Research and evaluation of the measurement uncertainty with the pipeline robot

摘要

Abstract The pipeline robot used to detect and maintain the pipeline is a novel technical means, which changes the single traditional mode of excavation sampling inspection of pipeline. This detection technology not only improved the accuracy of pipeline detection but also is easy to analyze the causes of pipeline defects for pipeline engineering management maintenance staff. It is possible to carry out a review of defect and develop pipeline maintenance solutions. Using this method can eliminate the security hidden danger before repairing or replacing section. Thus, the use of a pipeline can save a lot of maintenance costs and reduce pipeline maintenance cost, which can also ensure the safety of people’s life and property. In addition, this method can also reduce the toxic gas or liquid leakage to protect environmental pollution. Therefore, the research of a pipeline detection robot has an important scientific significance and social value. In this paper, our group has a base of the long-term research with the geometric measurement technology, so the measurement uncertainty of the common pipeline robot is studied. The measurement uncertainty of error about positioning is defined as U =0.59mm+9×10 −2 L, k =2 (L unit is m), and the uncertainty evaluation of angle errors measured, including the forward and backward pitching angle, left-right tilt angle, is U =0.10°+4.6×10 −3 θ ( θ unit is °).