【摘要】 为保证油气管道的安全可靠运行,需定期使用智能机器人对油气管道进行检测和清管。为掌握智能机器人在油气管道中的运行位置,使用极低频磁信号收发系统对其进行跟踪。极低频磁信号收发系统主要由极低频磁发射机、接收机和远程监视中心组成。为保证收发系统能够应用于管道检测工程中,进行了一系列实验来验证收发系统的性能。首先实测了磁发射机的持续工作时间、工作频率、效率和磁感应强度等基本参数。然后在空旷场合下,当磁发射机以一定速度移动时,采集相隔一定距离处的接收线圈上的感应电压信号,并使用基于最小二乘的检测算法进行离线检测,证明了最小二乘算法的有效性。最后分别在空旷场合、牵拉场环境和管道现场对接收机的性能进行了实时测试。实验结果表明:接收机能够准确跟踪油气管道中以4m/s移动的装载有磁发射机的智能机器人。更多还原

【Abstract】 Regular flaw detection and clearing of oil and gas pipelines require intelligent robots to ensure pipeline safety and reliability.The robot position in the oil and gas pipelines is based on transmission and receiving of extremely low frequency(ELF)magnetic signals.The transmitting and receiving system of the ELF magnetic signal is composed of a magnetic transmitter,a receiver,and a monitoring center.A system was developed and tested for a pipeline inspection project.The magnetic transmitter parameters were measured as the working life,working frequency,efficiency,and magnetic flux density.Then,signals acquired from the receiving coil were processed off line using a least squares(LS)algorithm as the magnetic transmitter moved at a certain speed,to demonstrate the effectiveness of the LS algorithm. Finally,the receiver performance was tested in an open area,in a field,and at a pipeline site.The tests show that the receiver is capable of tracking intelligent robots with a magnetic transmitter in oil and gas pipelines at a speed of 4m/s.更多还原