CN108682132B - 燃气管道无缆检测机器人无线通讯系统及通讯方法 - Google Patents
燃气管道无缆检测机器人无线通讯系统及通讯方法 Download PDFInfo
- Publication number
- CN108682132B CN108682132B CN201810233748.4A CN201810233748A CN108682132B CN 108682132 B CN108682132 B CN 108682132B CN 201810233748 A CN201810233748 A CN 201810233748A CN 108682132 B CN108682132 B CN 108682132B
- Authority
- CN
- China
- Prior art keywords
- repeater
- gas pipeline
- robot
- module
- receiving apparatus
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Links
Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04Q—SELECTING
- H04Q9/00—Arrangements in telecontrol or telemetry systems for selectively calling a substation from a main station, in which substation desired apparatus is selected for applying a control signal thereto or for obtaining measured values therefrom
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/40—Constructional aspects of the body
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F17—STORING OR DISTRIBUTING GASES OR LIQUIDS
- F17D—PIPE-LINE SYSTEMS; PIPE-LINES
- F17D5/00—Protection or supervision of installations
- F17D5/005—Protection or supervision of installations of gas pipelines, e.g. alarm
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F17—STORING OR DISTRIBUTING GASES OR LIQUIDS
- F17D—PIPE-LINE SYSTEMS; PIPE-LINES
- F17D5/00—Protection or supervision of installations
- F17D5/02—Preventing, monitoring, or locating loss
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q1/00—Details of, or arrangements associated with, antennas
- H01Q1/12—Supports; Mounting means
- H01Q1/22—Supports; Mounting means by structural association with other equipment or articles
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q1/00—Details of, or arrangements associated with, antennas
- H01Q1/12—Supports; Mounting means
- H01Q1/22—Supports; Mounting means by structural association with other equipment or articles
- H01Q1/225—Supports; Mounting means by structural association with other equipment or articles used in level-measurement devices, e.g. for level gauge measurement
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q3/00—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system
- H01Q3/02—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system using mechanical movement of antenna or antenna system as a whole
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
- G01N21/954—Inspecting the inner surface of hollow bodies, e.g. bores
- G01N2021/9542—Inspecting the inner surface of hollow bodies, e.g. bores using a probe
- G01N2021/9544—Inspecting the inner surface of hollow bodies, e.g. bores using a probe with emitter and receiver on the probe
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/24—Radio transmission systems, i.e. using radiation field for communication between two or more posts
- H04B7/26—Radio transmission systems, i.e. using radiation field for communication between two or more posts at least one of which is mobile
- H04B7/2603—Arrangements for wireless physical layer control
- H04B7/2606—Arrangements for base station coverage control, e.g. by using relays in tunnels
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04Q—SELECTING
- H04Q2209/00—Arrangements in telecontrol or telemetry systems
- H04Q2209/40—Arrangements in telecontrol or telemetry systems using a wireless architecture
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04Q—SELECTING
- H04Q2209/00—Arrangements in telecontrol or telemetry systems
- H04Q2209/50—Arrangements in telecontrol or telemetry systems using a mobile data collecting device, e.g. walk by or drive by
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Computer Networks & Wireless Communication (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Signal Processing (AREA)
- Robotics (AREA)
- Manipulator (AREA)
- Arrangements For Transmission Of Measured Signals (AREA)
Abstract
Description
Claims (5)
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201810233748.4A CN108682132B (zh) | 2018-03-21 | 2018-03-21 | 燃气管道无缆检测机器人无线通讯系统及通讯方法 |
PCT/CN2019/077828 WO2019179336A1 (zh) | 2018-03-21 | 2019-03-12 | 燃气管道无缆检测机器人无线通讯系统及通讯方法 |
US16/489,309 US11815230B2 (en) | 2018-03-21 | 2019-03-12 | Wireless communication system and communication method for cableless detection robot for gas pipeline |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201810233748.4A CN108682132B (zh) | 2018-03-21 | 2018-03-21 | 燃气管道无缆检测机器人无线通讯系统及通讯方法 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN108682132A CN108682132A (zh) | 2018-10-19 |
CN108682132B true CN108682132B (zh) | 2019-04-26 |
Family
ID=63799178
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201810233748.4A Active CN108682132B (zh) | 2018-03-21 | 2018-03-21 | 燃气管道无缆检测机器人无线通讯系统及通讯方法 |
Country Status (3)
Country | Link |
---|---|
US (1) | US11815230B2 (zh) |
CN (1) | CN108682132B (zh) |
WO (1) | WO2019179336A1 (zh) |
Families Citing this family (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN108682132B (zh) * | 2018-03-21 | 2019-04-26 | 北京市燃气集团有限责任公司 | 燃气管道无缆检测机器人无线通讯系统及通讯方法 |
CN109900250A (zh) * | 2019-03-09 | 2019-06-18 | 深圳市厚德检测技术有限公司 | 暗渠化河道自动巡检系统 |
CN109827026A (zh) * | 2019-03-09 | 2019-05-31 | 深圳市厚德检测技术有限公司 | 管道检测通信系统 |
CN110701426A (zh) * | 2019-11-14 | 2020-01-17 | 西南石油大学 | 一种管道智能封堵机器人双向通信系统 |
CN110971310A (zh) * | 2019-11-29 | 2020-04-07 | 中国水利水电科学研究院 | 应用在引水隧洞中的信号传输系统、方法及控制器 |
CN111895217B (zh) * | 2020-06-30 | 2021-03-23 | 重庆凡聚智能科技有限公司 | 一种自组网络的管道数据采集机器人 |
CN112091936B (zh) * | 2020-09-25 | 2024-01-16 | 深圳市博铭维智能科技有限公司 | 一种便携式导轨机器人 |
CN113395118B (zh) * | 2021-06-28 | 2023-01-10 | 浙江华东建设工程有限公司 | 一种水下长距离隧洞信号局域传输系统及方法 |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH07202791A (ja) * | 1993-12-30 | 1995-08-04 | Tokyo Gas Co Ltd | 管内のロボットの通信方法 |
JP3229476B2 (ja) * | 1993-12-30 | 2001-11-19 | 東京瓦斯株式会社 | 管内のロボットの通信方法 |
KR101107404B1 (ko) * | 2009-11-23 | 2012-01-19 | 성균관대학교산학협력단 | 장거리 배관 검사 로봇 |
Family Cites Families (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US7526944B2 (en) * | 2004-01-07 | 2009-05-05 | Ashok Sabata | Remote monitoring of pipelines using wireless sensor network |
JP6469883B2 (ja) * | 2015-03-09 | 2019-02-13 | サウジ アラビアン オイル カンパニー | 移動型ロボット用の現場配備可能ドッキングステーション |
DE202015102328U1 (de) * | 2015-05-06 | 2015-05-18 | Ipek International Gmbh | Spülkopf |
CN108682132B (zh) * | 2018-03-21 | 2019-04-26 | 北京市燃气集团有限责任公司 | 燃气管道无缆检测机器人无线通讯系统及通讯方法 |
-
2018
- 2018-03-21 CN CN201810233748.4A patent/CN108682132B/zh active Active
-
2019
- 2019-03-12 WO PCT/CN2019/077828 patent/WO2019179336A1/zh active Application Filing
- 2019-03-12 US US16/489,309 patent/US11815230B2/en active Active
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH07202791A (ja) * | 1993-12-30 | 1995-08-04 | Tokyo Gas Co Ltd | 管内のロボットの通信方法 |
JP3229476B2 (ja) * | 1993-12-30 | 2001-11-19 | 東京瓦斯株式会社 | 管内のロボットの通信方法 |
KR101107404B1 (ko) * | 2009-11-23 | 2012-01-19 | 성균관대학교산학협력단 | 장거리 배관 검사 로봇 |
Also Published As
Publication number | Publication date |
---|---|
US20210356081A1 (en) | 2021-11-18 |
CN108682132A (zh) | 2018-10-19 |
WO2019179336A1 (zh) | 2019-09-26 |
US11815230B2 (en) | 2023-11-14 |
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PB01 | Publication | ||
PB01 | Publication | ||
SE01 | Entry into force of request for substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
GR01 | Patent grant | ||
GR01 | Patent grant | ||
CB03 | Change of inventor or designer information |
Inventor after: Li Xiaxi Inventor after: Wang Qingyu Inventor after: Han Zandong Inventor after: Zhang Jiabao Inventor after: Jin Qiang Inventor after: Ma Ruili Inventor before: Li Xiaxi Inventor before: Wang Qingyu Inventor before: Han Zandong Inventor before: Zhang Jiabao Inventor before: Jin Qiang Inventor before: Ma Ruili |
|
CB03 | Change of inventor or designer information |