小径管道测绘机器人定位系统设计与实现  

Design and implementation of small diameter pipeline mapping robot positioning system

作　　者：任常杰 安文斗[1,3] 管练武 杨杰[1,3] 熊荆 REN Changjie;AN Wendou;GUAN Lianwu;YANG Jie;XIONG Jing(Chongqing Vocational Institute of Safety&Technology,Chongqing 404001,China;Harbin Engineering University,Harbin 150001,China;Chongqing Hengzean Intelligent Technology Co.,Ltd,Chongqing 400039,China)

机构地区：[1]重庆安全技术职业学院,重庆404001 [2]哈尔滨工程大学,哈尔滨150001 [3]重庆恒泽安智能科技有限公司,重庆400039

出　　处：《自动化与仪器仪表》2021年第5期202-205,211,共5页Automation & Instrumentation

基　　金：重庆市教委科技研究项目(No.KJZD-K201804701)。

摘　　要：随着智慧城市建设的不断扩展,其各种地下管线不断增长,结构也越来越复杂,对管道使用情况定期进行检测、修理和维护的工作量急剧增加,因此,研究小径管道测量装置(PIG),使其早日投入实际应用显得尤其重要。设计了一种小径管道测绘机器人定位系统,就其关键器件的选择、硬件电路设计、软件系统的开发、整体机械结构设计进行了详细论述,研制出样机,搭建了测试平台,通过对样机在特定型状小径管线的实验数据分析,该小径管道测绘机器人测绘定位精度满足国家相关系列规范文件要求,具有较强的实用性。With the continuous expansion of smart city construction, the urban underground pipeline network has become more and more complex, and the length of pipeline is increasing, and the workload of regular inspection, repair and maintenance increases sharply.Therefore, it is particularly important to study the small diameter Pipeline Inspection Gauge and put it into practical application as soon as possible.In this project, a small diameter pipeline mapping robot positioning system is designed.The selection of key devices, the design of hardware circuit, the development of software system and the design of overall mechanical structure are discussed in detail.The prototype is developed and the test platform is built.Through the analysis of the experimental data of the prototype in a specific type of small diameter pipeline, the mapping positioning accuracy of the small diameter pipeline mapping robot meets the requirements of the relevant national standards and documents, and has strong practicability.

关 键 词：小管径 测绘机器人 定位系统 设计实现 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置] TN962[自动化与计算机技术—控制科学与工程]