Pipeline robot extremely-low frequency signal detecting apparatus based on orthogonal coil sensors

Abstract

The invention provides a pipeline robot extremely-low frequency signal detecting apparatus based on orthogonal coil sensors. The apparatus comprises a model establishing module used for establishing an orthogonal signal model according to Morlet wavelet envelopes; a parameter fusion module used for generating a key parameter fusion scheme according to the orthogonal signal model; a relation establishing module used for establishing the one-to-one correspondence relation between a combined envelope attenuation rate and the moving speed of a pipeline robot; a statistic acquiring module used for adopting orthogonal signal energy matching the moving speed of the pipeline robot to acquire detection statistic according to the one-to-one correspondence relation; a threshold acquiring module used for acquiring a decision threshold according to the detection statistic and the Neyman-Pearson criteria; and a detecting module used for achieving detection and decision of extremely-low frequency transient weak signals according to the decision threshold. The apparatus which can reliably detect extremely-low frequency weak transient signals has the advantages of great matching capabilities, high signal detecting probability and good real-time performance.

Description

technical field [0001] The invention relates to the technical field of electronic information, in particular to an extremely low-frequency signal detection device for a pipeline robot based on an orthogonal coil sensor. Background technique [0002] In order to ensure the safety of the pipeline transportation environment, pipeline robots are usually used in the industry to regularly clean and inspect pipelines. During the operation process of the pipeline robot, the operating position and state of the robot are related to the safety of the equipment and the pipeline, so real-time tracking of it is an indispensable and important link. In the pipeline inspection industry, the transmission and reception system of extremely low frequency magnetic signals is usually used to realize the tracking of the robot inside the pipeline. The principle of out-of-pipe tracking based on extremely low-frequency magnetic signals is to excite extremely low-frequency magnetic signals on the tran...

AI Technical Summary

Problems solved by technology

[0004] The disadvantages of the current existing technology are: the receiver of the existing extremely low frequency tracking and positioning system is mainly based on the single-axis sensor signal to detect and judge the signal amplitude, and false positives and false positives often occur, and it is impossible to detect fast-moving pipeline robots. Therefore, the real-time tracking requirements of pipeline robots cannot be met

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