Research on Location Method of Pipe Climbing Robot based on Gyroscope

摘要

This paper introduced a location method of pipe climbing robot, this robot working in a big pipe that used to desalinate sea water. Traditional method on flaw detection of big sea desalination pipe is by human, This paper provide a new idea on location of the flaw detection robot. Using the fuse of multiple sensor information, the position and posture of climbing robot can be obtained. Gyroscope and the motor encoder can provide sufficient message to locate the robot. Also, with the moving of robot, some errors caused by slide of the robot track and the reading of sensors will happen. These errors can be eliminated by kalman filter. The practicable of this method has been proved by simulation of motion trajectory. Errors could also happened with the improper arrangement of pipeline, but this method is to calculate the subtraction of the sensor reading on two state. So we do not need to consider these errors, it doesn't affect the outcome at any arrangement of pipeline.