CN109855615A - A kind of intelligent automatic quick positioning system of pipe robot - Google Patents
A kind of intelligent automatic quick positioning system of pipe robot Download PDFInfo
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- CN109855615A CN109855615A CN201910030275.2A CN201910030275A CN109855615A CN 109855615 A CN109855615 A CN 109855615A CN 201910030275 A CN201910030275 A CN 201910030275A CN 109855615 A CN109855615 A CN 109855615A
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- pipe robot
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- magnetoelectric transducer
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
Abstract
The present invention discloses a kind of intelligent automatic quick positioning system of pipe robot, belongs to unmanned plane self-navigation field.It is made of UAV system, pipe robot device, ground control platform.For the different laying conditions of pipeline, in work, ground control platform determines unmanned plane operating mode, while sending trace command, and unmanned plane is connected to after instruction and carries out navigation flight according to the navigation mode of setting.Speed in navigation flight begins with staff and is set as needed, when monitoring pipe robot, state of the UAV Navigation System according to robot, the navigation flight speed of adjust automatically unmanned plane, while pipe robot coordinate information is sent to ground control platform.The present invention realizes the navigation flight of the unmanned plane for pipe robot positioning, is positioned real-time, quickly for pipe robot and tracking provides guarantee, adaptable, automatization level is higher.
Description
The application is Patent No. 201608232133, and the applying date is on September 14th, 2016, a kind of entitled " pipe
The division of the automatic quick positioning system of road block clearing robot and method " is invented
Technical field
The present invention relates to a kind of intelligent automatic quick positioning systems of pipe robot.
Background technique
Pipeline block clearing robot is pushed by gas, liquid or pipeline medium, to clear up the specific purpose tool of pipeline,
Block clearing robot clears up in the work of pipeline, is blocked often in pipe, making pipeline transportation, there are security risks.Therefore needs pair
Pipe robot carries out tracking and positioning, the position that is plugged of monitoring pipe robot, to be excavated, block clearing pipeline.Due to
Petroleum pipeline material is mostly certain thickness metallic walls, and is imbedded in underground, and conventional sound, light, electric signal are shielded very
Hardly possible reaches ground, generally penetrates tube wall using Extremely low frequency electronic magnetic fields at present, realizes the positioning of pipe robot, specific method be
Extremely Low Frequency Electromagnetic transmitting coil is placed inside pipe robot, is placed electromagnetism reception device outside pipeline and is used to low frequency electromagnetic signals
Reception, realize pipe robot positioning.In specific sensor arrangement, two kinds of localization methods of Major Epidemic at present, one
It is the reception device that low frequency electromagnetic signals are placed on the outside of pipeline switching station or the several positions of pipeline, when pipe robot is in pipe
When in road by this position, reception device can receive the electromagnetic signal of pipe pre-support, but this positioning method can only monitor
Whether certain moment pipe robot passes through, Position Approximate locating for robot can only be judged, when pipe robot is trapped in pipeline
When certain position, the accurate positioning of position, and a large amount of sensor of arrangement for needing to be spaced along pipeline, device not can be carried out
It is spent in cost high.Another monitoring mode is the sine wave signal of pipeline inner machine people's internal electro-solenoid transmitting low frequency, pipe
Electromagnetism intensity signal of different shapes is generated in conduit axis direction and radial direction on the outside of the pipeline of pipeline robot present position,
Receiving antenna was parallel to the electromagnetic signal of conduit acceptor axial direction before this, judged the Position Approximate of pipe robot, and then antenna is again
Perpendicular to pipeline, the electromagnetic signal of radial direction is received, realizes the positioning of pipe robot, but this mechanical method cannot
Automatically pipe robot positioning is fast implemented.In the petroleum pipeline of some layings, it is often necessary to be quickly found out pipeline cleaner
The blocking position of device people, above-mentioned localization method just seem helpless.
Summary of the invention
It is intelligent the invention aims to provide a kind of pipe robot in view of above-mentioned deficiency present in the prior art
Automatic, method for rapidly positioning, and realization device structure simple and bring good economic benefits.
The purpose of the present invention is what is be achieved through the following technical solutions: the device of the invention and localization method are used in pipeline
The automation of block clearing robot, quickly positioning aspect, mainly there is magnetoelectric transducer speed and height detecting system, magnetoelectric transducer
The composition such as receiving system, positioning signal Classical correlation and locating and displaying system.Wherein the sensor speed and height
Detection system includes velocity sensor, height sensor, single-chip microcontroller and liquid crystal display device degree sensor-based system；The magnetoelectricity passes
It includes magnetoelectric transducer coil device, signal amplification circuit and filter circuit that sensor signal, which receives system,；The positioning signal phase
Closing identifying system includes power supply, wireless signal transmission circuit, micro controller unit, FPGA signal processing unit, GPS positioning system
System, wireless communication device；
In work, a low frequency electromagnetic solenoid antenna emitter, pipeline block clearing are housed inside underground piping inner machine people
When robot automation, quick position monitor, magnetoelectric transducer system by the Quick mechanicals equipment such as unmanned plane or automobile carry with
Certain speed operation.It carries out calculating magnetoelectric transducer by magnetoelectric transducer speed detection system and height detecting system first
The movement velocity of system and height from pipeline, according to the speed of magnetoelectric transducer and relative to pipe robot vertical range,
The envelope waveform U for deriving that receiving antenna theoretically receives electromagnetic signal can be calculatedz(t)；Meanwhile magnetoelectric transducer signal connects
Receipts system acquires extraneous low frequency electromagnetic signals U by magnetoelectric transducero(t), when the signal that magnetoelectric transducer receives is pipeline
When the low frequency electromagnetic signals of robot interior transmitting, the signal U of generationoIt (t) should be with theoretical envelope waveform Uz(t) height phase
It closes, if the signal U receivedo(t) be not pipe robot internal emission signal, Uz(t) and Uo(t) there is no correlation.Really
The method for determining position of the magnetoelectric transducer on plane xoy is by solving Uo(t) and Uz(t) convolution algorithm of two signals, when adopting
When collecting the magnetic signal emitted in pipe robot, Uo(t) and Uz(t) convolution sum of two signals is maximum, and otherwise convolution sum is smaller.
Pipe robot is automatically recorded in xoy plane according to the positioning signal of GPS by SCM system when signal height correlation
On coordinate position (x, y).
Beneficial effect may be implemented to determine what pipeline block clearing robot fast and automatically changed as the above scheme is adopted
Position:
1, in pipeline block clearing robot localization, using unmanned plane etc., quickly tool movement carries magnetoelectric transducer system,
The pipeline block clearing robot in pipeline by card can be quickly found, while avoiding the obstacle that different terrain walks to personnel, it is real
Continuous, the quick positioning of existing pipeline block clearing robot；
2, using the speed of speed detection system detection magnetoelectric transducer operation, while height sensor detection sensor arrives
The distance between pipeline.According to the relative altitude and speed of sensor and pipeline, magnetoelectric transducer reception is theoretically calculated
The voltage theoretical waveform U of signal in z-directionz(t), with the signal U of sensor actual acquisitiono(t) correlation analysis is carried out, specifically
By solve two convolution of functions and, when two functional dependences, convolution sum is maximum, a threshold value is set in, when convolution sum is greater than
When threshold value, that is, show the signal U of acquisitiono(t) voltage signal being transformed for the magnetic signal emitted in receiving pipeline robot.
The purpose that pipe robot positions automatically, quickly can be realized using this method, can be adjusted related according to actual working conditions
Threshold value；
3, magnetoelectric transducer system uses high pass, low pass, bandpass filtering, amplifying circuit, effectively raises magnetic-electric sensing
Device acquires the precision of signal, and strong antijamming capability, reliability and open degree height, information processing capability are strong.
Advantages of the present invention: the realization pipeline that pipeline block clearing robot is automatic, method for rapidly positioning can fast and automatically be changed
The positioning of block clearing robot.The low frequency electromagnetic signals of use can penetrate duct wall, be received by magnetoelectric transducer outside pipeline, realize
Pipe robot and extraneous communication；Using UAV system magnetoelectric transducer, it can make magnetoelectric transducer quickly along pipe walking,
Possibility is provided quickly to find robot；Velocity sensor and height sensor can detecte out the speed of magnetoelectric transducer walking
Degree and the height from pipeline, thus the theoretical signal waveform U for acquiring magnetic signal in magnetoelectric transducer receiving pipeline robotz(t)；
Using the collected voltage signal U of magnetoelectric transducero(t) and Uz(t) cross-correlation analysis is realized by seeking the convolution sum of two functions
The fast and automatically change of pipeline block clearing robot positions.The high pass of use, low pass, bandpass filtering amplifying circuit can make control system
System reads the signal that sensor receives, and filters out noise jamming.
Detailed description of the invention
Fig. 1 is the basic block diagram of the automatic quick positioning system of pipeline block clearing of the present invention robot.
Fig. 2 is the location diagram of pipe robot system and magnetoelectric transducer.
Fig. 3 is sensor speed of the present invention and the relational graph for acquiring signal envelope waveform.
Fig. 4 automatic, method for rapidly positioning flow chart for pipe robot magnetoelectric transducer.
Specific embodiment:
Elaborate with reference to the accompanying drawing to the embodiment of the present invention: this specific implementation is with the technology of the present invention
Implemented under premised on scheme, the detailed implementation method and specific operation process are given, but protection scope of the present invention
It is not limited to the following embodiments.
Fig. 1 is the basic block diagram of the automatic quick positioning system of pipe robot, it mainly includes managing interior low frequency electromagnetic hair
It penetrates system and manages the outer automatic rapid pipeline robot positioning system two large divisions of magnetoelectric transducer.In work, machine in underground piping
One low frequency electromagnetic solenoid antenna emitter is housed inside device people, generates 23.5H using 2051 single-chip microcontrollersZSinusoidal low-frequency letter
Number, the conversion of Low Frequency Sine Signals digital quantity to analog signal is realized by DAC conversion chip MAX541, and signal is put by operation
Big device LF353 ratio enlargement, output voltage are switched to solenoid transmission coil, solenoid transmission antenna wound using enameled wire and
At all circuit systems are integrated and are encapsulated in inside pipe robot by lithium battery power supply.Pipe robot emits electricity from inside to outside
The intensity of magnetic wave is
In formula, μ is the magnetic conductivity of transmitting coil, and n is the number of turns of unit length coil, ImIt is flowed through for magnetic signal transmitting coil
Electric current, p be coil length, r be under cylindrical coordinates distance of the test point to coordinate center.
Fig. 2 is pipe robot system and the relational graph for managing outer magnetoelectric transducer, with pipe robot transmitting coil center
For origin o, coordinate system is established, the distance that pipe robot is walked in time t is vt, is had according to fig. 2
Bringing the available magnetic field strength in magnetoelectric transducer central point of above formula into is
H is height of the pipeline from magnetoelectric transducer, and v is the speed of sensor, when parameters all have determined above,
The magnetic field strength of space point just has determined.
In automatic quickly positioning, vehicle work that magnetoelectric transducer and positioning system are quickly walked by unmanned plane or auto lamp
Tool carries dynamic.Velocity sensor SMB380 and ultrasonic height sensors HC-SR04 are installed, velocity sensor is mainly in system
The speed of magnetoelectric transducer walking is measured, ultrasonic sensor mainly measures height of the magnetoelectric transducer relative to ground, in turn
Height h of the magnetoelectric transducer relative to pipeline center is found out, according to the relational model between pipe robot and magnetoelectric transducer,
Find out the theoretical value of magnetoelectric transducer output voltage
B is the voltage amplification factor of sensor subsequent amplification circuitry, and sensor output voltage signal changes with time rule
Rule is as shown in 3 figures.As can be seen that the variation with sensor relative to the speed v of pipe robot, sensor output signal Uz
(t) signal width in time domain is different, and with the increase of sensor speed, the voltage signal of acquisition becomes in time domain in compression
Gesture.
When magnetoelectric transducer is at work along pipe walking, the real-time magnetic signal acquired in space.Magnetoelectric transducer by
10000 circle of enameled wire winding of 0.1mm is coiled into, interior plus enhancing magnetic field signal iron core, in monitoring process perpendicular to horizontally
It places in face.Magnetoelectric transducer output signal is transferred to conditioning circuit, by Butterworth LPF, double T bandpass filters
With Chebyshev's high pass filter filters, while by operational amplifier amplify, improve as suitable signal Uo(t), it then passes
It is defeated to arrive FPGA system, with theory signal Uz(t) convolution summation is carried out, and then analyzes the correlation of the two, reaches automatic positioning
Purpose.When magnetoelectric transducer is walked above pipe robot, collected signal Uo(t) with theory signal Uz(t) in shape
Similar, i.e., the two signal is in highly relevant.
It is specific to carry out in automatic identification position fixing process, by solving Uo(t) and Uz(t) convolution algorithm of two signals, when adopting
When collecting the magnetic signal emitted in pipe robot, Uo(t) and Uz(t) convolution sum of two signals is maximum, and otherwise convolution sum is smaller,
Theoretically sensor output signal U is found out according to the height h and speed v of the unmanned plane of sensor detection first in experimentz(t),
Then by discretization, 100 discrete points are taken, specially
uz(n)=[uz0,uz1,uz2......uz99,uz100]
Equally, signal U sensor exported after signal conditiono(t) discretization is carried out, is obtained
uo(n)=[uo0,uo1,uo2......uo99,uo100]
Then to Uz(n) and Uo(n) convolution sum calculating is done
Work as Uo(t) when the magnetic signal launched in the pipe robot for acquisition, convolution sum is maximum.In the application,
According to experimental result, a threshold value m is set, when convolution sum is greater than m, automatic station-keeping system is defaulted as collected Uo(t) signal
The as signal of pipe robot internal emission out, the position of sensor is the surface of pipe robot at this time, works as sensing
When device is far from pipe robot, the signal U of acquisitiono(t) and theoretical value Uz(t) correlation is poor, and the convolution sum of the two is smaller, at this time
Convolution sum be less than m.When the larger system of convolution judges sensor lower section for pipe robot, at this point, SCM system is read
Three-dimensional coordinate information (the x of GPS0,y0), coordinate (x at this time0,y0) it is coordinate information of the pipe robot in horizontal plane.
The signal U of acquisitiono(t) and theoretical value Uz(t) convolutional calculation is calculated by FPGA system, specific calculating process
To construct 100 groups of convolutional calculation templates in FPGA, every group of calculation template size is 100 × 100, and the convolution algorithm of the template is
It is made of 100 multipliers and 99 adders, every group of calculating data are mainly provided by the register of FPGA, pass through Vertical Square
Pipeline computing is realized to horizontal direction, realizes convolutional calculation.Convolutional calculation result is transferred to single-chip microcontroller STM32F107, by list
Piece machine is compared according to the threshold value of setting, is at this time to detect pipe robot when convolution sum is greater than given threshold
The location information of GPS is read in position, writes down coordinate position at this time, it can finds out pipe robot in the position of plane
(x0,y0)。
Fig. 4 is pipe robot automatic station-keeping system flow chart, specific position fixing process are as follows: first choice initializes system
Setting, secondly, in the detection process with the speed v and height of the velocity sensor of system and height sensor detection detection device
Angle value h.According to theory analysis Uz(t) size and image, and uniformly choose 100 discrete point storages in image and deposited to FPGA
In device.In the detection process, system carries out signal detection by Magnetic Sensor, obtains detection signal Uo(t) it and stores to FPGA
Register, with Uz(t) convolutional calculation is carried out.The result of convolution sum is transferred to single-chip microcontroller and is compared with preset threshold value,
When convolution sum result is greater than threshold value, that is, the signal of detection is determined from pipe robot, system is read by GPS system at this time
The coordinate information of pipe robot is taken, and then wireless data transmission system is passed through to the storage unit of system by single-chip microcontroller storage
Location information is transferred to inspection center, position report is generated, convenient for the pipe-line maintenance and maintenance in later period.
Claims (2)
1. a kind of intelligent automatic quick positioning system of pipe robot, which is characterized in that interior including underground piping inner machine people
Portion is equipped with a low frequency electromagnetic solenoid antenna emitter, which is characterized in that further includes magnetoelectric transducer speed and height detection
System, magnetoelectric transducer receiving system, positioning signal Classical correlation and locating and displaying system, sensor speed and height are examined
Examining system includes velocity sensor, height sensor, single-chip microcontroller and liquid crystal display device degree sensor-based system；Magnetoelectric transducer signal
Reception system includes magnetoelectric transducer coil device, signal amplification circuit and filter circuit；Positioning signal Classical correlation system packet
Include power supply, wireless signal transmission circuit, micro controller unit, FPGA signal processing unit, GPS positioning system, wireless communication dress
It sets.
2. the intelligent automatic quick positioning system of a kind of pipe robot according to claim 1, which is characterized in that described
Magnetoelectric transducer coil device is coiled by 10000 circle of enameled wire winding of 0.1mm, and interior plus enhancing magnetic field signal iron core is being supervised
It is placed during survey perpendicular to level ground.
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| CN201910030275.2A CN109855615A (en) | 2016-09-14 | 2016-09-14 | A kind of intelligent automatic quick positioning system of pipe robot |
| CN201610823213.3A CN106441272B (en) | 2016-09-14 | 2016-09-14 | A kind of automatic quick positioning system of pipeline block clearing robot and method |
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| CN107016844A (en) * | 2017-05-19 | 2017-08-04 | 曲阜师范大学 | The fault detect of intelligent standby cable channel and cleaning system based on GPRS |
| CN107271539A (en) * | 2017-07-03 | 2017-10-20 | 中国船舶重工集团公司第七六研究所 | A kind of sea-bottom oil-gas pipeline leakage field/very low frequency receives detection localization method and device |
| CN109613580A (en) * | 2019-02-18 | 2019-04-12 | 广州普远励源石化科技有限公司 | A kind of ground follow-up mechanism of in-pipeline detector |
| CN110805784A (en) * | 2019-10-11 | 2020-02-18 | 南京博阳科技有限公司 | Pipeline robot based on vision sensor |
| 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 |
| CN117406759B (en) * | 2023-12-14 | 2024-04-05 | 深圳天溯计量检测股份有限公司 | Pipeline robot crawling calibration method and system |
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| CN106441272A (en) | 2017-02-22 |
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Application publication date: 20190607 |