激光雷达技术在管道检测机器人中的应用  

Application of LiDAR Technology in Pipeline Inspection Robots

作　　者：贾茗予 沈雪 冯孝欣 JIA Mingyu;SHEN Xue;FENG Xiaoxin

机构地区：[1]上海外国语大学附属外国语学校 [2]中国科学院上海技术物理研究所

出　　处：《计量与测试技术》2025年第2期64-67,共4页Metrology & Measurement Technique

摘　　要：为了推动我国油气管网设施建设和发展,实现完善“全国一张网”的目标,管道保护成为了一项重要工作。管道机器人和激光雷达技术的发展,为其检测工作提供了新的技术保障。为了在复杂的工况下能高效精准的完成各项检测工作,本文将两者相结合,对Gmapping算法进行优化,并通过ROS机器人,对其运动控制和轨迹及图像的获取、传输和处理进行试验验证。In order to promote the construction and development of China's oil and gas pipeline network facilities and achieve the goal of perfecting "a national network",pipeline protection has become an important work.The development of pipeline robot and laser radar technology provides new technical support for its detection work.In order to complete various detection work efficiently and accurately under complex working conditions,this paper combined the two methods to optimize Gmapping algorithm,and conducted experimental verification on its motion control and acquisition,transmission and processing of trajectory and image by ROS robot.

关 键 词：激光雷达 管道机器人 Gmapping算法 

分 类 号：TE973[石油与天然气工程—石油机械设备] TN958.98[电子电信—信号与信息处理] TP242[电子电信—信息与通信工程]