CN203299373U - Wireless electromagnet self-adaptive tube cleaner and positioning system thereof - Google Patents
Wireless electromagnet self-adaptive tube cleaner and positioning system thereof Download PDFInfo
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- CN203299373U CN203299373U CN2013203331488U CN201320333148U CN203299373U CN 203299373 U CN203299373 U CN 203299373U CN 2013203331488 U CN2013203331488 U CN 2013203331488U CN 201320333148 U CN201320333148 U CN 201320333148U CN 203299373 U CN203299373 U CN 203299373U
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Abstract
The utility model, which belongs to the wireless electromagnet self-adaptive positioning field of a tube cleaner, discloses a wireless electromagnet self-adaptive tube cleaner and positioning system thereof. A tube cleaner, an internal-pipe electromagnetic wave emission device, and an external-pipe sensor receiving device are arranged; and the internal-pipe electromagnetic wave emission device is installed inside the tube cleaner. The external-pipe sensor receiving device includes six sensors that are uniformly distributed at three coordinate directions by using a symmetrical structure. Self-adaptive three-position positioning measuring and tracking of the tube cleaner can be realized; and the positioning precision is high.
Description
Technical field
The utility model relates to a kind of pipeline cleaner product, relates in particular to a kind of wireless electromagnetic self-adaptation rabbit and positioning system thereof, belongs to rabbit wireless electromagnetic adaptive location technical field.
Background technology
Pipeline is a kind of transportation equipment easily and efficiently of the materials such as transportation oil, rock gas, plays an important role in national economy.During tubing; inevitably having the foreign material such as silt, welding slag, sewage enters in pipeline; the foreign material such as some sand, mud and paraffin also often can be gathered in same in-service transport pipeline inside; this normal operation that all can affect pipeline even makes line clogging, so oil and gas pipes must carry out periodic cleaning.Rabbit is the major equipment of pipeline cleaning,, for the position that accurate fixed tube road really stops up, must accurately locate rabbit.Be embedded in the shielding action of underground and duct wall due to pipeline, make the ripe detection technique such as conventional acousto-optic-electric be difficult to application in location of pipeline, traditional radioactive source as
Ray, due to human body and environment are had radiological hazard, also should not use, and secondly positioning precision is poor, and position is inaccurate.
Summary of the invention
Problem for above-mentioned prior art exists, the invention provides a kind of wireless electromagnetic self-adaptation rabbit and positioning system thereof, can utilize low-frequency electromagnetic wave to carry out detection and location to the penetration capacity of material, and have the effect that rabbit is accurately located.
To achieve these goals, the technical solution used in the present invention is: a kind of wireless electromagnetic self-adaptation rabbit and positioning system thereof, comprise electromagnetic wave launcher, pipeline outer sensor receiving trap in rabbit, pipeline, rabbit inside is equipped with electromagnetic wave launcher in pipeline; Described pipeline outer sensor receiving trap includes sensor, and sensor is six, and six sensors adopt symmetrical structure, are uniformly distributed on three coordinate directions.
In described pipeline, electromagnetic wave launcher comprises single-chip microcomputer, digital to analog converter, power amplifier and field coil, single-chip microcomputer linking number weighted-voltage D/A converter, and digital to analog converter connects power amplifier, and power amplifier connects field coil.
Described pipeline outer sensor receiving trap comprises sensor, voltage amplifier, high pass, low pass and bandwidth-limited circuit, multiway analog switch and analog to digital converter; Sensor is connected low pass and bandwidth-limited circuit and is connected multiway analog switch, multiway analog switch linking number weighted-voltage D/A converter with high pass by voltage amplifier.
The invention has the beneficial effects as follows: rabbit can be launched low-frequency electromagnetic wave the penetration capacity of material is carried out detection and location; The wireless electromagnetic positioning system of six sensors can realize three location surveys of self-adaptation of rabbit, and the precision of following the tracks of and locating is higher, and does not need the correlation parameter of direct measuring channel and environment, and is simple to operate, meets the rabbit requirements of one's work.
Description of drawings
Fig. 1 is theory diagram of the present utility model.
Fig. 2 is sensor arrangement of the present utility model.
Embodiment
The invention will be further described below in conjunction with accompanying drawing.
As shown in Figure 1 and Figure 2, the utility model comprises electromagnetic wave launcher, pipeline outer sensor receiving trap in rabbit, pipeline, and rabbit inside is equipped with electromagnetic wave launcher in pipeline; Described pipeline outer sensor receiving trap includes sensor, and sensor is six, and six sensors adopt symmetrical structure, are uniformly distributed on three coordinate directions.
In described pipeline, electromagnetic wave launcher comprises single-chip microcomputer, digital to analog converter, power amplifier and field coil, single-chip microcomputer linking number weighted-voltage D/A converter, and digital to analog converter connects power amplifier, and power amplifier connects field coil.
Described pipeline outer sensor receiving trap comprises sensor, voltage amplifier, high pass, low pass and bandwidth-limited circuit, multiway analog switch and analog to digital converter; Sensor is connected low pass and bandwidth-limited circuit and is connected multiway analog switch, multiway analog switch linking number weighted-voltage D/A converter with high pass by voltage amplifier.
For realizing the positioning function of rabbit, need to the Extremely low frequency electronic magnetic fields signal in space be changed into electric signal with sensor, be translated into location required voltage signal by filtering and amplifying circuit, the sensor in the utility model is electromagnetic induction coil.The utility model proposes the positioning system based on six sensors.Be evenly distributed in order to obtain positioning error on three coordinate directions simultaneously, adopt the sensor arrangement of symmetrical structure, sensor arrangement as shown in Figure 2.
The rabbit electromagnetic positioning system of design comprises electromagnetic wave launcher and pipeline outer sensor receiving trap two parts in pipeline.In pipeline, electromagnetic wave launcher is arranged on rabbit inside, it is mainly the low frequency electromagnetic field of launching the 23.5HZ of alternation outside pipeline, it comprises single-chip microcomputer, digital to analog converter, power amplifier and field coil, the alternation digital signal that single-chip microcomputer produces is converted to simulating signal through digital to analog converter, is then outwards sent with the form of alternating electromagnetism ripple by field coil after amplifying circuit amplifies.For the low frequency electromagnetic signals of saving electric energy emission adopts the radiation pattern that is interrupted, stop emission after launching continuously 16 sine pulses, launched again every 1.2 seconds, according to different application scenarios and energy-conservation requirement, transponder pulse is adjustable interval time.
Pipeline outer sensor receiving trap comprises sensor, voltage amplifier, high pass, low pass and bandwidth-limited circuit, analog to digital converter and multiway analog switch, Main Function is to receive electromagnetic induction signal by inductor, be converted to digital quantity by analog to digital converter after amplification filtering and be passed in computing machine, by computing machine according to the model of setting up and adopt certain algorithm to calculate the position of rabbit.Sensor is electromagnetic induction coil, coil winding is on the skeleton made from plastics, enameled wire winding 9800 circles by 0.1mm form, the cylinder encapsulation of being made by nylon after coil winding is fixing forms, follow-up modulate circuit is comprised of multistage filtering and amplifying circuit, filtering circuit mainly contains Butterworth LPF, double T bandpass filter and Chebyshev's Hi-pass filter.Array-type sensor is symmetrical, and each sensor is 0.5 meter to the distance of centre coordinate.
Claims (3)
1. a wireless electromagnetic self-adaptation rabbit and positioning system thereof, comprise rabbit, it is characterized in that, also comprises electromagnetic wave launcher, pipeline outer sensor receiving trap in pipeline, and rabbit inside is equipped with electromagnetic wave launcher in pipeline; Described pipeline outer sensor receiving trap includes sensor, and sensor is six, and six sensors adopt symmetrical structure, are uniformly distributed on three coordinate directions.
2. wireless electromagnetic self-adaptation rabbit according to claim 1 and positioning system thereof, it is characterized in that, in described pipeline, electromagnetic wave launcher comprises single-chip microcomputer, digital to analog converter, power amplifier and field coil, single-chip microcomputer linking number weighted-voltage D/A converter, digital to analog converter connects power amplifier, and power amplifier connects field coil.
3. wireless electromagnetic self-adaptation rabbit according to claim 1 and positioning system thereof, it is characterized in that, described pipeline outer sensor receiving trap comprises sensor, voltage amplifier, high pass, low pass and bandwidth-limited circuit, multiway analog switch and analog to digital converter; Sensor is connected low pass and bandwidth-limited circuit and is connected multiway analog switch, multiway analog switch linking number weighted-voltage D/A converter with high pass by voltage amplifier.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013203331488U CN203299373U (en) | 2013-06-09 | 2013-06-09 | Wireless electromagnet self-adaptive tube cleaner and positioning system thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013203331488U CN203299373U (en) | 2013-06-09 | 2013-06-09 | Wireless electromagnet self-adaptive tube cleaner and positioning system thereof |
Publications (1)
| Publication Number | Publication Date |
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| CN203299373U true CN203299373U (en) | 2013-11-20 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2013203331488U Expired - Fee Related CN203299373U (en) | 2013-06-09 | 2013-06-09 | Wireless electromagnet self-adaptive tube cleaner and positioning system thereof |
Country Status (1)
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104019326A (en) * | 2014-06-11 | 2014-09-03 | 中国石油大学(北京) | Positioning system, device and method of pipeline cleaning device |
| CN105279357A (en) * | 2014-07-10 | 2016-01-27 | 尚敏 | Intelligent pipe cleaner tracking system |
| CN106092082A (en) * | 2016-05-26 | 2016-11-09 | 重庆前卫科技集团有限公司 | A kind of wiper localization method |
| CN106931277A (en) * | 2015-12-31 | 2017-07-07 | 中国石油天然气股份有限公司 | Wiper alignment system |
| CN107314787A (en) * | 2016-04-26 | 2017-11-03 | 北京电子科技职业学院 | A kind of oil-gas pipeline detection device orientation management system based on mobile phone A PP |
| CN113281700A (en) * | 2021-04-20 | 2021-08-20 | 宜宾学院 | Wireless electromagnetic positioning system and method |
-
2013
- 2013-06-09 CN CN2013203331488U patent/CN203299373U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104019326A (en) * | 2014-06-11 | 2014-09-03 | 中国石油大学(北京) | Positioning system, device and method of pipeline cleaning device |
| CN104019326B (en) * | 2014-06-11 | 2016-03-30 | 中国石油大学(北京) | A kind of pipeline cleaner navigation system, device and method |
| CN105279357A (en) * | 2014-07-10 | 2016-01-27 | 尚敏 | Intelligent pipe cleaner tracking system |
| CN106931277A (en) * | 2015-12-31 | 2017-07-07 | 中国石油天然气股份有限公司 | Wiper alignment system |
| CN107314787A (en) * | 2016-04-26 | 2017-11-03 | 北京电子科技职业学院 | A kind of oil-gas pipeline detection device orientation management system based on mobile phone A PP |
| CN106092082A (en) * | 2016-05-26 | 2016-11-09 | 重庆前卫科技集团有限公司 | A kind of wiper localization method |
| CN113281700A (en) * | 2021-04-20 | 2021-08-20 | 宜宾学院 | Wireless electromagnetic positioning system and method |
| CN113281700B (en) * | 2021-04-20 | 2023-10-31 | 宜宾学院 | Wireless electromagnetic positioning system and method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20131120 Termination date: 20140609 |