管内移动机器人定位技术与定位系统优化研究  

Research on locating of an in-pipe robot and optimizing of the locating system design

作　　者：齐海铭[1] 叶金蕊[2] 张晓华[1] 陈宏钧[1] 

机构地区：[1]哈尔滨工业大学电气工程及自动化学院,哈尔滨150001 [2]北京航空航天大学材料科学与工程学院,北京100083

出　　处：《高技术通讯》2010年第11期1167-1172,共6页Chinese High Technology Letters

基　　金：863计划(2006AA04Z205)资助项目

摘　　要：研究了管内移动机器人的管外定位技术,采用甚低频电磁脉冲突破了金属管壁对电磁信号的屏蔽作用,实现了管道内外的信息传达。建立了地下管道环境中甚低频电磁场的分布模型,并分析了环境几何参数、电磁参数及发射频率对管外检测信号强度的影响。将甚低频电磁发射系统简化为磁偶极子模型,基于传感器阵的信号检测及磁场反演计算方法,实现了管道机器人的位置跟踪与准确定位。提出了发射线圈结构的优化设计方法,有效降低了采用磁偶极子磁场替代发射线圈磁场的相对误差。通过现场实验验证了甚低频电磁脉冲的穿透性能和定位技术的有效性。This paper presents a method for locating in-pipe robots. Based on the extreme low frequency （ELF） electromagnetic pulse, the method realizes the signal transmitting between the inside and the outside of metallic pipeline. The propagation model of the ELF electromagnetic field in the underground pipeline environment was devised. By simulation, the effects of environmental geometric size, electromagnetic parameters, and emitting frequency on the signal intensity outside the pipeline were studied. The ELF electronmagnetic emitting system was simplified into a magnetic dipole model, and the tracking and locating of pipeline robots was accomplished by applying the sensor array system and the inverse calculation of the magnetic field. In order to reduce the imitation error between the magnetic dipole and the emitting coil, an optimum design method for the coil structure was studied. The propagation ability of ELF electromagnetic pulse and the presented locating method were verified by the field tests.

关 键 词：管道机器人 甚低频 定位 磁偶极子 优化设计 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]