CN100580728C - Piping inside and outside communication device based on very low frequency power electromagnetic pulse - Google Patents
Piping inside and outside communication device based on very low frequency power electromagnetic pulse Download PDFInfo
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- CN100580728C CN100580728C CN200810064022A CN200810064022A CN100580728C CN 100580728 C CN100580728 C CN 100580728C CN 200810064022 A CN200810064022 A CN 200810064022A CN 200810064022 A CN200810064022 A CN 200810064022A CN 100580728 C CN100580728 C CN 100580728C
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The invention provides a communicator inside and outside conduits based on very low frequency power electromagnetic pulse and relates to the communication field. The invention solves the problem of shielding of electromagnetic signals by metallic layers. A very low frequency power electromagnetic pulse emitter provided by the invention and the transmitting terminal of a microcontroller (3) transmit a very low frequency power electromagnetic pulse signal; a magnetic induction receiving antenna group (4) receives the very low frequency power electromagnetic pulse signal, and converts the very low frequency power electromagnetic pulse signal into a voltage signal, and transmits the voltage signal to a signal processing and transmission device (5). The signal processing and transmission device (5) filters and magnifies the voltage signal, extracts the signal components which are the same with the frequency of the emitter, and transmits the signal components to a computer (6) for data analysis and resolving communication instructions. The invention can communicate reliably inside and outside in the environment of metallic conduits. By adopting the invention, when a signal is transmitted in metal, silt, soil and briny environment, the electromagnetic signal attenuation factor is small. By comparing the signal transmitted by the invention with high frequency electromagnetic wave signals, the propagation length of the signal in a lossy medium is significantly improved.
Description
Technical field
The present invention relates to the communications field, be specifically related to the inside and outside mechanics of communication of metallic conduit.
Background technology
Along with the sharp increase of institute of department pipeline installations such as China's oil chemical industry and urban construction, there is great demand the aspects such as distribution mapping that the interior dirt of defective maintenance, pipe that the quality testing of new tubing, old pipeline are existed stops up cleaning and unknown underground utilities.Guan in mobile vehicle be exactly the device that is specifically designed to detection, pigging and operation in the pipework, it can carry various instruments and move in pipe, finishes engineering duties such as operation such as pipeline inspection, blocking Leakage and pigging.In the past in the pipework to the maintenance job of getting rid of the danger of trouble spot because the target location bearing accuracy is lower, often take large tracts of land method for digging blindly, not only construction is complicated, does not bring artificial destruction to decreasing pipeline, and causes the bigger wasting of resources.
The complicated diversity of pipework impels the direction that mobile vehicle can be surveyed (spike location) towards motion autonomous (no cable), inside and outside communication (information reception and registration), position in the pipe to develop, to improve its practicality in engineering.Mobile vehicle is all multi-functional in wanting to realize managing, and key is to select for use reliable piping inside and outside communication device.The metallic conduit environment of sealing has stronger shielding action to high frequency electromagnetic wave signal, and wireless communication techniques such as the radio frequency of widespread use at present, microwave all can't be applied to pipework.Adopt radiographic source (X ray, cobalt-60 etc.) though mode can realize that tube wall detects and pipeline among a small circle in external signal pass on, but can't realize multinomial communications protocol, and its stronger radioactivity is brought bigger harm (especially in submarine pipeline) to biological with surrounding environment.And traditional the cable communication modes arranged, can't realize online remote pipeline operations requirement.Existing application is in the mine and the long wave transmission technology of underwater communication, though the signal that can be implemented in the media such as water, silt, soil layer is propagated, still can't satisfy requirement of engineering for communication problem inside and outside under the metallic conduit environmental baseline.
Summary of the invention
The present invention is primarily aimed at a mobile vehicle operation and the not detectable difficult problem of job information in the metal tube, solves the shielding problem that metal level brings electromagnetic signal, and has proposed a kind of piping inside and outside communication device based on very low frequency power electromagnetic pulse.
The present invention includes very low frequency power electromagnetic pulse transmitter and microcontroller 3 thereof, magnetic induction receiving antenna group 4, signal Processing and transmitting device 5 and computing machine 6; The transmitting terminal of very low frequency power electromagnetic pulse transmitter and microcontroller 3 thereof is launched the very low frequency power electromagnetic pulse signal, magnetic induction receiving antenna group 4 receives the very low frequency power electromagnetic pulse conversion of signals and is voltage signal, be transferred in signal Processing and the transmitting device 5, signal Processing and transmitting device 5 carry out filtering with voltage signal and amplify, extract the component of signal identical with transmitter frequency, and be transferred to computing machine 6 and carry out data analysis, resolve communication instruction; Very low frequency power electromagnetic pulse transmitter and microcontroller 3 thereof are by single-chip microcomputer 3-1, D/A conversion 3-2, power amplifier 3-3, transmitting coil 3-4, magnetic core 3-5, reserve battery 3-6, the first voltage transformation module 3-7, the second voltage transformation module 3-8, microcontroller 3-9, battery charger 3-10, switch S
1, switching tube S
2, relay S
3, stabilivolt D
1, the first diode D
2, the second diode D
3, first resistance R
1, second resistance R
2, 24V power lead L
1, CAN connection L
2, ground wire L
3Form; 24V power lead L
1The input end and the switch S that connect the first voltage transformation module 3-7
1An end, the output terminal of the first voltage transformation module 3-7 connects the first diode D
2Anode, the first diode D
2Negative electrode connect input end, first resistance R of the second voltage transformation module 3-8
1An end, the second diode D
3First input end, the first input end of D/A conversion 3-2 and the first input end of power amplifier 3-3 of negative electrode, single-chip microcomputer 3-1; The output terminal of the second voltage transformation module 3-8 connects the first input end of microcontroller 3-9; Second input end of microcontroller 3-9 connects first resistance R
1The other end, second resistance R
2An end and stabilivolt D
1Negative electrode; Second resistance R
2The other end and stabilivolt D
1Plus earth; The 3rd input end of microcontroller 3-9 connects CAN connection L
2First output terminal of microcontroller 3-9 connects switching tube S
2Base stage, switching tube S
2Grounded emitter, switching tube S
2Collector connect the output terminal of transmitting coil 3-4, first output terminal of single-chip microcomputer 3-1, first output terminal of D/A conversion 3-2 and first output terminal of power amplifier 3-3; Second output terminal of microcontroller 3-9 connects second input end of single-chip microcomputer 3-1, second output terminal of single-chip microcomputer 3-1 connects second input end of D/A conversion 3-2, second output terminal of D/A conversion 3-2 connects second input end of power amplifier 3-3, second output terminal of power amplifier 3-3 connects the input end of transmitting coil 3-4, and transmitting coil 3-4 is wrapped on the magnetic core 3-5; Relay S
3One end of coil is connected ground wire L
3On, relay S
3The other end of coil passes through switch S
1Be connected 24V power lead L
1On, ground wire L
3Connect the end of reserve battery 3-6 and the output terminal of battery charger 3-10, the other end of reserve battery 3-6 connects another output terminal and the relay S of battery charger 3-10
3An electric shock, relay S
3Another get an electric shock to connect second diode D
3Anode.
Utilize the stronger through characteristic of very low frequency power electromagnetic pulse, developed the inside and outside communication system of a cover high-efficiency reliable pipeline,, carried out a large amount of experimental works for the practicality of the piping inside and outside communication device of verifying invention.
1) the very low frequency power electromagnetic pulse signal is to the penetrability of metal pipe-wall: experimentize in long 120m, thickness of pipe 12mm, internal diameter are the metallic conduit environment of 297mm, record electromagnetic signal and surpass 10m along pipeline horizontal direction propagation distance, the propagation distance of vertical pipe axis direction signal is greater than 4m.23HZ, the 0.7s that arrives for actual detected as Fig. 4 and Fig. 5 at interval electromagnetic signal and signal amplitude along the distribution of pipeline.
2) reception and registration of the inside and outside communications protocol of pipeline: mobile vehicle 2 adopts the hydraulically powered snake-shaped robot of leather cup mechanism in the pipe, has equipped supersonic detection device and communication system of the present invention.When Ultrasonic Detection arrives defect of pipeline, send order by very low frequency power electromagnetic pulse transmitter and microcontroller 3 thereof, produce communication instruction signal (find weld defect and find pipe leakage) as shown in Figure 6.
The present invention has realized the reliable communicating problem that pipeline under the metallic conduit environment is inside and outside, all has applicability preferably for the pipeline of different wall, internal diameter and laying length.Detect the active demand of getting rid of the danger based on the non-excavation of present pipework, and all drawbacks that mechanics of communication exists in underground/seabed metallic conduit environment, the present invention proposes based on the inside and outside mechanics of communication of the pipeline of very low frequency power electromagnetic pulse (Extreme low frequency-powerelectromagnetic pulse:ELF-PEP).The frequency range of very low frequency power electromagnetic pulse is 3-30kHz, and when propagating in metal, silt soil layer and briny environment, its electromagnetic signal decay factor is less.The contrast high frequency electromagnetic wave signal, its propagation distance in lossy medium increases substantially.
The mechanism of transmission of very low frequency power electromagnetic pulse signal is analyzed and the basis of a large amount of field experiments on, drawn to draw a conclusion:
1) in the low medium of conductances such as silt, soil layer, air, the decay of very low frequency power electromagnetic pulse signal energy is less, and propagation distance is subjected to frequency influence seldom, and decay factor β is expressed as:
Wherein, σ-conductivity, μ-magnetic permeability, ε-specific inductive capacity.
Power lead L
1The input end and the switch S that connect the first voltage transformation module 3-7
1An end, the output terminal of the first voltage transformation module 3-7 connects the first diode D
2Anode, the first diode D
2Negative electrode connect input end, first resistance R of the second voltage transformation module 3-8
1An end, the second diode D
3First input end, the first input end of D/A conversion 3-2 and the first input end of power amplifier 3-3 of negative electrode, single-chip microcomputer 3-1; The output terminal of the second voltage transformation module 3-8 connects the first input end of microcontroller 3-9; Second input end of microcontroller 3-9 connects first resistance R
1The other end, second resistance R
2An end and stabilivolt D
1Negative electrode; Second resistance R
2The other end and stabilivolt D
1Plus earth; The 3rd input end of microcontroller 3-9 connects CAN connection L
2First output terminal of microcontroller 3-9 connects switching tube S
2Base stage, switching tube S
2Grounded emitter, switching tube S
2Collector connect the output terminal of transmitting coil 3-4, first output terminal of single-chip microcomputer 3-1, first output terminal of D/A conversion 3-2 and first output terminal of power amplifier 3-3; Second output terminal of microcontroller 3-9 connects second input end of single-chip microcomputer 3-1, second output terminal of single-chip microcomputer 3-1 connects second input end of D/A conversion 3-2, second output terminal of D/A conversion 3-2 connects second input end of power amplifier 3-3, second output terminal of power amplifier 3-3 connects the input end of transmitting coil 3-4, and transmitting coil 3-4 is wrapped on the magnetic core 3-5; Relay S
2One end of coil is connected ground wire L
3On, relay S
3The other end of coil passes through switch S
1Be connected 24V power lead L
1On, ground wire L
3Connect the end of reserve battery 3-6 and the output terminal of battery charger 3-10, the other end of reserve battery 3-6 connects another output terminal and the relay S of battery charger 3-10
3An electric shock, relay S
3Another get an electric shock to connect second diode D
3Anode.Other composition is identical with embodiment one with connected mode.
The model of microcontroller 3-9 is ZLG-ARM7-2119; The model of single-chip microcomputer 3-1 is ATMEL89C4051; The model of D/A conversion 3-2 is TLC5615; Switching tube S
2Model be ULN2803A; Relay S
3Model be OMRON G66-2114P.Microcontroller 3-9 has voltage detecting, power supply control, three functions of CAN communication.By the first voltage transformation module 3-7 outside 24V power supply being converted to 15V, is voltage transitions 5V through the second voltage transformation module 3-8 once more, for microcontroller 3-9 operate as normal.Reserve battery 3-6 normal condition is 14-14.6V, by the first diode D2 and the second diode D3 make externally fed just often reserve battery 3-6 do not work.Be input to microcontroller 3-9 through the level that produces 3.3V after first resistance R 1 and second resistance R, 2 dividing potential drops, thereby realize voltage detecting to externally fed, if second input of microcontroller 3-9 becomes low level outside power down is described, carry out power supply by the first diode D2 and the second diode D3 and automatically switch.When battery electric quantity was not enough, with switch S 1 closure, then relay S3 disconnected powered battery, charger is inserted the 220V alternating current charge the battery.Microcontroller 3-9 mobile vehicle 2 central controllers in CAN connection L2 and pipe carry out communication, know the operation and the job information of mobile vehicle 2 in the whole pipe, by changing the break-make of switching tube S2, can control the duty of transmitter.By outputting a control signal to single-chip microcomputer 3-1, the amplitude and the frequency modulation (PFM) mode of electromagnetic signal that change is launched, the demand of realization different communication instructions of reception and registration outside pipe.Transmitter adopts 17Hz, 23Hz, three kinds of transmission frequencies of 29Hz in the pipe of the present invention, signal bandwidth ± 1HZ, and the power frequency that transmission line of electricity brought around the inhibition electrical equipment reached is disturbed.Signal amplitude adopts modulation system as shown in Figure 3, saves power consumption and improves the transient state emissive power.The single-chip microcomputer output signal is transferred to transmitting coil 3-4 after changing 3-2 and power amplifier 3-3 by D/A, produces electromagnetic pulse.Manage outer magnetic induction receiving antenna group 4 and be connected respectively to signal Processing and transmitting device 5, signal Processing and transmitting device 5 are transferred to computing machine.By communication instruction inside and outside the computer software parsing pipeline, the formulation of communications protocol is as shown in table 1.
The inside and outside communications protocol of table 1 pipeline
Annotate: 1 representative has signal, and 0 represents no signal; Signal interval is two times (extremely shown in Figure 6 as Fig. 3) between the signal envelope starting point
Embodiment three: present embodiment is described in conjunction with Fig. 2, present embodiment and embodiment two differences are that transmitting coil 3-4 twines for adopting distributed pair of circle, reduce the harmful effect that coupling capacitance is brought between coil, and transmitting coil 3-4 adds the alloy silk strengthens electromagnetic signal as magnetic core emissive porwer.Other composition is identical with embodiment two with connected mode.
Embodiment four: present embodiment is described in conjunction with Fig. 1, present embodiment and embodiment one difference are that magnetic induction receiving antenna group 4 is three magnetic induction receiving antennas, three output terminals of magnetic induction receiving antenna group 4 are connected to three input ends of signal Processing and transmitting device 5, and other composition is identical with embodiment one with connected mode.
Embodiment five: in conjunction with Fig. 1 present embodiment is described, present embodiment and embodiment four differences are that signal Processing and transmitting device 5 be made up of three wave filters and data collecting card; Three output terminals of magnetic induction receiving antenna group 4 are connected respectively in three wave filters separately on the bandpass filter of the high-gain of centre frequency, high quality factor, and the output signal of three wave filters is transferred in the computing machine respectively by three passages of data collecting card.Other composition is identical with embodiment four with connected mode.
Embodiment six: present embodiment is described in conjunction with Fig. 1, present embodiment and embodiment one difference are to have increased the outer mobile device 7 of pipe, magnetic induction receiving antenna group 4, signal Processing and transmitting device 5 and computing machine 6 are installed on the outer mobile device 7 of pipe, manage outer mobile device 7 and travel along the direction of motion of mobile vehicle 2 and carry out receiving and transmitting signal.Other composition is identical with embodiment one with connected mode.
Claims (3)
1, based on the piping inside and outside communication device of very low frequency power electromagnetic pulse, it comprises very low frequency power electromagnetic pulse transmitter and microcontroller (3), magnetic induction receiving antenna group (4), signal Processing and transmitting device (5) and computing machine (6); The transmitting terminal of very low frequency power electromagnetic pulse transmitter and microcontroller thereof (3) is launched the very low frequency power electromagnetic pulse signal, magnetic induction receiving antenna group (4) receives the very low frequency power electromagnetic pulse conversion of signals and is voltage signal, be transferred in signal Processing and the transmitting device (5), signal Processing and transmitting device (5) carry out filtering with voltage signal and amplify, extract the component of signal identical with transmitter frequency, and be transferred to computing machine (6) and carry out data analysis, resolve communication instruction; It is characterized in that very low frequency power electromagnetic pulse transmitter and microcontroller thereof (3) are by single-chip microcomputer (3-1), D/A conversion (3-2), power amplifier (3-3), transmitting coil (3-4), magnetic core (3-5), reserve battery (3-6), first voltage transformation module (3-7), second voltage transformation module (3-8), microcontroller (3-9), battery charger (3-10), switch S
1, switching tube S
2, relay S
3, stabilivolt D
1, the first diode D
2, the second diode D
3, first resistance R
1, second resistance R
2, 24V power lead L
1, CAN connection L
2, ground wire L
3Form; 24V power lead L
1The input end and the switch S that connect first voltage transformation module (3-7)
1An end, the output terminal of first voltage transformation module (3-7) connects the first diode D
2Anode, the first diode D
2Negative electrode connect input end, first resistance R of second voltage transformation module (3-8)
1An end, the second diode D
3First input end, the first input end of D/A conversion (3-2) and the first input end of power amplifier (3-3) of negative electrode, single-chip microcomputer (3-1); The output terminal of second voltage transformation module (3-8) connects the first input end of microcontroller (3-9); Second input end of microcontroller (3-9) connects first resistance R
1The other end, second resistance R
2An end and stabilivolt D
1Negative electrode; Second resistance R
2The other end and stabilivolt D
1Plus earth; The 3rd input end of microcontroller (3-9) connects CAN connection L
2First output terminal of microcontroller (3-9) connects switching tube S
2Base stage, switching tube S
2Grounded emitter, switching tube S
2Collector connect the output terminal of transmitting coil (3-4), first output terminal of single-chip microcomputer (3-1), first output terminal of D/A conversion (3-2) and first output terminal of power amplifier (3-3); Second output terminal of microcontroller (3-9) connects second input end of single-chip microcomputer (3-1), second output terminal of single-chip microcomputer (3-1) connects second input end of D/A conversion (3-2), second output terminal of D/A conversion (3-2) connects second input end of power amplifier (3-3), second output terminal of power amplifier (3-3) connects the input end of transmitting coil (3-4), and transmitting coil (3-4) is wrapped on the magnetic core (3-5); One end of relay S3 coil is connected ground wire L
3On, relay S
3The other end of coil passes through switch S
1Be connected 24V power lead L
1On, ground wire L
3Connect an end of reserve battery (3-6) and an output terminal of battery charger (3-10), the other end of reserve battery (3-6) connects another output terminal and the relay S of battery charger (3-10)
3An electric shock, relay S
3Another get an electric shock to connect second diode D
3Anode.
2, the piping inside and outside communication device based on very low frequency power electromagnetic pulse according to claim 1 is characterized in that transmitting coil (3-4) twines for adopting distributed pair of circle.
3, the piping inside and outside communication device based on very low frequency power electromagnetic pulse according to claim 1 is characterized in that transmitting coil (3-4) adds the alloy silk.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200810064022A CN100580728C (en) | 2008-02-22 | 2008-02-22 | Piping inside and outside communication device based on very low frequency power electromagnetic pulse |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200810064022A CN100580728C (en) | 2008-02-22 | 2008-02-22 | Piping inside and outside communication device based on very low frequency power electromagnetic pulse |
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| Publication Number | Publication Date |
|---|---|
| CN101231782A CN101231782A (en) | 2008-07-30 |
| CN100580728C true CN100580728C (en) | 2010-01-13 |
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| CN200810064022A Expired - Fee Related CN100580728C (en) | 2008-02-22 | 2008-02-22 | Piping inside and outside communication device based on very low frequency power electromagnetic pulse |
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Families Citing this family (13)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102509491B (en) * | 2011-10-17 | 2016-03-02 | 荣莘电子科技（上海）有限公司 | Subject two instruction examines the region detection system and method for utilization of area LFMC |
| CN102882562A (en) * | 2012-08-22 | 2013-01-16 | 西安交通大学 | Directional-magnetic-path-based high-signal-to-noise-ratio non-contact signal transmitting system |
| CN103441803B (en) * | 2013-09-10 | 2015-09-16 | 北京科技大学 | A kind of underground low frequency wireless communication system based on low-power small electric antenna |
| CN103470959B (en) * | 2013-09-16 | 2016-04-27 | 北京埃彼咨石化科技有限公司 | Based on pick-up unit in the oil and gas pipes intelligence of multimode integrated positioning |
| CN103727351B (en) * | 2013-12-10 | 2016-01-27 | 大连大科科技咨询有限公司 | Pipeline crawl trolley |
| CN106444803B (en) * | 2016-09-14 | 2019-01-18 | 江苏师范大学 | A kind of UAV Navigation System and method for pipe robot positioning |
| CN107040936B (en) * | 2017-03-24 | 2020-12-18 | 承德路桥建设总公司 | Highway tunnel very low frequency ground communication-location integrated system |
| CN109413982A (en) * | 2018-12-11 | 2019-03-01 | 南京信息工程大学 | A kind of seawater electromagnetic shield |
| CN110369413A (en) * | 2019-08-01 | 2019-10-25 | 华电国际电力股份有限公司技术服务分公司 | A kind of ash conveying pipe cleaning plant |
| CN111162843A (en) * | 2019-09-30 | 2020-05-15 | 上海机电工程研究所 | Signal measurement method and system based on strong electromagnetic pulse environment |
| CN114610079B (en) * | 2022-03-09 | 2022-10-18 | 国机传感科技有限公司 | Two-dimensional control method and system based on extremely-low-frequency magnetic sensing |
| CN114593308B (en) * | 2022-03-15 | 2023-11-24 | 江苏大发建设工程有限公司 | Robot chassis for detecting oil smoke pipeline |
| CN114664071B (en) * | 2022-03-18 | 2023-03-28 | 青岛理工大学 | Underwater vehicle remote control system and method based on magnetic sensor |
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| 基于低频电磁波的管道机器人定位技术. 孙东昌，李军远，张晓华.控制工程，第14卷第增刊期. 2007 |
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