A pipeline inspection robot and its multi-sensor fusion detection method

Abstract

The invention relates to the field of robot technology, and provides a pipeline detection robot and a multi-sensor fusion detection method thereof, which can accurately obtain the perception of the environment in the pipeline and its own perception, comprehensive information detection, and high accuracy. The above-mentioned fusion detection method includes that the main control module obtains the detection data of each sensor every preset time; divides all the detection data obtained at the current moment into the robot's own state data and the internal environment data; and in-pipe environment data for feature extraction; parameter estimation and feature identification for the robot’s own state data and in-pipe environment data after feature extraction; next-moment data estimation and current-moment feature attributes for the robot’s own state data and in-pipe environment data respectively Perform fusion calculations to obtain comprehensive situation estimates of the robot's operating status and the environment inside the pipe. It solves the problems of incomplete information detection and high false detection rate of existing pipeline robots.

Description

technical field [0001] The invention relates to the technical field of pipeline detection robots, in particular to a pipeline detection robot and a multi-sensor fusion detection method thereof. Background technique [0002] Most oil and gas pipelines are buried underground. In order to ensure the safe use of pipelines and timely detect damages such as pipeline deformation and corrosion, it is necessary to conduct regular internal inspections of pipelines to discover various defects and damages in advance, understand the degree of danger of each pipeline section, and take corresponding measures , so as to effectively prevent and reduce pipeline accidents and save pipeline maintenance funds. The pipeline inspection robot is an ideal equipment for in-pipeline inspection. It can walk automatically along the inner wall of the pipeline, and is usually equipped with one or more sensors. Under the remote control of the operator, it can perform in-pipe inspection operations. [0003...

AI Technical Summary

Problems solved by technology

[0004] For this reason, the technical problem to be solved by the present invention is that the pipeline detection robot of the prior art is equipped with fewer sensors, the information detection is not comprehensive, the false detection rate is high, and the processing of the information returned by the sensor is too simple to obtain accurate pipeline detection. The internal environment perception and self-perception provide a pipeline detection robot equipped with multiple sensors, comprehensive information detection, comprehensive fusion processing of the sensor return information, and its multi-sensor fusion that can accurately obtain the internal environment perception and self-perception of the pipeline Detection method

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