CN110977976A - Method and system for judging traveling track of flexible pipeline robot - Google Patents
Method and system for judging traveling track of flexible pipeline robot Download PDFInfo
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- CN110977976A CN110977976A CN201911276902.7A CN201911276902A CN110977976A CN 110977976 A CN110977976 A CN 110977976A CN 201911276902 A CN201911276902 A CN 201911276902A CN 110977976 A CN110977976 A CN 110977976A
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- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
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- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
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Abstract
The invention provides a method and a system for judging a traveling track of a flexible pipeline robot, which relate to the technical field of pipe network inspection and comprise the following steps: adding an acceleration set to the space acceleration acquired in real time and the corresponding data acquisition time; drawing a first acceleration curve graph according to each acceleration set; when the spatial acceleration of the wave crest is not larger than the acceleration threshold value, removing the corresponding acceleration set to obtain a second acceleration curve graph; arranging the corresponding space accelerations in a descending order when the numerical value of the sampling point of the acceleration set between the adjacent wave crests is smaller than the threshold value of the sampling point; removing the space acceleration in the front sequence to obtain a third acceleration curve graph; extracting the data acquisition time of the wave crest, and matching to obtain a real-time position coordinate; and generating the traveling track of the flexible pipeline robot according to the data acquisition time and the real-time position coordinates. According to the invention, the data acquisition time when the water flow impacts the flexible pipeline robot is judged through the space acceleration, so that the advancing track is generated, and the required data volume is small.
Description
Technical Field
The invention relates to the technical field of pipe network inspection, in particular to a method and a system for judging the traveling track of a flexible pipeline robot.
Background
The underground pipeline is a 'city vein', is the basis of safe and stable operation of a city, is important content of smart city construction, and the modern underground pipeline system becomes one of important marks for measuring the perfection degree of a city infrastructure and the city management level. Pipeline detection is a prerequisite for realizing fine management and preventive repair of underground pipelines, and is necessary for maintaining normal operation of urban functions and ensuring life and property safety. Because of invisibility of the underground pipeline, people pay attention to the underground pipeline always until accidents happen, a large amount of economic loss is caused, and even hidden dangers are brought to life and property safety. At present, the generally accepted solution is to survey and map the current situation of the underground pipeline periodically during the construction completion and use stage of the pipeline, detect and timely repair potential structural and functional damage. Surveying and mapping the current situation of the pipeline is a precondition for fine management and preventive repair. Due to the special complexity of the pipeline environment, direct access by personnel is difficult and conventional mapping methods are difficult to implement.
In the prior art, adopt pipeline robot to realize the survey and drawing of pipeline usually, pipeline robot is including mobile robot and drive formula robot, to mobile robot owing to do not have drive arrangement, only along with intraductal fluid flow, belong to the passive form robot that does not need the energy of consumption, can realize the survey and drawing of pipeline, nevertheless because the invisibility of the motion mode of passive flow and underground piping, make unable acquisition pipeline robot's the orbit of marcing, thereby can not acquire the inside more accurate survey and drawing data of pipeline.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a method for judging the traveling track of a flexible pipeline robot, which specifically comprises the following steps:
step S1, acquiring the space acceleration of the flexible pipeline robot in the advancing process in real time, and adding the space acceleration and the corresponding data acquisition time into an acceleration set;
step S2, drawing a first acceleration curve graph which takes the data acquisition time as an abscissa and the spatial acceleration as an ordinate according to each acceleration set;
step S3, extracting the spatial acceleration in the acceleration set at the peak position from the first acceleration profile;
step S4, comparing each spatial acceleration with a preset acceleration threshold value, and removing the corresponding acceleration set from the first acceleration curve chart when the spatial acceleration is not greater than the acceleration threshold value to obtain a second acceleration curve chart;
step S5, counting the number of the acceleration set which is used as sampling points between adjacent wave crests in the second acceleration curve graph to obtain a plurality of sampling point values;
step S6, comparing the sampling point value with a preset sampling point threshold value, and arranging the two spatial accelerations of the two corresponding wave crests according to a sequence from small to large when the sampling point value is smaller than the sampling point threshold value to obtain a corresponding sorting queue;
step S7, removing the acceleration set corresponding to the space acceleration in the sorting queue at the front sorting from the second acceleration curve graph to obtain a third acceleration curve graph;
step S8, extracting the data acquisition time in each acceleration set at the peak position in the third acceleration curve chart, and matching in a synchronously generated real-time position database according to each data acquisition time to obtain the real-time position coordinates of the flexible pipeline robot corresponding to each data acquisition time;
and step S9, generating the traveling track of the flexible pipeline robot according to each data acquisition time and the corresponding real-time position coordinate.
Preferably, the step S1 specifically includes:
step S11, acquiring component accelerations of the flexible pipeline robot in different directions in the traveling process in real time by adopting a six-axis sensor, and adding each component acceleration and the corresponding data acquisition time into a component acceleration set;
step S12, for each component acceleration set, summing the component accelerations respectively to obtain a spatial acceleration, and adding each spatial acceleration and the corresponding data acquisition time to an acceleration set.
Preferably, in step S11, the six-axis sensor is a MEMS six-axis sensor.
Preferably, the component accelerations include an X-axis acceleration, a Y-axis acceleration, and a Z-axis acceleration.
Preferably, the method further comprises a process of synchronously generating the real-time location database, and specifically comprises the following steps:
step A1, acquiring real-time position coordinates of the flexible pipeline robot in the advancing process in real time;
the data acquisition time of the real-time position coordinate is synchronous with the data acquisition time of the space acceleration;
step A2, storing the real-time position coordinates and the corresponding data acquisition time to generate the real-time position database.
Preferably, in the step a1, the real-time position coordinates of the flexible pipe robot during traveling are acquired by using a GPS data collector.
A system for judging a traveling trajectory of a flexible pipe robot, to which the method for judging a traveling trajectory of a flexible pipe robot described in any one of the above is applied, the system specifically comprising:
the data acquisition module is used for acquiring the spatial acceleration of the flexible pipeline robot in the advancing process in real time and adding the spatial acceleration and the corresponding data acquisition time into an acceleration set;
the curve drawing module is connected with the data acquisition module and used for drawing a first acceleration curve graph which takes the data acquisition moment as an abscissa and the spatial acceleration as an ordinate according to each acceleration set;
the first extraction module is connected with the curve drawing module and used for extracting the spatial acceleration in the acceleration set at the peak position from the first acceleration curve graph;
a first processing module connected to the first extraction module, the first processing module comprising:
the first comparison unit is used for respectively comparing each space acceleration with a preset acceleration threshold value and outputting a corresponding first comparison result when the space acceleration is not greater than the acceleration threshold value;
the first processing unit is connected with the first comparison unit and used for removing the corresponding acceleration set from the first acceleration curve graph according to the first comparison result to obtain a second acceleration curve graph;
the data statistics module is connected with the first processing module and used for counting the number of the acceleration sets serving as sampling points between adjacent wave crests in the second acceleration curve graph to obtain a plurality of sampling point values;
the second processing module is connected with the data statistics module and comprises:
the second comparison unit is used for comparing the sampling point value with a preset sampling point threshold value and outputting a corresponding second comparison result when the sampling point value is smaller than the sampling point threshold value;
the second processing unit is connected with the second comparison unit and used for arranging the two space accelerations of the two corresponding wave crests according to a second comparison result from small to large to obtain a corresponding sorting queue;
the third processing module is connected with the second processing module and used for removing the acceleration set corresponding to the spatial acceleration in the sorting queue at the front sorting position from the second acceleration curve graph to obtain a third acceleration curve graph;
the data matching module is connected with the third processing module and used for extracting the data acquisition time in each acceleration set at the peak position in the third acceleration curve graph and matching the data acquisition time in a synchronously generated real-time position database according to each data acquisition time to obtain the real-time position coordinate of the flexible pipeline robot corresponding to each data acquisition time;
and the track generating module is connected with the data matching module and used for generating the travelling track of the flexible pipeline robot according to each data acquisition time and the corresponding real-time position coordinate.
Preferably, the data acquisition module specifically includes:
the data acquisition unit is used for acquiring component accelerations of the flexible pipeline robot in different directions in the traveling process in real time by adopting a six-axis sensor, and adding each component acceleration and the corresponding data acquisition moment into a component acceleration set;
and the calculation unit is connected with the data acquisition unit and used for summing the component accelerations respectively to obtain a spatial acceleration aiming at each component acceleration set, and adding each spatial acceleration and the corresponding data acquisition time into an acceleration set.
Preferably, the system further comprises a database generation module connected to the data matching module, wherein the database generation module specifically comprises:
the coordinate acquisition unit is used for acquiring real-time position coordinates of the flexible pipeline robot in the advancing process in real time;
the data acquisition time of the real-time position coordinate is synchronous with the data acquisition time of the space acceleration;
and the coordinate storage unit is connected with the coordinate acquisition unit and used for storing the real-time position coordinates and the corresponding data acquisition time to generate the real-time position database.
The technical scheme has the following advantages or beneficial effects: the corresponding data acquisition moment when the water flow impacts the flexible pipeline robot is judged through the acquired space acceleration, and the break point of the advancing track of the flexible pipeline robot is represented by the real-time position coordinate corresponding to the data acquisition moment, so that the method is concise and less in required data quantity.
Drawings
Fig. 1 is a schematic flow chart illustrating a method for determining a traveling track of a flexible pipeline robot according to a preferred embodiment of the present invention;
FIG. 2 is a flow chart illustrating a method for generating an acceleration set according to a preferred embodiment of the present invention;
FIG. 3 is a flow chart illustrating a process of synchronously generating the real-time location database according to a preferred embodiment of the present invention;
fig. 4 is a schematic structural diagram of a system for determining a traveling track of a flexible pipe robot according to a preferred embodiment of the present invention.
Detailed Description
The invention is described in detail below with reference to the figures and specific embodiments. The present invention is not limited to the embodiment, and other embodiments may be included in the scope of the present invention as long as the gist of the present invention is satisfied.
In a preferred embodiment of the present invention, based on the above problems in the prior art, there is provided a method for determining a traveling track of a flexible pipeline robot, as shown in fig. 1, including the following steps:
step S1, acquiring the space acceleration of the flexible pipeline robot in the advancing process in real time, and adding the space acceleration and the corresponding data acquisition time into an acceleration set;
step S2, drawing a first acceleration curve graph with the data acquisition time as an abscissa and the spatial acceleration as an ordinate according to each acceleration set;
step S3, extracting the space acceleration in the acceleration set at the peak position from the first acceleration curve chart;
step S4, comparing each space acceleration with a preset acceleration threshold value, and removing a corresponding acceleration set from the first acceleration curve chart when the space acceleration is not greater than the acceleration threshold value to obtain a second acceleration curve chart;
step S5, counting the number of acceleration sets serving as sampling points between adjacent wave crests in the second acceleration curve graph to obtain a plurality of sampling point values;
step S6, comparing the value of the sampling point with a preset sampling point threshold value, and arranging the two space accelerations of the two corresponding wave crests according to a sequence from small to large when the value of the sampling point is smaller than the sampling point threshold value to obtain a corresponding sorting queue;
step S7, removing the acceleration set corresponding to the spatial acceleration in the front sequence in the sequencing queue from the second acceleration curve graph to obtain a third acceleration curve graph;
step S8, extracting data acquisition moments in each acceleration set at the peak position in the third acceleration curve chart, and matching the data acquisition moments in a synchronously generated real-time position database according to the data acquisition moments to obtain real-time position coordinates of the flexible pipeline robot corresponding to each data acquisition moment;
and step S9, generating the traveling track of the flexible pipeline robot according to each data acquisition time and the corresponding real-time position coordinates.
Specifically, in the present embodiment, the structure of the flexible pipe robot 1 in the present embodiment is a conventional structure, and for a specific structure, reference may be made to a conventionally disclosed patent document CN 105465551B. Preferably adopt six sensors to realize the collection of flexible pipeline robot at the space acceleration of the in-process of marcing, this six sensors are preferred to be set up on flexible pipeline robot 1's actuating mechanism, and flexible pipeline robot 1 is at the in-process of marcing, and this actuating mechanism contacts completely with water supply pipe inner wall to realize the detection of flexible pipeline robot 1's space acceleration. The main structure of the flexible pipe robot 1 is not important to explain in this application, and thus will not be described in detail here.
Further specifically, the corresponding data acquisition time when the water flow impacts the flexible pipeline robot is judged through the acquired spatial acceleration, and the real-time position coordinate corresponding to the data acquisition time is used for representing the mutation point of the advancing track of the flexible pipeline robot, so that the method is concise and less in required data quantity. Further, it is preferable that a six-axis sensor is used to acquire a spatial acceleration of the flexible pipe robot during the traveling process, where the spatial acceleration is a resultant acceleration of an X-axis acceleration, a Y-axis acceleration, and a Z-axis acceleration acquired as component accelerations. And drawing a first acceleration curve graph representing the change of the combined acceleration along with the data acquisition time according to the combined acceleration and the corresponding data acquisition time. The first acceleration profile is simplified, and the trend of the travel trajectory of the flexible pipe robot is increased as the resultant acceleration is increased, so that the first acceleration profile can be simplified by processing the resultant acceleration at the peak position. Preferably, the spatial acceleration at the peak position in the first acceleration curve is compared with a preset acceleration threshold, and if the spatial acceleration is greater than the acceleration threshold, it indicates that the data acquisition time corresponding to the spatial acceleration has a high possibility of being impacted by water flow, so that the spatial acceleration is increased, and the spatial acceleration is retained. If the spatial acceleration is not greater than the acceleration threshold, the change of the traveling track of the flexible pipeline robot at the data acquisition time corresponding to the spatial acceleration is small, and sudden change of the traveling track cannot occur, so that the spatial acceleration at the data acquisition time can be removed to obtain a second acceleration curve graph. And then, further simplifying the second acceleration curve, and removing the acceleration set with smaller space acceleration corresponding to the two adjacent wave crests as the sampling point to obtain a third acceleration curve when the number of the sampling points is smaller than a preset sampling point threshold value by counting the number of the sampling points between the two adjacent wave crests of the second acceleration curve. In the third acceleration curve, the data acquisition time corresponding to the spatial acceleration at the peak position is the time when the water flow impacts the flexible pipeline robot, that is, the time when the traveling track of the flexible pipeline robot is most likely to change. And then through obtaining the real-time position coordinate of the flexible pipeline robot that corresponds at the moment of above-mentioned data acquisition, obtain the orbit of marcing of flexible pipeline robot, realize adopting the orbit of marcing of minimum data accurate representation flexible pipeline robot.
In a preferred embodiment of the present invention, as shown in fig. 2, step S1 specifically includes:
step S11, acquiring component accelerations of the flexible pipeline robot in different directions in the advancing process in real time by adopting a six-axis sensor, and adding each component acceleration and corresponding data acquisition time into a component acceleration set;
and step S12, summing the component accelerations respectively to obtain a spatial acceleration for each component acceleration set, and adding each spatial acceleration and the corresponding data acquisition time into an acceleration set.
In the preferred embodiment of the present invention, in step S11, the six-axis sensor is a MEMS six-axis sensor.
In a preferred embodiment of the present invention, the component accelerations include an X-axis acceleration, a Y-axis acceleration, and a Z-axis acceleration.
In a preferred embodiment of the present invention, the method further includes a process of synchronously generating the real-time location database, as shown in fig. 3, which specifically includes the following steps:
a1, acquiring real-time position coordinates of the flexible pipeline robot in the advancing process in real time;
the data acquisition time of the real-time position coordinate is synchronous with the data acquisition time of the space acceleration;
step A2, storing the real-time position coordinates and the corresponding data acquisition time to generate a real-time position database.
In the preferred embodiment of the present invention, in step a1, the real-time position coordinates of the flexible pipe robot during the traveling process of the GPS data collector are adopted.
A system for judging a traveling trajectory of a flexible pipe robot, to which any one of the above methods for judging a traveling trajectory of a flexible pipe robot is applied, as shown in fig. 4, specifically includes:
the data acquisition module 1 is used for acquiring the spatial acceleration of the flexible pipeline robot in the advancing process in real time and adding the spatial acceleration and the corresponding data acquisition time into an acceleration set;
the curve drawing module 2 is connected with the data acquisition module 1 and used for drawing a first acceleration curve graph which takes the data acquisition moment as an abscissa and takes the spatial acceleration as an ordinate according to each acceleration set;
the first extraction module 3 is connected with the curve drawing module 2 and used for extracting the spatial acceleration in the acceleration set at the peak position from the first acceleration curve graph;
a first processing module 4 connected to the first extraction module 3, the first processing module 4 comprising:
a first comparing unit 41, configured to compare each spatial acceleration with a preset acceleration threshold, and output a corresponding first comparison result when the spatial acceleration is not greater than the acceleration threshold;
the first processing unit 42 is connected to the first comparing unit 41, and configured to remove the corresponding acceleration set from the first acceleration curve graph according to the first comparison result to obtain a second acceleration curve graph;
the data statistics module 5 is connected with the first processing module 4 and used for counting the number of acceleration sets serving as sampling points between adjacent wave crests in the second acceleration curve graph to obtain a plurality of sampling point numerical values;
the second processing module 6 is connected with the data statistics module 5, and the second processing module 6 comprises:
the second comparison unit 61 is configured to compare the value of the sampling point with a preset sampling point threshold, and output a corresponding second comparison result when the value of the sampling point is smaller than the sampling point threshold;
the second processing unit 62 is connected to the second comparing unit 61, and configured to arrange the two spatial accelerations of the two corresponding wave crests in order from small to large according to a second comparison result, so as to obtain a corresponding sorting queue;
the third processing module 7 is connected with the second processing module 6 and is used for removing the acceleration set corresponding to the spatial acceleration in the sorting queue at the front in the sorting queue from the second acceleration curve graph to obtain a third acceleration curve graph;
the data matching module 8 is connected with the third processing module 7 and used for extracting data acquisition moments in each acceleration set at the peak position in the third acceleration curve graph and matching the data acquisition moments in a synchronously generated real-time position database according to the data acquisition moments to obtain real-time position coordinates of the flexible pipeline robot corresponding to each data acquisition moment;
and the track generating module 9 is connected with the data matching module 8 and used for generating the travelling track of the flexible pipeline robot according to each data acquisition time and the corresponding real-time position coordinate.
In a preferred embodiment of the present invention, the data acquisition module 1 specifically includes:
the data acquisition unit 11 is used for acquiring component accelerations of the flexible pipeline robot in different directions in the traveling process in real time by adopting a six-axis sensor, and adding each component acceleration and corresponding data acquisition time into a component acceleration set;
and the calculating unit 12 is connected to the data acquisition unit 11, and is configured to sum the component accelerations to obtain a spatial acceleration for each component acceleration set, and add each spatial acceleration and the corresponding data acquisition time to an acceleration set.
In a preferred embodiment of the present invention, the present invention further includes a database generating module 10 connected to the data matching module 8, where the database generating module 10 specifically includes:
the coordinate acquisition unit 100 is used for acquiring real-time position coordinates of the flexible pipeline robot in the advancing process in real time;
the data acquisition time of the real-time position coordinate is synchronous with the data acquisition time of the space acceleration;
and the coordinate storage unit 101 is connected with the coordinate acquisition unit 100 and is used for storing the real-time position coordinates and the corresponding data acquisition time to generate a real-time position database.
While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the invention.
Claims (9)
1. A method for judging the traveling track of a flexible pipeline robot is characterized by comprising the following steps:
step S1, acquiring the space acceleration of the flexible pipeline robot in the advancing process in real time, and adding the space acceleration and the corresponding data acquisition time into an acceleration set;
step S2, drawing a first acceleration curve graph which takes the data acquisition time as an abscissa and the spatial acceleration as an ordinate according to each acceleration set;
step S3, extracting the spatial acceleration in the acceleration set at the peak position from the first acceleration profile;
step S4, comparing each spatial acceleration with a preset acceleration threshold value, and removing the corresponding acceleration set from the first acceleration curve chart when the spatial acceleration is not greater than the acceleration threshold value to obtain a second acceleration curve chart;
step S5, counting the number of the acceleration set which is used as sampling points between adjacent wave crests in the second acceleration curve graph to obtain a plurality of sampling point values;
step S6, comparing the sampling point value with a preset sampling point threshold value, and arranging the two spatial accelerations of the two corresponding wave crests according to a sequence from small to large when the sampling point value is smaller than the sampling point threshold value to obtain a corresponding sorting queue;
step S7, removing the acceleration set corresponding to the space acceleration in the sorting queue at the front sorting from the second acceleration curve graph to obtain a third acceleration curve graph;
step S8, extracting the data acquisition time in each acceleration set at the peak position in the third acceleration curve chart, and matching in a synchronously generated real-time position database according to each data acquisition time to obtain the real-time position coordinates of the flexible pipeline robot corresponding to each data acquisition time;
and step S9, generating the traveling track of the flexible pipeline robot according to each data acquisition time and the corresponding real-time position coordinate.
2. The method for determining a travel trajectory of a flexible pipe robot according to claim 1, wherein the step S1 specifically includes:
step S11, acquiring component accelerations of the flexible pipeline robot in different directions in the traveling process in real time by adopting a six-axis sensor, and adding each component acceleration and the corresponding data acquisition time into a component acceleration set;
step S12, for each component acceleration set, summing the component accelerations respectively to obtain a spatial acceleration, and adding each spatial acceleration and the corresponding data acquisition time to an acceleration set.
3. The method for determining a travel path of a flexible pipe robot according to claim 2, wherein in step S11, the six-axis sensor is a MEMS six-axis sensor.
4. The method of determining a travel trajectory of a flexible pipe robot according to claim 2, wherein the component accelerations include an X-axis acceleration, a Y-axis acceleration, and a Z-axis acceleration.
5. The method for determining the traveling track of a flexible pipe robot according to claim 1, further comprising a process of synchronously generating the real-time location database, and specifically comprising the steps of:
step A1, acquiring real-time position coordinates of the flexible pipeline robot in the advancing process in real time;
the data acquisition time of the real-time position coordinate is synchronous with the data acquisition time of the space acceleration;
step A2, storing the real-time position coordinates and the corresponding data acquisition time to generate the real-time position database.
6. The method for determining the travel track of the flexible pipe robot according to claim 5, wherein in the step A1, a GPS data collector is used to collect the real-time position coordinates of the flexible pipe robot during the travel.
7. A travel track determination system of a flexible pipe robot to which the travel track determination method of a flexible pipe robot according to any one of claims 1 to 6 is applied, the travel track determination system comprising:
the data acquisition module is used for acquiring the spatial acceleration of the flexible pipeline robot in the advancing process in real time and adding the spatial acceleration and the corresponding data acquisition time into an acceleration set;
the curve drawing module is connected with the data acquisition module and used for drawing a first acceleration curve graph which takes the data acquisition moment as an abscissa and the spatial acceleration as an ordinate according to each acceleration set;
the first extraction module is connected with the curve drawing module and used for extracting the spatial acceleration in the acceleration set at the peak position from the first acceleration curve graph;
a first processing module connected to the first extraction module, the first processing module comprising:
the first comparison unit is used for respectively comparing each space acceleration with a preset acceleration threshold value and outputting a corresponding first comparison result when the space acceleration is not greater than the acceleration threshold value;
the first processing unit is connected with the first comparison unit and used for removing the corresponding acceleration set from the first acceleration curve graph according to the first comparison result to obtain a second acceleration curve graph;
the data statistics module is connected with the first processing module and used for counting the number of the acceleration sets serving as sampling points between adjacent wave crests in the second acceleration curve graph to obtain a plurality of sampling point values;
the second processing module is connected with the data statistics module and comprises:
the second comparison unit is used for comparing the sampling point value with a preset sampling point threshold value and outputting a corresponding second comparison result when the sampling point value is smaller than the sampling point threshold value;
the second processing unit is connected with the second comparison unit and used for arranging the two space accelerations of the two corresponding wave crests according to a second comparison result from small to large to obtain a corresponding sorting queue;
the third processing module is connected with the second processing module and used for removing the acceleration set corresponding to the spatial acceleration in the sorting queue at the front sorting position from the second acceleration curve graph to obtain a third acceleration curve graph;
the data matching module is connected with the third processing module and used for extracting the data acquisition time in each acceleration set at the peak position in the third acceleration curve graph and matching the data acquisition time in a synchronously generated real-time position database according to each data acquisition time to obtain the real-time position coordinate of the flexible pipeline robot corresponding to each data acquisition time;
and the track generating module is connected with the data matching module and used for generating the travelling track of the flexible pipeline robot according to each data acquisition time and the corresponding real-time position coordinate.
8. The system according to claim 7, wherein the data acquisition module specifically comprises:
the data acquisition unit is used for acquiring component accelerations of the flexible pipeline robot in different directions in the traveling process in real time by adopting a six-axis sensor, and adding each component acceleration and the corresponding data acquisition moment into a component acceleration set;
and the calculation unit is connected with the data acquisition unit and used for summing the component accelerations respectively to obtain a spatial acceleration aiming at each component acceleration set, and adding each spatial acceleration and the corresponding data acquisition time into an acceleration set.
9. The system for determining the trajectory of travel of a flexible pipe robot of claim 7, further comprising a database generation module connected to the data matching module, wherein the database generation module specifically comprises:
the coordinate acquisition unit is used for acquiring real-time position coordinates of the flexible pipeline robot in the advancing process in real time;
the data acquisition time of the real-time position coordinate is synchronous with the data acquisition time of the space acceleration;
and the coordinate storage unit is connected with the coordinate acquisition unit and used for storing the real-time position coordinates and the corresponding data acquisition time to generate the real-time position database.
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| CN103743378A (en) * | 2013-12-27 | 2014-04-23 | 北京自动化控制设备研究所 | Gesture detection system of pipeline detector |
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Application publication date: 20200410 |