上海交通大学学报

上海交通大学学报（自然版）

• 自动化技术、计算机技术 • 上一篇    下一篇

基于信息融合的海底管道机器人自主定位控制

王忠巍，曹其新，栾楠，张蕾   

  1. （上海交通大学 机器人研究所， 上海 200240）
  • 收稿日期:2007-11-02 修回日期:1900-01-01 出版日期:2008-10-28 发布日期:2008-10-28
  • 通讯作者: 曹其新

Autonomous Localization Technique of Submarine Inpipe Robot Based on Multisensor Data Fusion

WANG Zhong-wei, CAO Qi-xin, LUAN Nan, ZHANG Lei   

  1. (Research Institute of Robotics, Shanghai Jiaotong University, Shanghai 200240, China)
  • Received:2007-11-02 Revised:1900-01-01 Online:2008-10-28 Published:2008-10-28
  • Contact: CAO Qi-xin

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．

关键词: 管道机器人, 管内定位, 产生式规则, 一致性数据融合

Abstract: Based on lots of investigation and analysis for internal and overseas inpipe robot localization technology, a kind of localization method was brought forward, which firstly achieves rough localization using eddy current sensor to detect girth welds in pipelines, then carries out precise localization between adjacent girth welds by odometers. A production rule 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.

中图分类号: