An automatic and rapid positioning system and method for a pipeline cleaning robot

Abstract

The invention discloses an automatic fast positioning system and method of a pipeline block clearing robot. Fast magnetic electric sensor carrying positioning systems such as an unmanned aerial vehicle is adopted to detect a low frequency magnetic signal emitted within the pipeline block clearing robot. Method of signal correlation matching is adopted to realize fast and automatic positioning of the pipeline robot. The automatic fast positioning system comprises a magnetic electrical sensor velocity and altitude detecting system, a magnetic electrical sensor signal receiving system, a positioning signal correlated identification, locating displaying system and the like. During the operation, the pipeline robot emits a low frequency electromagnetic pulse signal from the pipeline, and the signal can penetrate through the pipe walls and reaches outside the pipe for the magnetic electrical sensor to receive. By seeking convolution sum on theoretical waveform(Uz(t)) and appropriate voltage signal (U0(t)) of the sensor receipt signal, the correlation of the theoretical waveform and the appropriate voltage signal can be judged, then obtained (x0, y0) of the GPS is coordinate value of xoy plane of the pipeline robot, thus realizing fast automatic positioning of the pipeline block clearing robot and sharply improving locating and tracking efficiency as well as location preciousness of the pipeline robot.

Description

technical field [0001] The invention relates to an automatic and rapid positioning system and method for a pipeline cleaning robot. Background technique [0002] The pipeline cleaning robot is driven by gas, liquid or pipeline conveying medium, and is a special tool for cleaning pipelines. During the work of cleaning pipelines, the cleaning robot is often blocked in the pipeline, which makes pipeline transportation a safety hazard. Therefore, it is necessary to track and locate the pipeline robot, and monitor the position where the pipeline robot is blocked, so as to dig and clear the pipeline. Because most of the oil pipelines are made of metal walls with a certain thickness and are buried underground, conventional sound, light, and electrical signals are shielded and difficult to reach the ground. At present, extremely low-frequency electromagnetic waves are generally used to penetrate the pipe wall to realize the positioning of pipeline robots. The method is to place an ...

AI Technical Summary

Problems solved by technology

In terms of specific sensor layout, there are currently two popular positioning methods. One is to place a receiving device for low-frequency electromagnetic signals outside a certain position of the pipeline exchange station or the pipeline. When the pipeline robot passes through this position in the pipeline, the receiving device will The electromagnetic signal emitted in the pipe is received, but this positioning method can only monitor whether the pipeline robot passes by at a certain moment, and can only judge the approximate position of the robot. When the pipeline robot is blocked in a certain position of the pipeline, it cannot accurately position Positioning, and a large number of sensors need to be arranged at intervals along the pipeline, and the device cost is high

Another monitoring method is that the internal electromagnetic coil of the robot in the pipeline emits a low-frequency sine wave signal, and the outside of the pipeline where the pipeline robot is located generates electromagnetic intensity signals of different shapes in the axial direction and radial direction of the pipeline. First, the receiving antenna is parallel to the pipeline Receive the electromagnetic signal in the axial direction to judge the approximate position of the pipeline robot, and then the antenna is perpendicular to the pipeline to receive the electromagnetic signal in the radial direction to realize the positioning of the pipeline robot, but this mechanical method cannot automatically and quickly realize the positioning of the pipeline robot

In some laid oil pipelines, it is often necessary to quickly find the blockage position of the pipeline cleaning robot, and the above positioning method seems powerless

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