An auxiliary tracking device for in-pipeline detection of large-diameter oil pipelines

Abstract

An auxiliary tracking device for in-pipeline detection suitable for large-diameter oil pipelines belongs to the field of pipeline inspection technology and includes a power ring and a fixed wheel mechanism; the power ring includes a power parachute net and a control rope, the large lifting rings around the power parachute net are respectively connected to one end of the corresponding connecting rope, and the other ends of the connecting ropes are respectively connected to the corresponding hook rings on the net hook platform, and the multiple control ropes are respectively passed through the corresponding through holes on the connecting disk of the power parachute net, and the ends are respectively connected to the corresponding small lifting rings around the power parachute net, and the other ends of the control ropes are passed through the through holes on the net hook platform, and the ends are connected to the power mechanism. It can be put into use after adjusting the tail fixed wheel according to the size of the pipe diameter to be detected, and has a wider range of applications. In addition, the present invention can perform infrared detection on the inner wall of the pipeline and send extremely low-frequency electromagnetic signals to help external devices track the pipeline, solving the defects of the current in-pipeline detection devices, such as small application range, high detection cost, and difficulty in recovery.

Description

Technical Field

[0001] The present invention belongs to the technical field of pipeline inspection, and in particular relates to an auxiliary tracking device for in-pipeline inspection suitable for large-diameter oil pipelines. Background Art

[0002] To generate power, existing pipeline inspection devices on the market require their annular cup to maintain full contact with the pipe wall. The pressure differential between the oil in front of and behind the cup propels the device forward. Consequently, the device must be sized for the specific diameter of the offshore oil and gas pipeline. Furthermore, to achieve signal transmission within the pipeline, most devices utilize a cable towed from the rear to transmit signals in real time for positioning purposes, thus circumventing the problem of wireless signals being easily shielded by the metal pipe wall.

[0003] Existing in-pipeline inspection devices utilize a power solution that requires full contact between the machine and the pipe wall. This design only allows inspections of pipes with a specific diameter and is prone to blockages and other problems when the diameter varies significantly. To inspect pipelines of other diameters, the device housing must be re-manufactured. Due to size and weight limitations, the design that relies on a leather cup for full contact with the inner pipe wall is unsuitable for large-diameter land-based oil pipelines. Furthermore, the use of a cable at the rear of the device to transmit signals for positioning significantly increases inspection costs and the difficulty of recovering the device.

[0004] Currently, most of the power devices used in pipeline inspection devices rely on leather cups to keep close contact with the pipe wall. The power scheme is relatively simple, which limits the size of the device. Therefore, the oil pipelines suitable for the internal inspection device are also greatly reduced due to the pipe diameter. Summary of the Invention

[0005] The present invention aims to provide an auxiliary tracking device for in-line inspection of large-diameter oil pipelines. This device can be used simply by adjusting the fixed wheel at the rear end according to the diameter of the pipeline being inspected, thus extending its applicability. Furthermore, the device can perform infrared inspection of the pipeline's inner wall and transmit extremely low-frequency electromagnetic signals to assist external devices in tracking the pipeline, thus addressing the limitations of existing in-line inspection devices, such as their limited applicability, high inspection costs, and difficulty in recovering the device.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions:

[0007] An auxiliary tracking device for in-pipeline detection suitable for large-diameter oil pipelines includes a power ring and a fixed wheel mechanism; the power ring includes a power parachute net and a control rope, the large lifting rings around the power parachute net are respectively connected to one end of the corresponding connecting rope, and the other ends of the connecting ropes are respectively connected to the corresponding hook rings on the net hook platform, one end of multiple control ropes respectively passes through the corresponding through holes on the connecting disk of the power parachute net, and the ends are respectively connected to the corresponding small lifting rings around the power parachute net, the other ends of the control ropes pass through the through holes on the net hook platform, and the ends are connected to the power mechanism.

[0008] There are four connecting ropes and four control ropes, and the area surrounded by the control ropes is located inside the area surrounded by the connecting ropes.

[0009] The power mechanism includes an inner shell and a rope winding shaft, the inner shell is a shell that is open at one end and closed at the other end, a net hook platform is fixedly installed at the open end of the inner shell, a steering gear is fixedly installed near the inside of the open end of the inner shell, a sealing ring is installed between the steering gear and the inner wall of the inner shell, an electrical cavity is formed between the steering gear and the closed end of the inner shell, a control device is installed in the electrical cavity, the output shaft of the steering gear faces the open end of the inner shell and is installed with a driving gear through a key, one end of the inner shell is provided with shaft holes at equal intervals along the circumference, and the shaft holes are arranged closer to the open end of the inner shell than the steering gear, one end of the multiple rope winding shafts are respectively rotatably installed on the corresponding shaft holes through bearings, and the other ends of the multiple rope winding shafts are respectively installed with keys connected to the main shaft through keys. The driven gear is meshed with the driving gear, and an annular sensor base is installed on the outer wall of the inner shell at equal intervals along the circumferential direction. An infrared temperature measuring dot matrix sensor is installed in the annular sensor base, and the infrared temperature measuring dot matrix sensor is arranged closer to the closed end of the inner shell than the servo. An outer shell is mounted on the outside of the inner shell, and the annular sensor base on the outside of the inner shell cooperates with the corresponding through hole on the outer shell. The through hole is sealed by a glass body at one end of the outer cylindrical surface of the outer shell. The outer shell is a shell with one end open and the other end closed, and a cabin structure is formed between the closed end of the inner shell and the closed end of the outer shell. A water injection hole is provided at the closed end of the outer shell, and a sealing ring is installed between the open end of the outer shell and the open end of the inner shell. A fixed wheel mechanism is installed on the outside of the closed end of the outer shell.

[0010] The power parachute net includes an umbrella body, which is composed of a first part and a second part arranged alternately. An umbrella pole is installed at the center of the umbrella body, a connecting plate is installed at the end of the umbrella pole, and a ring group consisting of large rings and small rings is installed at equal intervals around the umbrella body.

[0011] The first part is made of a flexible material, and the second part is made of a hard material.

[0012] The fixed wheel mechanism includes a base, which is hinged to one end of the expansion and contraction arm through ear plates arranged at equal intervals around the circumference, and the other end of the expansion and contraction arm is rotatably installed with one end of the elastic arm through a pin, and a compression spring is installed between the expansion and contraction arm and the elastic arm, and a positioning wheel is installed at the other end of the elastic arm. A sliding rod is installed at the center of the base, and an expansion and contraction control ring is mounted on the sliding rod, and the expansion and contraction control ring can slide on the sliding rod, and the expansion and contraction control ring is hinged to one end of the corresponding connecting rod through ear seats arranged at equal intervals around the circumference, and the other end of the connecting rod is hinged to the corresponding expansion and contraction arm.

[0013] The control device includes an industrial computer, and the input end of the industrial computer is connected to a photoelectric speed sensor and an infrared temperature measurement dot matrix sensor through a data processing circuit and a data acquisition circuit. The infrared temperature measurement dot matrix sensor transmits the measured temperature data to a memory in the industrial computer for storage, and the photoelectric speed sensor transmits the measured speed data to the industrial computer and compares it with the predetermined speed in the industrial computer, thereby controlling the forward and reverse rotation of the servo to control the expansion or contraction of the paramotor net, thereby controlling the speed; the industrial computer controls the low-frequency electromagnetic signal generator to filter and amplify the generated low-frequency electromagnetic signal and then transmit it to the transmitting coil, and the transmitting coil transmits the low-frequency electromagnetic signal to the surface receiving coil to facilitate tracking by the ground equipment.

[0014] The technical effects of the present invention are:

[0015] 1. The use of a power parachute net that can achieve speed control to replace the leather cup power structure overcomes the requirement that the detection device in the pipeline must fit the pipe wall and there is no rigid volume limit.

[0016] 2. The cabin structure and fixed wheel mechanism are used to stabilize the working posture of the tracking device in the oil pipeline, and the expansion scale of the positioning wheel can be adjusted, so that large-diameter oil pipelines with different diameters and non-fixed diameter pipelines can be detected.

[0017] 3. An extremely low frequency electromagnetic signal transmitting ring is used to overcome the signal shielding of the pipeline, enabling wireless communication with the ground and helping ground devices to track the pipeline.

[0018] 4. Use the controllable paramotor net to provide forward power for the device. The angle is calculated according to the radius of the gear. The steering gear rotates at a fixed angle to drive the gear to wind the control line to realize the expansion and contraction of the paramotor to achieve speed control.

[0019] 6. Six infrared temperature measurement dot matrix sensors with a wide angle of 57° are distributed in a ring on the fuselage. The detection data is processed by the industrial computer and stored in the memory. After the detection is completed, the defects on the inner wall of the pipeline are decoded and identified, thereby realizing infrared detection.

[0020] 7. The tracking device of the present invention can be put into use by adjusting the tail fixed wheel according to the diameter of the pipe being inspected, thus having a wider range of applications. In addition, the present invention can perform infrared detection of the inner wall of the pipe and send extremely low-frequency electromagnetic signals to assist external devices in pipeline tracking, thus resolving the shortcomings of current pipeline detection devices, such as limited application range, high detection costs, and difficulty in recovery. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 A schematic diagram of a first-view diagram of an auxiliary tracking device for in-pipeline inspection applicable to large-diameter oil pipelines according to the present invention;

[0022] Figure 2 Schematic diagram of the auxiliary tracking device for in-pipeline detection of large-diameter oil pipelines according to the present invention from a second perspective Figure 1 ;

[0023] Figure 3 Schematic diagram of the auxiliary tracking device for in-pipeline detection of large-diameter oil pipelines according to the present invention from a second perspective Figure 2 ;

[0024] Figure 4 A schematic diagram of the umbrella portion of the auxiliary tracking device for in-pipeline inspection applicable to large-diameter oil pipelines according to the present invention;

[0025] Figure 5 Schematic diagram of a net hook platform for an auxiliary tracking device for in-pipeline inspection of a large-diameter oil pipeline according to the present invention;

[0026] Figure 6 A schematic diagram of the structure of the inner shell portion of the auxiliary tracking device for in-pipeline detection applicable to large-diameter oil pipelines according to the present invention;

[0027] 1-powered parachute net, 2-control rope, 3-connecting rope, 4-net hook platform, 5-connecting disk, 6-inner shell, 7-outer shell, 8-rope winding shaft, 9-servo, 10-driving gear, 11-driven gear, 12-annular sensor base, 13-connecting rod, 14-first part, 15-second part, 16-parachute pole, 17-base, 18-expansion and retraction arm, 19-elastic arm, 20-compression spring, 21-positioning wheel, 22-sliding rod, 23-expansion and retraction control ring. DETAILED DESCRIPTION

[0028] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0029] like Figures 1 to 6As shown, an auxiliary tracking device for in-pipeline detection suitable for large-diameter oil pipelines includes a power ring and a fixed wheel mechanism; the power ring is mainly responsible for using the thrust of the oil body to provide power for the tracking device, and the power ring includes a power parachute net 1 and a control rope 2. The large lifting rings around the power parachute net 1 are respectively connected to one end of the corresponding connecting rope 3, and the other ends of the connecting ropes 3 are respectively connected to the corresponding hook rings on the net hook platform 4. One end of the multiple control ropes 2 respectively passes through the corresponding through holes on the connecting disk 5 of the power parachute net 1, and the ends are respectively connected to the corresponding small lifting rings around the power parachute net 1, and the other ends of the control ropes 2 pass through the through holes on the net hook platform 4, and the ends are connected to the power mechanism.

[0030] There are four connecting ropes 3 and four control ropes 2 , and the area surrounded by the control ropes 2 is located inside the area surrounded by the connecting ropes 3 .

[0031] The power mechanism includes an inner shell 6 and a rope winding shaft 8. The inner shell 6 is a shell with one end open and the other end closed. A net hook platform 4 is fixedly installed on the open end of the inner shell 6. A steering gear 9 is fixedly installed near the open end of the inner shell 6. A sealing ring is installed between the steering gear 9 and the inner wall of the inner shell 6. An electrical cavity is formed between the steering gear 9 and the closed end of the inner shell 6. A control device is installed in the electrical cavity. The output shaft of the steering gear 9 faces the open end of the inner shell 6 and is installed with a driving gear 10 through a key. One end of the inner shell 6 is provided with shaft holes at equal intervals along the circumferential direction, and the shaft holes are arranged closer to the open end of the inner shell 6 than the steering gear 9. One end of the multiple rope winding shafts 8 is rotatably mounted on the corresponding shaft holes through bearings, and the other ends of the multiple rope winding shafts 8 are respectively installed with driven gears 11 meshing with the driving gear 10 through keys. The outer surface of the inner shell 6 An annular sensor base 12 is installed at equal intervals along the circumferential direction of the wall, and an infrared temperature measuring dot matrix sensor is installed in the annular sensor base 12, and the infrared temperature measuring dot matrix sensor is arranged closer to the closed end of the inner shell 6 than the servo 9. The oil temperature is higher and the outside temperature is lower. When the internal pipe wall of the pipeline is damaged, it can be detected by using the temperature difference. The outer shell 7 is mounted on the outside of the inner shell 6, and the annular sensor base 12 on the outside of the inner shell 6 cooperates with the corresponding through hole on the outer shell 7. The through hole is sealed by a glass body at one end of the outer circumferential surface of the outer shell 7. The outer shell 7 is a shell with one end open and the other end closed, and a cabin structure is formed between the closed end of the inner shell 6 and the closed end of the outer shell 7. A water injection hole is opened at the closed end of the outer shell 7, and a sealing ring is installed between the open end of the outer shell 7 and the open end of the inner shell 6. A fixed wheel mechanism is installed on the outside of the closed end of the outer shell 7.

[0032] When the cabin structure is working, the buoyancy of the oil body is used to keep the main body of the tracking device in a suspended state in the pipeline to ensure the normal advancement of the device. Before placing the tracking device in the pipeline, water can be poured into the cabin structure of the tracking device through the water injection hole according to the average density of the conveying oil body until the tracking device is in a suspended state in the oil body, and then the sealing cover is screwed on to seal the water injection hole.

[0033] The paramotor net 1 includes a parachute body, which is composed of a first portion 14 and a second portion 15 arranged alternately, with the area ratio of the second portion 15 to the first portion 14 being 3:2. A parachute pole 16 is mounted at the center of the parachute body, with a connecting plate 5 mounted at the end of the pole 16. A group of large and small rings is mounted at equal intervals around the parachute body. When the paramotor net 1 contracts, the servo 9 rotates forward, and the four control ropes 2 pull the paramotor net 1 in the opposite direction of the oil flow. As the control ropes 2 gradually shorten, the paramotor net 1 contracts from the edge to the center, thereby reducing the force area between the paramotor net 1 and the oil, and reducing the power of the tracking device. When the power is to be increased, the servo 9 rotates in the opposite direction, and after the control ropes 2 are relaxed, the paramotor net 1 automatically expands with the help of the oil pressure to provide power, thereby achieving the purpose of speed control.

[0034] The first portion 14 is made of a flexible material, and the second portion 15 is made of a hard material.

[0035] The fixed wheel mechanism includes a base 17, which is hinged to one end of an expansion and contraction arm 18 through ear plates arranged at equal intervals around the circumference. The other end of the expansion and contraction arm 18 is rotatably installed with one end of an elastic arm 19 through a pin, and a compression spring 20 is installed between the expansion and contraction arm 18 and the elastic arm 19. A positioning wheel 21 is installed at the other end of the elastic arm 19. A sliding rod 22 is installed at the center of the base 17, and a limiting block is installed at the end of the sliding rod 22. An expansion and contraction control ring 23 is mounted on the sliding rod 22, and the expansion and contraction control ring 23 can slide on the sliding rod 22. The expansion and contraction control ring 23 is hinged to one end of the corresponding connecting rod 13 through its ear seats arranged at equal intervals around the circumference, and the other end of the connecting rod 13 is hinged to the corresponding expansion and contraction arm 18.

[0036] Fluctuations in the oil volume within the pipeline may cause the tracking device to collide with the pipe wall, resulting in unstable operation. The fixed wheel mechanism can help the tracking device always stay in the center of the pipe. When the pipe diameter becomes smaller, the extrusion force between the pipe and the positioning wheel 21 increases, the compression spring 20 is compressed, and the elastic arm 19 contracts inward to ensure stable passage of the tracking device. When the pipe diameter becomes larger, the extrusion force between the pipe and the positioning wheel 21 decreases, the compression spring 20 relaxes, and the elastic arm 19 expands outward to ensure that the positioning wheel 21 always fits the pipe wall. The total length of the expansion and contraction arm 18 and the elastic arm 19 is 374.96 cm, with a maximum opening angle of 80°. The applicable pipe diameter is 260 to 740 cm, covering most oil pipeline diameters on the market.

[0037] The control device includes an industrial computer, the input end of which is connected to a photoelectric speed sensor and an infrared temperature measurement dot matrix sensor through a data processing circuit and a data acquisition circuit. The photoelectric speed sensor and the infrared temperature measurement dot matrix sensor collect data and convert the data into digital signals. The high-potential digital signals transmitted by the photoelectric speed sensor and the infrared temperature measurement dot matrix sensor are level-converted through the data processing circuit to become 5V signals suitable for the data processing circuit 25. The temperature data is then transmitted to a memory in the industrial computer for storage. The speed data is transmitted to the industrial computer through the data processing circuit and compared with the predetermined speed in the industrial computer to generate a control signal to adjust the rotation angle of the servo 9 and then control the deployment angle of the paramotor net 1, thereby controlling the speed; the industrial computer controls the low-frequency electromagnetic signal generator to filter and amplify the generated low-frequency electromagnetic signal and then transmit it to the transmitting coil. The transmitting coil transmits the low-frequency electromagnetic signal to the surface receiving coil to facilitate tracking by the ground equipment.

[0038] The infrared temperature measurement dot matrix sensor model is MLX90640BAB; the industrial computer has a built-in AD9959 chip as the signal source, which can independently output a broadband sine wave signal of 1HZ to 200MHZ.

[0039] A method for using an auxiliary tracking device for in-pipeline detection in a large-diameter oil pipeline comprises the following steps:

[0040] Before placing the tracking device in the pipeline, water can be poured into the cabin structure of the tracking device through the water injection hole according to the average density of the transported oil until the tracking device is in a suspended state in the oil, and then the sealing cap is screwed on to seal the water injection hole;

[0041] Before the parachute of the tracking device is placed in the pipeline, the parachute is in an expanded state, and the expansion size is set according to the actual working conditions. The tracking device is then placed in the pipeline, and the fixed wheel mechanism is used to ensure that the tracking device is always in the center of the pipeline. At this time, the tracking device is in the pipeline and moves at a predetermined speed due to the impact of the oil flow. When the power needs to be reduced, the steering gear 9 rotates forward, and the four control ropes 2 pull the power parachute net 1 in the opposite direction of the oil flow. As the control ropes 2 gradually become shorter, the power parachute net 1 shrinks from the edge to the center, thereby reducing the force area between the power parachute net 1 and the oil, and reducing the power of the tracking device. When the power needs to be increased, the steering gear 9 rotates in the opposite direction, and after the control ropes 2 are relaxed, the power is provided by the oil pressure, and the power parachute net 1 automatically expands, the force area between the power parachute net 1 and the oil increases, and the power of the tracking device increases, thereby achieving the purpose of speed control.

[0042] The specific power control process is as follows: while the tracking device is continuously moving, the speed and temperature data are collected through the photoelectric speed sensor and the infrared temperature measurement dot matrix sensor thereon, and the data are converted into digital signals. The high-potential digital signals transmitted by the photoelectric speed sensor and the infrared temperature measurement dot matrix sensor are level-converted through the data processing circuit to become 5V signals suitable for the data processing circuit 25. The temperature data is then transmitted to the memory in the industrial computer for storage. The speed data is transmitted to the industrial computer through the data processing circuit and compared with the predetermined speed in the industrial computer. A control signal is generated to adjust the rotation angle of the servo 9 and then control the deployment angle of the power parachute net 1, thereby controlling the speed.

[0043] At the same time, the industrial computer controls the low-frequency electromagnetic signal generator to generate 23Hz and 26Hz low-frequency electromagnetic signals, which are filtered and amplified, and then transmitted to the receiving coil of the ground equipment through the transmitting coil, so as to facilitate the ground equipment to track.

Claims

1. An auxiliary tracking device for in-pipeline detection in large-diameter oil pipelines, characterized in that: It includes a power ring and a fixed wheel mechanism; the power ring includes a power parachute net and control ropes, the large lifting rings around the power parachute net are respectively connected to one end of the corresponding connecting ropes, the other ends of the connecting ropes are respectively connected to the corresponding hook rings on the net hook platform, one end of the multiple control ropes respectively passes through the corresponding through holes on the connecting disk of the power parachute net, and the ends are respectively connected to the small lifting rings around the power parachute net, the other ends of the control ropes pass through the through holes on the net hook platform, and the ends are connected to the power mechanism; The power mechanism includes an inner shell and a rope winding shaft, the inner shell is a shell that is open at one end and closed at the other end, a net hook platform is fixedly installed at the open end of the inner shell, a steering gear is fixedly installed near the inside of the open end of the inner shell, a sealing ring is installed between the steering gear and the inner wall of the inner shell, an electrical cavity is formed between the steering gear and the closed end of the inner shell, a control device is installed in the electrical cavity, the output shaft of the steering gear faces the open end of the inner shell and is installed with a driving gear through a key, one end of the inner shell is provided with shaft holes at equal intervals along the circumference, and the shaft holes are arranged closer to the open end of the inner shell than the steering gear, one end of the multiple rope winding shafts are respectively rotatably installed on the corresponding shaft holes through bearings, and the other ends of the multiple rope winding shafts are respectively installed with keys connected to the main shaft through keys. A driven gear meshed with a driving gear, an annular sensor base is installed on the outer wall of the inner shell at equal intervals along the circumferential direction, an infrared temperature measurement dot matrix sensor is installed in the annular sensor base, and the infrared temperature measurement dot matrix sensor is arranged closer to the closed end of the inner shell than the steering gear, an outer shell is sleeved on the outer side of the inner shell, the annular sensor base on the outer side of the inner shell cooperates with the corresponding through hole on the outer shell, the through hole is sealed by a glass body at one end of the outer circumferential surface of the outer shell, the outer shell is a shell with one end open and the other end closed, and a cabin structure is formed between the closed end of the inner shell and the closed end of the outer shell, a water injection hole is opened at the closed end of the outer shell, a sealing ring is installed between the open end of the outer shell and the open end of the inner shell, and a fixed wheel mechanism is installed on the outer side of the closed end of the outer shell; The power parachute net includes an umbrella body, which is composed of a first part and a second part arranged alternately. An umbrella pole is installed at the center of the umbrella body, a connecting plate is installed at the end of the umbrella pole, and a ring group consisting of large rings and small rings is installed at equal intervals around the umbrella body.

2. The auxiliary tracking device for in-pipeline detection in a large-diameter oil pipeline according to claim 1, characterized in that: There are four connecting ropes and four control ropes, and the area surrounded by the control ropes is located inside the area surrounded by the connecting ropes.

3. The auxiliary tracking device for in-pipeline detection in a large-diameter oil pipeline according to claim 1, characterized in that: The first part is made of a flexible material, and the second part is made of a hard material.

4. The auxiliary tracking device for in-pipeline detection in a large-diameter oil pipeline according to claim 1, characterized in that: The fixed wheel mechanism includes a base, which is hinged to one end of the expansion and contraction arm through ear plates arranged at equal intervals around the circumference, and the other end of the expansion and contraction arm is rotatably installed with one end of the elastic arm through a pin, and a compression spring is installed between the expansion and contraction arm and the elastic arm, and a positioning wheel is installed at the other end of the elastic arm. A sliding rod is installed at the center of the base, and an expansion and contraction control ring is mounted on the sliding rod, and the expansion and contraction control ring can slide on the sliding rod, and the expansion and contraction control ring is hinged to one end of the corresponding connecting rod through ear seats arranged at equal intervals around the circumference, and the other end of the connecting rod is hinged to the corresponding expansion and contraction arm.

5. The auxiliary tracking device for in-pipeline detection in a large-diameter oil pipeline according to claim 1, characterized in that: The control device includes an industrial computer, and the input end of the industrial computer is connected to a photoelectric speed sensor and an infrared temperature measurement dot matrix sensor through a data processing circuit and a data acquisition circuit. The infrared temperature measurement dot matrix sensor transmits the measured temperature data to a memory in the industrial computer for storage, and the photoelectric speed sensor transmits the measured speed data to the industrial computer and compares it with the predetermined speed in the industrial computer, thereby controlling the forward and reverse rotation of the servo to control the expansion or contraction of the paramotor net, thereby controlling the speed; the industrial computer controls the low-frequency electromagnetic signal generator to filter and amplify the generated low-frequency electromagnetic signal and then transmit it to the transmitting coil, and the transmitting coil transmits the low-frequency electromagnetic signal to the surface receiving coil to facilitate tracking by the ground equipment.

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