Design And Implementation Of Multi-sensor Integrated System For High Precision Pipeline Measurement Robot

As an important part of infrastructure construction,underground pipelines are the"lifeline" for promoting the rapid development of China's economy and the survival of the new four modernizations.At present,China's underground pipeline management level lags behind urban development,lags behind the international counterparts in the same period.The intricate,chaotic and disorderly underground pipelines that lack scientific management have become obstacles to restricting the construction of new four modernizations and rapid economic development.Exploring new underground pipeline measurement methods will help the rapid improvement of national geographic information management level,not only effectively promote the rapid development of China's "smart pipe network",but also effectively protect the health status and scientific operation of the underground pipe network.With the continuous expansion of urban underground pipe network and the stimulation of pipeline repair demand,universities and scientific research institutions at home and abroad have carried out related research,and gradually began to have detection instruments and equipment for pipeline measurement.Relatively mature global satellite navigation system(GNSS),ground penetrating radar(GPR),pipeline measuring instrument,etc.However,these measurement methods generally have a series of problems such as being susceptible to environmental interference,single application scenarios,and insufficient measurement accuracy.Currently,there is an urgent need for a pipeline measurement method with higher measurement accuracy,more functions,and more cost advantages.The current research status of pipeline measuring equipment and multi-sensor synchronous control shows that the key to solving the measurement accuracy of pipeline measuring system is the improvement of multi-sensor time synchronization accuracy.Due to its parallelism,FPGA is rich in logic resources and fast in operation.It is very suitable for sequential logic control and is the best choice for multi-sensor synchronous controllers.Aiming at the problem that the existing pipeline measurement method is vulnerable to environmental interference,poor adaptability and low measurement accuracy,this paper proposes an FPGA-based multi-sensor integration scheme for pipeline robots.The pipeline robot uses FPGA as the multi-sensor synchronous control core.The high-precision voltage-controlled and temperature-compensated crystal oscillator is the time synchronization reference source,and integrates high-precision inertial measurement unit,high-resolution odometer and other multi-sensor units.The inertial measurement is performed in real time through the pipeline robot.At the same time,by integrating the mileage information,the parameters such as the attitude and position of the pipeline robot can be calculated,and then the coordinates of the precise control point of the nozzle can be matched to realize the three-dimensional curve reconstruction of the pipeline,thereby obtaining the depth and the orientation of the underground pipeline,information.In this paper,the design of pipeline-based measurement robot based on FPGA is expounded in detail.The multi-sensor integration and synchronization control method of pipeline measurement robot based on FPGA is studied.At the same time,the experimental pipeline system with real proportion is built and the prototype of pipeline measurement robot is developed.Through the construction of the real proportional test pipeline,the whole pipeline robot measurement system has been tested and verified many times.The analysis results of the experimental data show that the pipeline measurement robot system designed in this paper has good applicability,strong anti-interference and measurement accuracy.One ten-thousandth of the length of the pipe can fully meet the measurement accuracy requirements of pipes of different pipe diameters and lengths.