WO2012123993A1 - Transmitter for detecting in-pipe mobile body, in-pipe mobile body, and system for detecting in-pipe mobile body - Google Patents

Transmitter for detecting in-pipe mobile body, in-pipe mobile body, and system for detecting in-pipe mobile body Download PDF

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Publication number
WO2012123993A1
WO2012123993A1 PCT/JP2011/001586 JP2011001586W WO2012123993A1 WO 2012123993 A1 WO2012123993 A1 WO 2012123993A1 JP 2011001586 W JP2011001586 W JP 2011001586W WO 2012123993 A1 WO2012123993 A1 WO 2012123993A1
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WO
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Patent type
Prior art keywords
magnetic field
transmitter
tube
moving body
permanent magnet
Prior art date
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PCT/JP2011/001586
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French (fr)
Japanese (ja)
Inventor
茂治郎 清水
Original Assignee
Shimizu Shigejiro
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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01BMEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B7/00Measuring arrangements characterised by the use of electric or magnetic means
    • G01B7/003Measuring arrangements characterised by the use of electric or magnetic means for measuring position, not involving coordinate determination
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16LPIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L55/00Devices or appurtenances for use in, or in connection with, pipes or pipe systems
    • F16L55/26Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
    • F16L55/48Indicating the position of the pig or mole in the pipe or conduit
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01VGEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS
    • G01V3/00Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation
    • G01V3/15Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation specially adapted for use during transport, e.g. by a person, vehicle or boat

Abstract

The transmitter (4) of a pig detection system (6) is provided with a permanent magnet (12) and a motor (131) which rotates the permanent magnet (12) in such a manner that the magnetic pole surface (12a) of the permanent magnet (12) moves in the circumferential direction about a rotation axis (L1) which is parallel to the axis (1A) of a pipe (1). When the motor (131) rotates, a rotating magnetic field which rotates in a perpendicular plane (A) perpendicular to the rotation axis (L1) and which is centered on the rotation axis (L1) is generated by the transmitter (4). The rotating magnetic field includes a magnetic field vector (V1) which is directed outward of the pipe (1) and which is present in the perpendicular plane (A) perpendicular to the axis (1A) of the pipe (1). The position of a pig (2) can be accurately specified from the outside of the pipe (1) on the basis of the magnetic field vector (V1). Because the rotating magnetic field includes a frequency component, the rotating magnetic field generated by the transmitter (4) and a disturbance magnetic field, such as earth's magnetism, can be discriminated from each other utilizing the frequency component.

Description

Pipe mobile transmitter for detection, the tube moving body and canal mobile detection system

The present invention relates to the tube oscillator for tube moving body detection to be mounted on a mobile to detect tube moving body or the like is performed by moving the tube clean the inside of the tube from the outer tube. Further, the present invention is tube moving body to which the transmitter is mounted, and to a tube mobile detection system to detect accurately the position of the tube moving body on the basis of the rotating magnetic field generated from the oscillator.

To perform internal washing of the buried in the factory premises pipe, tube moving body of substantially equal outer diameter is used for the inner diameter of the tube. After insertion of the tube moving body to the pipe to be cleaned, introducing the fluid into the tube, move the tube moving body in the length direction of the pipe by the fluid pressure of the fluid. Deposits thereby adhered to the inner peripheral wall of the residue and the tube in the tube is discharged from the outlet of the tube by the tube moving body. Such a tube moving body is referred to as a pig.

Transmitter is mounted on the tube moving body. In a case where the tube moving body is stopped in the middle position in the tube, the signal from the transmitter and detected by the detector, has identified the location of the tube moving body. The transmitter is known which generates a magnetic field for detection, Patent Document 1, tube moving body is disclosed having a transmitter of this type.

Figure 5 (a), (b) is an explanatory view showing a tube moving body provided with a transmitter for generating a magnetic field for detection in the prior art. As shown in FIG. 5 (a), the tube moving body 100 is of a bullet shape, the side that tapers are inserted into the tube 101 in a state where the front side of the movement direction M0. Transmitter 102 includes an electromagnetic coil 105 having a coil 104 wound on the iron core 103 and the iron core 103, a pulse generating circuit 106 for applying a pulse current of a constant period to the electromagnetic coil 105, a pulse generating circuit 106 and a battery 107 and switch 108 supplies power to the electromagnetic coil 105 through the. Transmitter 102 is mounted on the tube moving body 100 center line L0 is in a state along the moving direction M0 in the tube moving body 100 of the electromagnetic coil 105. Tube moving body 100 while maintaining the orientation in which the center line L0 of the electromagnetic coil 105 is parallel to the center axis 101A of the tube 101, to move the tube 101.

FIG 5 (b) as shown in above, when to detect a tube moving body 100 is stopped in the tube 101 which is horizontally embedded in the ground away several meters from the ground 109, a magnetic sensor probe 110a and moving the detector 110 along the buried path on the ground. Detector 110 detects a magnetic field vector of the magnetic field is periodically generated from the electromagnetic coil 105 (two-dot chain line in the figure), thereby specifying the position of the tube moving body 100.

JP 2001-235089 JP

Transmitter 102 in a conventional tube moving body, pole faces 105a of the electromagnetic coil 105 (the end face of the iron core 103) to face the moving direction M0 in the tube moving body 100 is mounted in the tube moving body 100. Detector 110 is the direction of the magnetic field vector V0 when the maximum magnetic field was detected from the transmitter 102 is aligned with the center axis 101A of the tube 101. In order to detect the position of the tube moving body 100 in the tube from the direction of the magnetic field vector V0 requires knowledge and skill regarding the magnetic field lines the route of the magnetic field transmitter 102 occurs.

Therefore, mounting the oscillator 102 along the vertical direction perpendicular to the center line L0 of the electromagnetic coil 105 and the moving direction M0 in the tube moving body 100 in the tube moving body 100, the magnetic pole surface 105a of the electromagnetic coil 105 is always the ground side it is conceivable to have a state facing. In this way, the direction of the magnetic field from the transmitter 102 is oriented in the radial direction of the pipe 101. As a result, the detector 110 can detect a magnetic field vector directed to earth from the pole face 105a of the electromagnetic coil 105, the position of the tube moving body 100 can accurately identify the outer tube 101 based on the direction of the magnetic field vector.

However, since the tube moving body 100 that moves tract direction of the circumferential direction is indeterminate, it is impossible to keep a state facing always ground-side magnetic pole surface 105a of the electromagnetic coil 105 mounted in the tube moving body 100. If the magnetic pole surface 105a of the electromagnetic coil 105 is not face the ground side, it is impossible to accurately identify the position of the tube moving body 100.

An object of the present invention is to propose a transmitter for pipe mobile detection for generating a precisely identifiable rotating magnetic field the position of the tube moving body based on the magnetic field for position detection generated from the outside of the tube from the transmitter It is in.

Another object of the present invention is to propose tube moving body according new transmitter is mounted, and a tube mobile detection system for detecting the position of the tube moving body.

In order to solve the above problems, the present invention is to tube moving body detects the position of the tube moving body from the outside of the tube to be moved, originating for tube moving body detection to be mounted on the tube moving body a vessel, about a parallel rotational axis to the central axis of the tube where the tube moving body moves, the rotating magnetic field generating mechanism for generating the rotating magnetic field that rotates on orthogonal plane orthogonal to the rotational axis It is characterized in that it comprises.

In the present invention, the rotating magnetic field generating mechanism, it is desirable to generate a following rotating magnetic field 10 Hz. Since transmission distance infrasound magnetic signal of a long, the frequency of the rotating magnetic field if set to 10Hz or less, it is possible to increase the detection distance in the tube moving body. The magnetic signal of very low frequency is in a vacuum, a gas, water, ground, since also transmitted under any circumstances in the metal, can detect the position of the tube moving body irrespective of the installation environment of the tube.

In the present invention, the rotating magnetic field generating mechanism, it is desirable to provide a frequency control unit for switching the frequency of the rotating magnetic field. In this way, even if difficult to detect the rotating magnetic field of a specific frequency due to a disturbance magnetic field in the installation site of the tube, by detecting the rotating magnetic field of the other frequencies can locate the tube moving body.

In the present invention, the rotating magnetic field generating mechanism is preferably provided with a frequency controller for continuously changing the frequency of the rotating magnetic field. In this way, even if difficult to detect the rotating magnetic field of a specific frequency due to a disturbance magnetic field in the installation site of the tube, by detecting the rotating magnetic field of the other frequencies can locate the tube moving body.

In the present invention, the rotating magnetic field generating mechanism includes a permanent magnet, and a rotary drive mechanism for the magnetic pole surface of the permanent magnet rotating the permanent magnet to move around the rotation center line in the circumferential direction it is desirable. Thus, it can be made stronger the magnetic field from the transmitter by using a strong permanent magnet having a magnetic force. As compared with the case of generating a magnetic field by energizing the coil, an increase in power consumption in the case of those strong magnetic field from the transmitter can be suppressed.

In this case, in order to simple configuration transmitter, the rotation drive mechanism includes a motor, it is desirable that the permanent magnet is attached to a rotating shaft of the motor. In order to more easily configure transmitter, the rotation drive mechanism includes a bearing mechanism for rotatably supporting said permanent magnet, and a driving coil for rotating said permanent magnet by the exciting it is desirable.

In the present invention, the rotating magnetic field generating mechanism, and a second permanent magnet disposed on the outer peripheral side of the permanent magnet, the second rotational center pole face is parallel to the rotation center line of the second permanent magnet and a second bearing mechanism bearing mechanism for permanent magnets to rotatably support the second permanent magnet to move the line around the circumferential direction, when the permanent magnet is rotated, the second permanent it is desirable that the magnet is rotated together.

Thus, on the orthogonal plane orthogonal to the rotational center line, in addition to the rotating magnetic field of the rotating around the center line, it is possible to generate a rotating magnetic field of the second rotational axis about by the second permanent magnet since, it is possible to the magnetic field from the transmitter as powerful. Further, since the second permanent magnet is rotated together with the rotation of the permanent magnet, there is no need to provide a new rotary drive mechanism for rotating the second permanent magnet. Therefore, an increase in power consumption in the case of those strong magnetic field from the transmitter can be suppressed.

In the present invention, in order to generate a rotating magnetic field without using a permanent magnet, the rotating magnetic field generating mechanism includes a plurality of electromagnetic coils, an excitation controller for exciting said plurality of electromagnetic coils in a predetermined order, It said plurality of electromagnetic coils is disposed so as to extend in different directions the axis of the electromagnetic coil is perpendicular to the rotational center line.

Next, the present invention is a tube moving body transmitter that generates a rotating magnetic field for position detection is installed, the transmitter is characterized in that a transmitter of the above configuration.

Further, the tube moving body detection system of the present invention, the tube moves to detect a transmitter mounted in the tube moving body, a rotating magnetic field in which the transmitter is generated from the outside of the tube the tube moving body moves and a detector for identifying the position of the body, the transmitter is characterized in that a transmitter of the above configuration.

According to the present invention, from the transmitter, around a central axis parallel to the rotation center line of the tube, the rotating magnetic field that rotates on orthogonal plane orthogonal to the rotational center line is generated. Since the rotating magnetic field contains the magnetic field vector directed on orthogonal plane orthogonal to the central axis of the tube on the outside of the tube, by detecting the magnetic field vector detector, outside of the tube based on the direction of the magnetic field vector It can accurately identify the position of the tube moving body from. Further, the rotating magnetic field transmitter is generating Since magnetic signal including a frequency component can distinguish between disturbance magnetic field, such as field and geomagnetism from the transmitter using a frequency component. That is, since it is possible to remove noise due to a disturbance magnetic field, the magnetic field from the transmitter may sensitively detected. Further, it becomes possible to eliminate the noise caused by disturbance magnetic field, it is possible to increase the detection distance in the tube moving body.

It is an explanatory view showing a tube mobile detection systems and transmitters to the present invention. It is an explanatory view showing a modification of the transmitter of Figure 1. It is an explanatory view showing another example of the transmitter in the tube moving body detection system. Is an explanatory view showing still another example of the transmitter in the tube moving body detection system. It is an explanatory view showing a conventional example of pipe mobile detection systems and transmitters.

With reference to the accompanying drawings, illustrating the pig detection systems (pipe mobile detection system) according to an embodiment of the present invention.

(overall structure)
1 (a) is an explanatory view showing a pig detection system according to the present invention, FIG. 1 (b) are explanatory diagrams showing the transmitter of the pig detection systems. 2 pig (tube moving body) for cleaning the interior of the laid tube 1 site, etc. of the plant consists of urethane foam or rubber, the tip has a tapered bullet shape. When cleaning the interior of the tube 1, providing a pig 2 of outer diameter approximately equal to the inner diameter of the tube 1, and inserting the pig 2 from the tip side of the tube 1, fluid flow in the tube 1. Pig 2 is pushed by the fluid pressure F1 of the fluid to move in the axial direction of the tube 1 along the inner circumferential surface of the pipe 1. Residues 3 such as deposits adhering to the inner wall of the tube 1 is transferred while being scraped by the pig 2, is discharged from the outlet of the tube 1 along with the pig 2 (not shown) to the outside.

The pig 2, oscillator 4 for generating a rotating magnetic field for position detection for detecting a position of the pig 2 is mounted. Rotating magnetic field generating mechanism 10 of the transmitter 4 generates a rotating magnetic field rotating on orthogonal planes A perpendicular to the center axis 1A of the tube 1. The example, when the pig 2 has stopped in the tube 1, detects the rotating magnetic field from the transmitter 4 by the detector 5 disposed on the outside of the tube 1, the position of the pig 2 in the tube 1 Identify. Pig detection system 6 is constituted by these transmitters 4 and detector 5.

(Transmitter)
Transmitter 4 includes, as shown in FIG. 1 (b), and sealed case 11 made of a nonmagnetic member, a rotating magnetic field generating mechanism 10 accommodated in the case 11. Rotating magnetic field generating mechanism 10 and the permanent magnet 12, and a rotary drive mechanism 13 for rotating the permanent magnet 12. Rotation driving mechanism 13 and the motor 131, a frequency control circuit (frequency control unit) 132 for controlling the frequency of the rotating magnetic field by controlling driving of the motor 131, and supplies electric power to the motor 131 via the frequency control circuit 132 cells and 133, a switch 134.

The permanent magnet 12 has a cylindrical shape, both end surfaces thereof are two-pole magnetized so that pole faces 12a. The permanent magnet 12, in the center of the central axis direction, and is fixed to the tip of the rotation shaft 131a of the motor 131. The permanent magnet 12 has its center axis is fixed to the rotary shaft 131a in a posture perpendicular to the rotational center line L1 of the rotary shaft 131a. When the motor 131 rotates, the permanent magnet 12 pole face 12a rotates around the rotational center line L1.

Transmitter 4, the rotation center line L1 of the rotary shaft 131a of the motor 131 so as to face the moving direction M1 of the pig 2, is mounted on the pig 2. Pig 2, the rotation center line L1 moves within while the tube 1 is maintained posture is parallel to the central axis 1A of the tube 1. Therefore, when the motor 131 is rotated, from the oscillator 4, about the central axis line 1A of rotation parallel center line L1 of the tube 1, on the orthogonal plane A perpendicular to the rotation center line L1 (center axis 1A of the tube 1) rotating magnetic field that rotates to generate a.

Frequency control circuit 132, by controlling the rotational speed of the motor 131, to set the frequency of the rotating magnetic field. Frequency control circuit 132, the permanent magnet 12 is driven controls the motor 131 to rotate at a rotational speed of 10 revolutions / sec, the rotating magnetic field of 10Hz is generated from the oscillator 4. Battery 133 is a lithium ion secondary battery, in the state in which the transmitter 4 is mounted on the pig 2, is rechargeable in a non-contact from the outside. The switch 134 is also in the state mounted on the pig 2 can be remotely operated in a non-contact from the outside.

(Detector)
Detector 5, as shown in FIG. 1 (a), the magnetic field sensor probe 22 having a coil 21, based on the induced electromotive force generated in proportion to the intensity of the magnetic field when the interlinked magnetic field coil 21 strand Te magnetic field detecting circuit 23 for detecting a magnetic field, and a display unit 24 for displaying the strength of the magnetic field based on the output from the magnetic field detection circuit 23.

Induced electromotive force generated in the coil 21 is generated by a magnetic field (magnetic flux) passes through the coil 21. Thus, the magnetic field sensor probe 22 has a directivity, the direction of the magnetic field sensor probe 22 at the time of the induced electromotive force is generated is configured to indicate the direction of the magnetic field vector of the detected magnetic field.

Field detector 23 includes a high-order band-pass filter 231 and a signal amplifier circuit 232. Thus, detector 5 removes noise due to a disturbance magnetic field, such as geomagnetism containing no frequency components, a magnetic signal including a frequency component of 10Hz from the transmitter 4 with high sensitivity can be detected.

(Pig detection method)
When detecting a pig 2 which is stopped at the horizontal buried pipes within 1 into the ground away several meters from the ground 1a, as shown in FIG. 1 (a), it directs the magnetic field sensor probe 22 into the ground 1a. The detector 5 in this state is moved along the buried path of the tube 1 in the ground, it identifies the detected position of the pig 2 by a rotating magnetic field from the transmitter 4.

Rotating magnetic field is generated from the transmitter 4, about the central axis line 1A parallel to the rotational center line L1 of the tube 1, a rotating magnetic field rotating on orthogonal planes A perpendicular to the rotation center line L1. The rotating magnetic field includes a magnetic field vector V1 directed on orthogonal planes A perpendicular to the center axis 1A of the tube 1 on the outside of the tube 1. Thus, for a magnetic field sensor probe 22 into the ground 1a, by detecting the magnetic field strength at 10Hz by detector 5 changes, it can detect the magnetic field vector V1 toward the ground from the pole face 12a of the permanent magnets 12 of the transmitter 4. The position of the pig 2 can be accurately identified from the outside of the tube 1 on the basis of the magnetic field vector V1. That is, the magnetic field of maximum intensity by detector 5 at the time that is detected periodically, to match the direction of the magnetic field vector V1 direction facing the magnetic field sensor probe 22 is directed toward the ground from the pole face 12a of the permanent magnet 12. Therefore, it can be seen that pig 2 in the tube 1 on the extension of the magnetic field sensor probe 22 is located.

Rotating magnetic field transmitter 4 is generated is extremely low frequency magnetic signal of 10 Hz. Detector 5, by removing the magnetic frequency component other than 10 Hz, without being affected by noise such as disturbance magnetic field, a rotating magnetic field from the transmitter 4 can sensitively detected. Therefore, it accurately specify the position of the pig 2, the detection distance of the pig 2 becomes long.

Further, the rotating magnetic field transmitter 4 occurs long transmission distances because it is a magnetic signal of very low frequency. Accordingly, longer detectable detection distance pig 2. The magnetic signal of very low frequency is in a vacuum, a gas, water, ground, since transmit under any circumstances in the metal, irrespective of the laying environment tube 1, can detect the position of the pig 2.

Further, it is possible to increase the magnetic field from the transmitter 4 by using a strong permanent magnet 12 with magnetic force. As compared with the case of generating a magnetic field by energizing the coil, an increase in power consumption required when the magnetic field from the transmitter 4 as strong can be suppressed. Further, in the case of the magnetic field from the transmitter 4 and a stronger, since it is not necessary to increase the size of the permanent magnet 12, nor the oscillator 4 becomes heavy in size.

(Modification of the transmitter)
In the above embodiment, the frequency control circuit 132 can be made to switch the frequency of the rotating magnetic field from the transmitter 4.

For example, by setting from outside, the frequency control circuit 132 is assumed to selectively switch the frequency of the rotating magnetic field from the transmitter 4 to one of lower second frequency than the first frequency and the first frequency can. More specifically, the frequency control circuit 132, a first speed of 10 rotations / second rotational speed of the motor, by selectively switching between the second speed slower 8 rotations / sec than this, the rotation switching the frequency of the magnetic field in the 10 Hz (the first frequency) or 8 Hz (second frequency). In this way, even when detection is difficult of the magnetic signal of the first frequency by the disturbance magnetic field in the installation site of the tube 1 detects the magnetic signal of the other frequency, you can locate the pig 2.

Further, it is possible to frequency control circuit 132, the frequency of the rotating magnetic field from the transmitter 4, which is switched every time a predetermined time elapses between the second frequency lower than the first frequency and the first frequency . Thus even if the, even if difficult to detect the magnetic signal of one frequency due to a disturbance magnetic field in the installation site of the tube 1 detects the magnetic signal of the other frequency, you can locate the pig 2.

Alternatively, frequency control circuit 132, the frequency of the rotating magnetic field from the transmitter 4, may be continuously changed between the first frequency and the first frequency. Thus, since the magnetic signal from the transmitter 4 is continuously changed, even if difficult to detect the magnetic signal of a specific frequency due to a disturbance magnetic field in the installation site of the tube 1, the magnetic signal of another frequency to detect, can locate the pig 2.

The frequency control circuit 132, the rotation of the motor 131 may be stopped each time a predetermined time elapses. Thus, it is possible to suppress consumption of the battery 133, it is possible transmitter is extended possible time operation. As a result, it is possible to extend the operating time to operate the pig 2. Further, since the magnetic field is generated from the permanent magnet 12 even when the rotation of the motor 131 is stopped, by detecting the magnetic field from the permanent magnet 12 by the detector 5, the outer tube 1 of the pig 2 position can be specified.

Further, in the above embodiment, the rotating magnetic field generating mechanism, a second permanent magnet that is rotatably supported by the second rotational axis around the outer circumferential side parallel to the rotational center line L1 of the permanent magnet 12 provided, when the permanent magnet 12 rotates, may be configured to rotate together the second permanent magnet.

Figure 2 is an explanatory diagram of the transmitter of the modification with the second permanent magnets in the rotating magnetic field generating mechanism, it is viewed inside the pig 2 from the direction of the rotation center line L1. Note that oscillator 4A modification is provided with the same configuration as the transmitter 4 above, the corresponding configuration are denoted by the same reference numerals, and description thereof is omitted. Transmitter 4A modification, the rotating magnetic field generating mechanism 10A is a second permanent magnet 14 has four permanent magnets 141-144 which are arranged at equal angular intervals in the rotational center line L1 around. Each of the permanent magnets 141-144, both end surfaces thereof are arranged in are 2 poles so that magnetic pole surfaces 141a ~ 144a, overlap when viewed from a direction perpendicular to the rotational centerline L1 position. Further, each of the permanent magnets 141-144, rotating each bearing mechanism (second permanent magnet bearing mechanism) 15 parallel to each rotation axis and the rotation center axis L1 by (second central axis) L141 ~ L144 around and it is rotatably supported. When the permanent magnet 12 in the center is rotated in the direction of the arrow around a rotation center axis L1, each of the permanent magnets 141-144 in the circumferential direction showing the respective pole face 141a ~ 144a is around the rotational center line L141 ~ L144 by arrows to rotate together so as to move in.

According to oscillator 4A modification, on the orthogonal plane A perpendicular to the rotation center line L1, the rotating magnetic field of the rotating center line L1 around by the permanent magnets 12, each rotation center line L141 ~ by the permanent magnets 141 to 144 L144 around the rotating magnetic field is generated. As a result, the magnetic field from the transmitter 4A becomes powerful ones, it is possible to detect a large magnetic field vector by detector 5. Further, each of the permanent magnets 141-144 which are disposed on the outer peripheral side of the permanent magnet 12 because the permanent magnet 12 is rotated together with the rotating, the need to provide a new rotary drive mechanism for rotating each permanent magnets 141 to 144 Absent. Therefore, an increase in power consumption when the magnetic field from the transmitter 4A as strong can be suppressed.

The number of second permanent magnets 14 disposed on the outer periphery of the permanent magnet 12 may be one, or may be five or more.

(Another example of the transmitter)
3 (a) is a schematic block diagram of a transmitter of another example, FIG. 3 (b) is a perspective view showing transmitter of the permanent magnet of the present embodiment, the bearing mechanism and the drive coil is taken out, FIG. 3 (c) is a time chart of the exciting current applied to the driving coil.

Transmitter 7 of the present embodiment is one which can be used as an alternative to the above transmitter 4. As shown in FIG. 3 (a), it includes a transmitter 7 case 30 of nonmagnetic sealed in the present example, the rotating magnetic field generating mechanism 31 housed in the casing 30. Rotating magnetic field generating mechanism 31 is provided with a permanent magnet 32, a rotary drive mechanism 33 for rotating the permanent magnet 32. Rotary drive mechanism 33 includes a bearing mechanism 34 for rotatably supporting the permanent magnet 32 ​​(see FIG. 3 (b)), and the first, second driving coils 35, 36 for rotating the permanent magnet 32 ​​by the excitation, first, by controlling the excitation current to the second driving coil 35, a frequency control circuit (frequency control unit) 37 for controlling the frequency of the rotating magnetic field, the first and via the frequency control circuit 37 a battery 38 for supplying an excitation current to the second drive coil 35, a switch 39. Battery 38 is a lithium ion secondary battery, in the state where oscillator 7 is mounted on the pig 2, and can charge in a non-contact from the outside. Moreover, it has switch 39 also in the state mounted on the pig 2, and can be operated from the outside without contact.

As shown in FIG. 3 (b), the permanent magnet 32 ​​has a rectangular parallelepiped shape. The permanent magnet 32, the pair of parallel end faces facing the movement direction M1 of the pig 2, a pair of support shafts 341 projecting from the central portion are provided respectively. The permanent magnet 32 ​​is two-pole magnetized, of the two pairs of parallel end faces different from the pair of parallel end surfaces spindle 341 is provided in the permanent magnet 32, a pair of one set the end face has become a pole face 32a.

Shaft end portions of the pair of the support shaft 341 is rotatably supported by a bearing 342. That is, the permanent magnet 32, by a bearing mechanism 34 composed of the support shaft 341 and the bearing 342, and a central axis of the support shaft 341 is supported in a rotatable state as a rotation center line L2. In this embodiment, the shaft end portions of the axles 341 has a pivot conical, bearing 342 has a pivot ball bearing with a bearing. Here, transmitter 7 is mounted on the pig 2 the rotational center line L2 is set along the moving direction M1 of the pig 2. Further, pig 2 is the rotational center line L2 moves within while the tube 1 is maintained posture is parallel to the central axis 1A of the tube 1.

First, second driving coil 35, 36 is a rectangular air-core coil, both the first coil portion 351 and 361 of the pair of parallel extending in a direction perpendicular to the moving direction M1 of the pig 2, the movement of the pig 2 and a second coil portion 352 and 362 of the parallel pair extending along the direction M1. First and second drive coils 35 and 36 are arranged so that each of the first coil portion 351 and 361 are perpendicular in the middle, first, on the inner side of the second driving coil 35 permanent magnet 32 and bearing mechanism 34 is disposed. Rotational center line L2 of the permanent magnet 32, in the middle of the pair of second coil portions 352 and 362 of the drive coils 35 and 36 extend parallel to the second coil portion 352 and 362 of the pair.

Frequency control circuit 37 includes a first, excitation current generating circuit 371 for generating the excitation current for exciting the second driving coil 35, sets the frequency of the rotating magnetic field transmitter 7 generates a 10Hz or 8Hz a frequency setting circuit 372, a first drive circuit 373 for applying the first driving coil 35 and exciting current excitation current generating circuit 371 generates a predetermined timing, the exciting current excitation current generating circuit 371 is caused the and a second drive circuit 374 for applying the second driving coil 36 at different predetermined timing the first drive circuit 373. Settings for the frequency setting circuit 372 is adapted to be set in a non-contact state from the outside.

Here, the frequency control circuit 37 is a so-called, which performs one-phase excitation, as shown in FIG. 3 (c), the exciting current I1 the positive direction to the first driving coil 35, the second driving coil 36 the positive direction of the excitation current I2, the exciting current I3 in the opposite direction to the first driving coil 35, the exciting current I4 in the opposite direction to the second driving coil 36, repeatedly applying in this order. As a result, the permanent magnet 32, the pole face 32a is to move in the circumferential direction around the rotational center line L2, to rotate. Thus, from the transmitter 7, around the central axis 1A parallel to the rotational center line L2 of the pipe 1, a rotating magnetic field that rotates on orthogonal planes A perpendicular to the rotational center line L2 is generated. Further, in this embodiment, by setting the frequency of the rotating magnetic field with respect to the frequency setting circuit 372, a frequency control circuit 37 permanent magnets 32 a 10 rotation / second or 8 first driving coil exciting current to rotate at a rotational / sec and the second applied to the drive coil. Thus, from the transmitter 7, the rotating magnetic field of 10Hz or 8Hz is generated.

Also in this example, is from the transmitter 7, around the central axis 1A parallel to the rotational center line L2 of the pipe 1, the rotating magnetic field has occurred to rotate on perpendicular plane A perpendicular to the rotation center line L2 includes a magnetic field vector directed on orthogonal planes a perpendicular to the center axis 1A of the tube 1 on the outside of the tube 1 in the rotating magnetic field. Further, the rotating magnetic field transmitter 7 generates has a very low frequency magnetic signal of the 10Hz or 8 Hz. Further, by generating a rotating magnetic field by utilizing a magnetic field of the permanent magnet 32. Accordingly, in the case of using the transmitter 7 of the present embodiment in place of the oscillator 4 above also, the same effect as with the above embodiment, the effect can be obtained, the position of the pig 2 from the outside of the tube 1 It can be accurately identified.

Further, the transmitter 7 of the present example, has a selectively switchable frequency of the rotating magnetic field to one of 10Hz and 8 Hz. Therefore, even when the disturbance magnetic field in the installation site of the pipe 1 is difficult to detect a magnetic signal of one frequency, by detecting the magnetic signal of the other frequency, you can locate the pig 2.

Incidentally, detecting the N pole or the angular position of the rotational center line L2 around the S pole of the permanent magnet 32 ​​by the magnetic sensor is arranged such as a Hall element on the outer peripheral side of the permanent magnet 32, the frequency control circuit on the basis of the angular position 37 may be configured to control the application of exciting current to the first driving coil 35 and the second driving coil 36. In this way, the rotation of the permanent magnet 32 ​​from the exciting beginning of the first driving coil 35 and the second driving coil 36 can be stabilized.

Further, in order to rotate the permanent magnets 32 stably, the frequency control circuit 37, so-called, may perform the two-phase excitation. However, from the viewpoint of reducing the power consumption, it is preferable to perform the one-phase excitation as described above for transmitter 7.

Furthermore, the frequency setting circuit 372 may be to switch each time a predetermined time set in advance between 10Hz and 8Hz frequency of the rotating magnetic field has elapsed. In this way, even when the disturbance magnetic field in the installation site of the pipe 1 is difficult to detect a magnetic signal of one frequency, by detecting the magnetic signal of the other frequency, you can locate the pig 2.

Alternatively, the frequency setting circuit 372 may be the frequency of the rotating magnetic field as to continuously change between the 10Hz and 8 Hz. In this way, even if difficult to detect the magnetic signal of a specific frequency due to a disturbance magnetic field in the installation site of the tube 1 detects the magnetic signal of the other frequency, you can locate the pig 2.

The frequency setting circuit 372, the rotation of the permanent magnet 32 ​​may be stopped each time a predetermined time elapses. Thus, it is possible to suppress consumption of the battery 38, transmitter 7 can be extended possible time operation. As a result, it is possible to extend the operating time to operate the pig 2. Further, since the rotation of the permanent magnet 32 ​​is also a magnetic field is generated in a state where the stop, to identify the position of the pig 2 from the outside of the tube 1 by detecting the magnetic field from the permanent magnet 32 ​​by the detector 5 can.

Furthermore, even in the transmitter 7 of the present embodiment, similarly to the modification of the transmitter 4, a second permanent magnet rotating magnetic field generating mechanism is disposed on the outer peripheral side of the permanent magnets 32 and the driving coil 35, the second of a second bearing mechanism for permanent magnets for rotatably supporting a second permanent magnet as magnetic pole surfaces of the permanent magnets is moved a second rotation around the center line parallel to the rotational center line L2 in the circumferential direction with which, when the permanent magnet 32 ​​rotates, it is possible the second permanent magnet is configured to rotate together. Further, in the structure, it can also comprise one permanent magnet as a second permanent magnet may be provided with a plurality of permanent magnets. According to this structure, on the orthogonal plane A perpendicular to the rotation center line L2, strong since the rotating magnetic field and the rotating magnetic field of the second rotational axis around the rotational center line around occurs, the magnetic field from the transmitter is It becomes, it is possible to detect a large magnetic field vector by detector 5. Further, since the second permanent magnet is a permanent magnet 32 ​​disposed around the permanent magnet 32 ​​is rotated together with the rotating, there is no need to provide a new rotary drive mechanism for rotating the second permanent magnet. Therefore, an increase in power consumption in the case of those strong magnetic field from the transmitter can be suppressed.

(Further examples of the transmitter)
4 (a) is a schematic block diagram of the transmitter of further example, FIG. 4 (b) is a perspective view showing taken out electromagnetic coil of the present embodiment, FIG. 4 (c) applied to the electromagnetic coil it is a time chart of the excitation current.

Transmitter 8 of this embodiment are those which can be used as an alternative to the above transmitter 4,7. As shown in FIG. 4 (a), includes a transmitter 8 nonmagnetic case 40 is sealed in the present example, the rotating magnetic field generating mechanism 41 mounted on the inside of the case 40. Rotating magnetic field generating mechanism 41, first, the second electromagnetic coil 43, these first, by controlling the excitation current to the second electromagnetic coil 43, a frequency control circuit for controlling the frequency of the rotating magnetic field (excitation control unit, the frequency control unit) 44, a first battery 45 for supplying an excitation current to the second electromagnetic coil 43 via the frequency control circuit 44, a switch 46. Battery 45 is a lithium ion secondary battery, in the state in which transmitter 8 is mounted on the pig 2, and can charge in a non-contact from the outside. Also, which is switch 46 in the state mounted on the pig 2, and can be operated from the outside without contact.

As shown in FIG. 4 (b), first, second electromagnetic coil 43 is constituted by the first coil 421 and second coil 431 is wound around the iron core 400 of the cross-shaped. More specifically, the iron core 400 is provided with four arm portions 400a ~ 400d of the same shape extending radially at an angle interval of 90 °. The first coil 421, four arms 400a ~ one of a pair of arms 400a extending coaxially spaced an angular interval of 180 ° of 400d, are wound 400c, thereby, first electromagnetic coil 42 is constituted. The second coil 431, four arms 400a ~ other pair of arms 400b extending coaxially spaced an angular interval of 180 ° of 400d, are wound 400d, which , the second electromagnetic coil 43 is constituted.

First and second electromagnetic coils 42 and 43, the rotational center line L3 extending in the direction perpendicular radial four central arm portions 400a ~ 400d and four arm portions 400a ~ 400d is the direction of movement of the pig 2 mounted on the pig 2 in the along the M1. Pig 2, the rotation center line L3 moves within while the tube 1 is maintained posture is parallel to the central axis 1A of the tube 1.

Frequency control circuit 44 includes a first, excitation current generating circuit 441 for generating the excitation current for exciting the second solenoid coil 43, to set the frequency of the rotating magnetic field transmitter 7 generates a 10Hz or 8Hz a frequency setting circuit 442, a first drive circuit 443 for applying an excitation current to the excitation current generating circuit 441 generates the first electromagnetic coil 42 at a predetermined timing, the exciting current excitation current generating circuit 441 is caused the and a second drive circuit 444 for applying a second electromagnetic coil 43 at a different predetermined time from the first drive circuit 443. Settings for the frequency setting circuit 442 is adapted to be set in a non-contact state from the outside.

The frequency control circuit 44, as shown in FIG. 4 (c), the exciting current I1 the positive direction to the first electromagnetic coil 42, the positive direction of the excitation current I2 to the second electromagnetic coil 43, the first electromagnetic exciting current I3 in the opposite direction to the coil 42, the exciting current I4 in the opposite direction to the second electromagnetic coil 43 is repeatedly applied in this order. According to such excitation, the first generated by the excitation, the magnetic pole surface 42a of the second electromagnetic coil 42, 43, 43a (N pole and S pole) is moved around a rotational center line L3 in the circumferential direction. As a result, from the oscillator 8, around the central axis 1A parallel to the rotational center line L3 of the tube 1, a rotating magnetic field that rotates on orthogonal planes A perpendicular to the rotation center line L3 is generated.

In this embodiment, by setting the frequency of the rotating magnetic field with respect to the frequency setting circuit 442, a frequency control circuit 44, the excitation current for moving in the magnetic pole faces 42a, 43a rotating around the center line 10 rev / sec or 8 rev / sec the 1 is applied to the electromagnetic coil 42 and second electromagnetic coil 43. Thus, from the transmitter 8, the rotating magnetic field of 10Hz or 8Hz is generated.

Also in this example, from the oscillator 8, around the central axis 1A parallel to the rotational center line L3 of the tube 1, the rotating magnetic field has occurred to rotate on perpendicular plane A perpendicular to the rotation center line L3 includes a magnetic field vector directed on orthogonal planes a perpendicular to the center axis 1A of the tube 1 on the outside of the tube 1 in the rotating magnetic field. Further, the rotating magnetic field transmitter 8 generates has a very low frequency magnetic signal of the 10Hz or 8 Hz. Accordingly, in the case of using the transmitter 8 of the present embodiment in place of the of the transmitter 4 and 7, the same effects as in the above embodiment, the effect can be obtained, from the outside of the tube 1 of the pig 2 position can be accurately specified.

Further, the transmitter 8 of the present example, has a selectively switchable frequency of the rotating magnetic field to one of 10Hz and 8 Hz. Therefore, even when the disturbance magnetic field in the installation site of the pipe 1 is difficult to detect a magnetic signal of one frequency, by detecting the magnetic signal of the other frequency, you can locate the pig 2.

Furthermore, transmitter 8 of this embodiment, since a rotating magnetic field is generated by electrical control, it is possible to accurately control the frequency of the rotating magnetic field transmitter 8 generates.

The frequency setting circuit 442 may be to switch each time a predetermined time set in advance between 10Hz and 8Hz frequency of the rotating magnetic field has elapsed. In this way, even when the disturbance magnetic field in the installation site of the pipe 1 is difficult to detect a magnetic signal of one frequency, by detecting the magnetic signal of the other frequency, you can locate the pig 2.

The frequency setting circuit 442 may be the frequency of the rotating magnetic field as to continuously change between the 10Hz and 8 Hz. In this way, even if difficult to detect the magnetic signal of a specific frequency due to a disturbance magnetic field in the installation site of the tube 1 detects the magnetic signal of the other frequency, you can locate the pig 2.

In addition, although a rotating magnetic field is generated by oscillator 8, the two electromagnetic coils 42 and 43 of the present embodiment may generate a rotating magnetic field using three or more electromagnetic coils.

Further, omitting the iron core 400 may be configured to generate a rotating magnetic field by energizing the first coil 421 and second coil 431.

(Other embodiments)
Using detector 5 of the pig detection system 6 one in which to locate the pig 2, but may identify the location of the pig 2 by using a plurality of detectors. Thus, for example, even unknown buried path of the tube 1, on the basis of the magnetic field vector of the magnetic field from the transmitter 4, 7, 8 of each detector 5 detects the position of the pig 2 accurate it can be specified to.

Also, by detecting the magnetic field vector of the rotating magnetic field transmitter 4, 7, 8 is be generated by detectors 5 in the above pig detection system 6, but detects only the intensity of the rotating magnetic field transmitter 4 generates detected vessels may identify the location of the pig 2 with.

Claims (11)

  1. To the tube moving body detects the position of the tube moving body from the outside of the tube to be moved, a transmitter for tube moving body detection to be mounted on the tube moving body,
    About a parallel rotational axis to the central axis of the tube where the tube moving body moves, in that it comprises a rotary field generating device for generating the rotating magnetic field that rotates on orthogonal plane orthogonal to the rotational axis transmitter for pipe mobile detection, characterized.
  2. According to claim 1,
    The rotating magnetic field generating mechanism oscillator for tube moving body detection, characterized in that for generating the following rotating magnetic field 10 Hz.
  3. According to claim 2,
    The rotating magnetic field generating mechanism oscillator for tube moving body detection, characterized in that it comprises a frequency control unit for switching the frequency of the rotating magnetic field.
  4. According to claim 2,
    The rotating magnetic field generating mechanism oscillator for tube moving body detection, characterized in that it comprises a frequency control unit for continuously changing the frequency of the rotating magnetic field.
  5. According to claim 1,
    The rotating magnetic field generating mechanism, and characterized by comprising a permanent magnet, and a rotary drive mechanism for the magnetic pole surface of the permanent magnet rotating the permanent magnet to move around the rotation center line in the circumferential direction pipe mobile transmitter for detection of.
  6. In claim 5,
    The rotation drive mechanism includes a motor,
    The permanent magnet, transmitter of the tube moving body for detecting, characterized in that attached to the rotating shaft of the motor.
  7. In claim 5,
    The rotation drive mechanism includes a bearing mechanism for rotatably supporting said permanent magnet, transmitter for that tube moving body detection, characterized in that a driving coil for rotating said permanent magnet by the excitation.
  8. In claim 5,
    The rotating magnetic field generating mechanism, wherein the second permanent magnets arranged on the outer peripheral side of the permanent magnet, the frequency of the second pole face of the permanent magnet is the rotational center line parallel to the second rotation around the center line and a second bearing mechanism for permanent magnets to rotatably support the second permanent magnet to move in a direction,
    Wherein the permanent magnet is rotated, transmitter of the tube moving body for detecting, characterized in that rotate with the second permanent magnet.
  9. According to claim 1,
    The rotating magnetic field generating mechanism includes a plurality of electromagnetic coils, an excitation controller for exciting said plurality of electromagnetic coils in a predetermined order,
    It said plurality of electromagnetic coils, transmitter for pipe mobile detection, characterized in that the axis of each of the electromagnetic coils are arranged to extend perpendicular to a direction different from each other and the rotation center line.
  10. A tube moving body transmitter that generates a rotating magnetic field for position detection are mounted,
    The transmitter is tube moving body, characterized in that the said transmitter of any one of claims of claims 1 to 9.
  11. A transmitter mounted in the tube moving body,
    And a detector for said tube moving body to identify the location of the tube moving body from the outside by detecting the rotating magnetic field in which the transmitter is generated in the tube to be moved,
    The transmitter is tube mobile detection system, characterized in that said transmitter according to Izu one of of the preceding claims 1 to 9.
PCT/JP2011/001586 2011-03-17 2011-03-17 Transmitter for detecting in-pipe mobile body, in-pipe mobile body, and system for detecting in-pipe mobile body WO2012123993A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/JP2011/001586 WO2012123993A1 (en) 2011-03-17 2011-03-17 Transmitter for detecting in-pipe mobile body, in-pipe mobile body, and system for detecting in-pipe mobile body

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2011533900A JP4902032B1 (en) 2011-03-17 2011-03-17 Pipe mobile transmitter for detection, the tube moving body and canal mobile detection system
PCT/JP2011/001586 WO2012123993A1 (en) 2011-03-17 2011-03-17 Transmitter for detecting in-pipe mobile body, in-pipe mobile body, and system for detecting in-pipe mobile body

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WO2012123993A1 true true WO2012123993A1 (en) 2012-09-20

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Families Citing this family (1)

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JP5401110B2 (en) * 2008-02-04 2014-01-29 東京理学検査株式会社 Position measuring method

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JPS57133373A (en) * 1981-02-12 1982-08-18 Nippon Telegr & Teleph Corp <Ntt> Detecting method for underground buried substance
JPS6117901A (en) * 1984-07-04 1986-01-25 Sofuaade:Kk Detection for pig position
JPH02176089A (en) * 1988-09-02 1990-07-09 British Gas Plc Moling system
JPH11503630A (en) * 1995-04-11 1999-03-30 ナヴィオン・バイオメディカル・コーポレイション The depth of the catheter, the position, and orientation of the detection system
JPH11319106A (en) * 1998-01-09 1999-11-24 Internatl Business Mach Corp <Ibm> Method and system for tracking object within volume
JP2011033609A (en) * 2009-07-31 2011-02-17 Aichi Micro Intelligent Corp Indoor position detector

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JPWO2012123993A1 (en) 2014-07-17 application

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