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使用激光测距和陀螺仪对管道进行三维映射
1School of Mechanical and Power Engineering, Zhengzhou University, Zhengzhou, 450001, China.
Scientific reports
|November 21, 2023
概括
一个新的双机器人系统使用激光测距和陀螺仪准确地绘制复杂的地下管道. 这种先进的技术克服了用于直,和斜管道系统的传统设备的局限性.
科学领域:
- 机器人和自动化机器人与自动化
- 地理空间工程是什么?
- 管道完整性管理管道完整性管理
背景情况:
- 传统的地下管道测绘工具仅限于直线段和短距离.
- 复杂的管道几何形状 (曲,斜率) 对准确的3D绘图构成重大挑战.
- 现有的方法缺乏灵活性,无法满足各种地下基础设施需求.
研究的目的:
- 开发和验证一种新的双机器人绘图技术,用于全面地铁管道表征.
- 为了能够准确地绘制直线,曲和斜坡管道的3D地图.
- 提高管道检查和维护的效率和精度.
主要方法:
- 采用了一种由检测车辆和绘图车辆组成的双机器人系统.
- 激光测距传感器和陀螺仪被用于数据采集.
- 使用带有图像拼接的断面映射方法创建了一个完整的管道模型.
主要成果:
- 双机器人技术成功地绘制了各种管道配置,包括水平直,,斜和复合板块.
- 管道内部直径在300-500毫米之间实现了有效的映射.
- 高精度被证明与距离错误在1米内和角度错误在1.5°超过2000米的旅行.
结论:
- 拟议的双机器人绘图技术为复杂的地下管道系统提供了高精度和多功能解决方案.
- 这种方法显著提高了绘制以前无法访问或难以绘制的管道段的能力.
- 这些发现支持采用先进的机器人解决方案,以改善管道管理和安全.
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