)项目(2007AA041703);国家自然科学基金资助项目(50705054)

摘　　要：提出了利用电涡流传感器探测油气管线中的焊缝,实现管道机器人在管线内的粗略定位,再结合里程仪进行相邻焊缝间精确定位的定位控制方法.针对管道机器人爬行速度不稳定所导致的焊缝漏检问题,提出了利用里程定位信息容错漏检焊缝的产生式规则.此外,为了保证里程信息的可靠性,应用多个里程仪为管道机器人提供里程定位数据,并采用一致性数据融合算法对冗余里程信息进行融合处理,同时提高了管道机器人的管内定位精度.模拟油气管道台架上进行的管内定位实验和现役石油管线上的工程应用验证了该定位方法的可行性.Based on lots of investigation and analysis technology, a kind of localization method was brough using eddy current sensor to detect girth welds in pip adjacent girth welds by odometers. A production rule for internal and overseas in-pipe robot loca t forward, which firstly achieves rough loca lzatlon ization elines, then carries out precise localization between was presented to achieve fault-tolerance processing for undetected girth welds, which are induced by in-pipe robot＇s unstable crawl speed, using distance information. Multi-odometer was applied to get more reliable distance information and the consensus data fusion algorithm was adopted to process the redundant data, so in-pipe robot＇s localization precision is improved as well. The tests on experimental pipeline system and applications on project site show that the new in-pipeline localization method for in-pipe robot is effectual.

关 键 词：管道机器人 管内定位 产生式规则 一致性数据融合 极大似然估计 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]