Analysis And Design Of Location System Of Large Diameter Pipe Climbing Robot Based On Gyroscope

Autonomous mobile intelligent robot is widely used in military and civil applications.Localization technology is an important part of robot motion planning.The motion path of most robots is two-dimensional curve,while that of the wall-climbing robot in the pipe is three-dimensional curve.In order to solve this problem,this paper puts forward a robot positioning system for wall climbing in large diameter pipe.The overall structure of the system is described,the principle of system operation is introduced,the movement information of the robot is solved,and the robot movement attitude Angle is obtained to eliminate the problem of accumulated errors in the calculation results,and the error correction factor is introduced to further eliminate the error of the calculation results.Finally,simulation and trajectory tracking simulation are carried out to verify the reliability of the positioning system.First of all,a positioning method applied to the inner surface of pipeline based on the existing positioning methods has been proposed.It is simple,accurate and fast.The motion data of the robot read by the gyro are obtained,which solves the key problem that the robot walks in a straight line in the direction of pipeline placement and eliminates two kinds of human errors caused by robot placement error and pipeline placed error.Secondly,the robot's motion attitude matrix by using the quaternion method has been obtained based on the obtained robot motion data.The fourth order Runge-Kutta method is used to solve the quaternion differential equation.The robot motion attitude Angle is obtained.Because the gyroscope used in the robot positioning system has zero drift error,the attitude Angle of the robot will have great error in a short time.Aiming at this problem,the kalman filter algorithm and extended kalman filter algorithm are proposed to eliminate the cumulative error.This paper also analyzes the influence of external force on the robot in the process of motion and introduces a correction factor.The extended kalman filter algorithm is improved to further eliminate errors.And then,the type selection analysis and circuit analysis of each module of the system are introduced.The main control chip is freesckel MK10 series single chip microcomputer,and the sensor module combining MEMS gyro and accelerometer is used to solve the problem of inconsistent time axis between gyro and accelerometer,so that the experimental results are more accurate.The stepper motor is used as the crawler motor to drive the robot,LM2576 and AMS1117 are selected as the power chip to reduce the power consumption as far as possible on the premise of ensuring stability.The communication mode between the robot and the host computer is WIFI.The WIFI module carried by the robot and the host computer are connected to the same WIFI network to achieve communication,which provides convenience for the networking work of further development(such as mobile APP).Finally,the simulation design process of the positioning system of the wall-climbing robot in the pipe is introduced,and the result of attitude Angle calculation after filtering is simulated and analyzed.The trajectory tracking of the robot during movement is carried out,which verifies the effectiveness of the positioning system.