Simulation Analysis And Experimental Research On The Mileage System Of Pipeline Robot

The exact positioning of pipeline defects determines the success or failure of defect detection,and the accurate mileage measurement is an important basis for accurate positioning of pipeline defects.The mileage wheel measurement is currently used for mileage measurement.However,the mileage wheel has some problems when operating,such as slippage,wheel diameter wear,and collision with the welding slag on the pipe wall,which causes large error to the mileage measurement value and results in the wrong excavation of the pipeline,thereby causing huge economic losses.In order to improve the measurement accuracy of the mileage detection system of pipelines,this paper makes an in-depth study of the factors that cause measurement error of the mileage system.The simulation method was used to analyze the effects of these influencing factors.Based on the results of the simulation analysis,a parametric modeling and optimal design of the mileage system structure were carried out.Four-factor and three-level orthogonal tests were performed for verification.The main research contents are as follows:(1)According to the working principle of the mileage system,the scheme and structure of the mileage system were designed.(2)The sources of error for the inaccurate measurement of the mileage system were analyzed.It was found that the main cause of the measurement error of the mileage system was the skidding of the mileage wheel,and then the theories of the mileage measuring device skidding were studied.(3)The collision process between the mileage wheel and the slag on the pipe was analyzed from the perspective of Kinematic,and the change of the angular velocity the mileage wheel after collision was analyzed.The ADAMS software was used to simulate the factors causing inaccurate mileage data due to skidding after collisions(pipe robot speed,radius and width of the mileage wheel,welding slag size,fixed base length,size of the spring force).The impact of various factors on the positioning data was determined.(4)The ADAMS software was used for parametric modeling and optimization of the structure of the mileage system.The width and radius of the mileage wheel,the magnitude of the spring force,and the length of the fixed base were set as variables,while the error rate of the measured value of the mileage system was set as the optimization goal.The target value was minimized by changing the variables.The structure of the optimal mileage system was obtained,and the measurement accuracy of the mileage device was improved by 57.54%.(5)According to the results of simulation analysis and optimization design,three levels was selected for each of the four factors that affect the measurement accuracy of the mileage system(speed,radius and width of the mileage wheel,and the size of the welding slag),and the four-factor and three-level orthogonal test was designed to verify the theoretical analysis and simulation results.An experimental platform for the collision between the mileage wheel and the welding slag on the pipe wall was set up,and the programs and circuits for converting the data obtained from the Hall sensors into mileage and speed on the computer were compiled.The variance and significance of the data obtained from the orthogonal experiment were analyzed.The results of the analysis show that among these factors,the speed of the range wheel has the greatest influence on the measurement accuracy of the device.