管道清堵机器人电磁定位系统  

Electromagnetic positioning system of pipeline blockage clearing robot

作　　者：魏明生[1,2] 童敏明[1] 张春亚[2] 夏静[3] 

机构地区：[1]中国矿业大学信息与电气工程学院,江苏徐州221008 [2]江苏师范大学物理与电子工程学院,江苏徐州221116 [3]南京理工大学机械工程学院,江苏南京210094

出　　处：《工矿自动化》2016年第6期1-4,共4页Journal Of Mine Automation

基　　金：国家科技支撑计划项目(2013BAK06B00)

摘　　要：介绍了管道清堵机器人的定位原理,依据磁偶极子模型分析了管道外极低频电磁信号的分布规律,建立了管道清堵机器人一维定位方法,并设计了管道清堵机器人电磁定位系统。实验结果表明,该系统可以实现对机器人的有效定位,当接收天线分别以5 m/s和10 m/s的速度移动时,定位误差范围分别为-20.7~19.8cm和-24.3~27.1cm,完全满足工程的精度要求。Positioning principle of pipeline blockage clearing robot was introduced,the distribution regularities of extremely low frequency electromagnetic signals outside the pipe were analyzed according to magnetic dipole model,one-dimensional positioning method of pipeline blockage clearing robot was established,and electromagnetic positioning system of pipeline blockage clearing robot was designed.Experimental results show that the system can achieve effective positioning of robot,when receiving antennas moves at speed of 5 m/s and 10 m/s,mobile positioning error ranges are-20.7-19.8cm and-24.3-27.1cm,which can fully meet project accuracy requirements.

关 键 词：机器人 管道清堵 磁偶极子模型 电磁定位 

分 类 号：TD655[矿业工程—矿山机电]