Research On Dual-robot Pipeline Reposition System Based On Laser Ranging

With the rapid development of gas pipeline transportation,underground gas pipeline transportation is also developing.However,the actual direction of the pipeline may be different from the drawing after the construction of the pipeline.So a device or robot is needed to reposition the pipeline.In order to solve this problem,for underground gas pipelines with 300-500 mm inner diameter,this project proposes a dual-robot pipeline positioning scheme based on laser ranging: Two collaborative robots were used to complete the segmented measurement of the pipeline through three point laser distance sensors or two sensors and a gyroscope.Then the data of each section of the pipeline were splice and solved,and finally the 3D model of the whole pipeline can be reconstructed.The main research objectives of this project are: Design a double robot pipeline reposition scheme;Design the pipeline robots,including the mechanical body,control unit,measurement unit and the other functional modules;Visual pipeline trend data.The main work of the subject are as follows:Firstly,according to the characteristics of underground gas pipeline,design two reasonable dual-robot pipeline positioning algorithm which are as follows:(1)Reposition algorithm based on three point laser distance sensors;(2)Reposition algorithm based on two point laser distance sensors and a gyroscope.Secondly,combined with the research status of pipeline reposition robot at home and abroad,the hardware system of pipeline robot in this subject is designed,which is as follows:(1)Use software Solid Works to design the three-dimensional model of the robots,use software Adams to simulate and analyze the dynamics status of the robot while working,and finally get a reasonable mechanical body structure of the pipeline robot;(2)Design the framework of embedded control system,including control unit,measurement unit and other functional modules,so that each robot has the functions of motion,communication and measurement.Again,design the robot software system according to the pipeline reposition scheme and hardware system.The details are as follows:(1)Write the embedded control unit program,so that each control unit,measurement unit and other functional modules can work normally,so as to realize the movement,communication and measurement functions of the robot.(2)Visual the trend data of the pipeline.The upper computer software is written to normally obtain and solve the data saved by the robot in the pipeline reposition scheme,and realize the three-dimensional model reconstruction of the pipeline.Finally,experimental verification.Test whether the reposition accuracy of each pipeline section and horizontal bend section meet the requirements of different underground pipeline positioning scenarios,and verify whether the reposition radius of each pipeline section and horizontal bend section meet the requirements of the horizontal pipeline.