In-pipe communication unit based on rotating permanent magnet and signal transmission method

Abstract

The invention discloses an in-pipe communication unit based on a rotary permanent magnet, the in-pipe communication unit comprises a shell, a driving control assembly, a permanent magnet fixing assembly and a cylindrical radial magnetizing permanent magnet, the driving control assembly and the permanent magnet fixing assembly are arranged in the shell along the axial direction of the shell, the driving control assembly is connected with the permanent magnet fixing assembly, and the cylindrical radial magnetizing permanent magnet is arranged in the shell. The driving control assembly can drive the permanent magnet fixing assembly to rotate in the shell, the cylindrical radial magnetizing permanent magnet is fixed in the permanent magnet fixing assembly in the radial direction, and the cylindrical radial magnetizing permanent magnet rotates synchronously with the permanent magnet fixing assembly while the permanent magnet fixing assembly rotates in the shell. The invention relates to a communication equipment unit which is mounted on an intelligent pipe cleaner or an intelligent plugging device of an oil and gas pipeline and transmits information from the inside of the pipeline to the outside of the pipeline, and a system capable of performing rapid communication inside and outside the pipeline in a narrow pipeline with an extremely strong shielding effect on electromagnetic signals of a conventional frequency band.

Description

Technical Field

[0001] The present invention relates to the technical field of extremely low frequency communication, and in particular to an in-tube communication unit and a signal transmission method based on a rotating permanent magnet. Background Art

[0002] As pipeline systems are widely used in industries such as industry, petrochemicals, and water conservancy, the demand for real-time monitoring and data transmission is growing. Traditional pipeline monitoring and communication methods have problems such as information transmission delay and low security, so there is an urgent need for an efficient and secure communication system inside and outside the pipeline.

[0003] General oil and gas pipelines are made of metal alloys such as iron, steel and aluminum, which are good conductor media. Due to the skin effect of metal, such materials have a strong shielding effect on electromagnetic signals in conventional frequency bands, resulting in electromagnetic wave signals in conventional frequency bands being unable to penetrate the pipe wall and reach the inside of the pipe. Therefore, it is difficult to achieve wireless communication inside and outside the pipe.

[0004] In the research on communication inside and outside metal pipelines, the penetration of electromagnetic wave signals into metal is related to their frequency. Electromagnetic wave frequencies in the range of 0-30Hz are called extremely low frequency (ELF) electromagnetic wave signals. Extremely low frequency electromagnetic wave signals have extremely long wavelengths and strong penetrating power, and can penetrate rocks and metal pipe walls of a certain thickness.

[0005] Traditional transmitting antennas are affected by the matching of signal wavelength and antenna size, resulting in large size and low radiation efficiency due to impedance matching and bandwidth limitations. In environments with limited space such as oil and gas pipelines, traditional communication units are often large in size and complex in layout, which limits their application.

[0006] Therefore, there is an urgent need for an in-tube communication unit based on a rotating permanent magnet. Summary of the invention

[0007] On one hand, the present invention provides an in-tube communication unit based on a rotating permanent magnet, which solves the technical problems of large volume, heavy weight, poor reliability and slow signal transmission speed of the in-tube communication unit, and realizes miniaturization of the in-tube communication unit, high stability and high reliability of the mechanical structure. On the other hand, the present invention provides a method for signal transmission using the in-tube communication unit based on a rotating permanent magnet.

[0008] A first aspect of the present invention provides an intra-tube communication unit based on a rotating permanent magnet, comprising a shell, a drive control component, a permanent magnet fixing component and a cylindrical radially magnetized permanent magnet. The drive control component and the permanent magnet fixing component are arranged in the shell along the axial direction of the shell, the drive control component is connected to the permanent magnet fixing component, the drive control component can drive the permanent magnet fixing component to rotate inside the shell, the cylindrical radially magnetized permanent magnet is radially fixed inside the permanent magnet fixing component, and the cylindrical radially magnetized permanent magnet rotates synchronously with the permanent magnet fixing component when the permanent magnet fixing component rotates inside the shell.

[0009] The intra-tube communication unit based on rotating permanent magnets, preferably, the drive control component includes a modulation controller, a drive motor and a coupling, the modulation controller is connected to the drive motor, and the drive motor is connected to the permanent magnet fixing component through the coupling.

[0010] The intra-tube communication unit based on rotating permanent magnets, preferably, the permanent magnet fixing assembly includes a first clamping cover, a second clamping cover, a first bearing, a second bearing and a rotating shaft, the first clamping cover is provided with the rotating shaft, the rotating shaft is connected to the coupling, the first clamping cover and the second clamping cover are connected by bolts to form a cavity, the cylindrical radially magnetized permanent magnet is radially fixed in the cavity, the first clamping cover is connected to the shell through the first bearing, and the second clamping cover is connected to the shell through the second bearing.

[0011] In the intra-tube communication unit based on rotating permanent magnets, preferably, the materials of the first clamping cover, the second clamping cover and the rotating shaft are aluminum alloy non-magnetic materials.

[0012] The in-tube communication unit based on rotating permanent magnets preferably comprises a shell including a sleeve, a leather cup and a fixed bracket, wherein the leather cup is sleeved on the outer ring of the sleeve and connected by bolts, and along the axial direction of the sleeve, the drive control component is fixed on the fixed bracket, and the permanent magnet fixing component is connected to the drive control component.

[0013] In the intra-tube communication unit based on rotating permanent magnet, preferably, the sleeve is made of aluminum.

[0014] The second aspect of the present invention provides a signal transmission method using the in-pipe communication unit based on a rotating permanent magnet, wherein the in-pipe communication unit based on a rotating permanent magnet is arranged in a pipeline, the pipeline also includes an in-pipe control unit, and an out-pipe host computer and the out-pipe communication unit are arranged outside the pipeline. The specific method of use includes the following steps: The external host computer is used to encode the command for starting the setting of the plugging device in the pipeline, and write the coded instruction into the main control chip of the external communication unit, and the main control chip modulates the coded instruction into electromagnetic wave signals of different frequencies. The external communication unit has a signal transmitting module and a signal receiving module, and the electromagnetic wave signal generates and transmits a signal through the signal transmitting module; The modulation controller receives the electromagnetic wave signal penetrating the pipe wall of the pipe through the antenna and demodulates it again into coded instruction information; The command information in the in-pipe communication unit based on the rotating permanent magnet is sent to the in-pipe control unit through the CAN bus, and the in-pipe control unit controls the occluder to start setting after receiving the command information; After the sealing is completed, the in-pipe control unit sends a sealing completion feedback message to the in-pipe communication unit based on the rotating permanent magnet through the CAN bus; The modulation controller modulates the feedback information into electromagnetic wave signals of different frequencies, controls the drive motor to rotate at different speeds, and the rotation of the drive motor drives the cylindrical radially magnetized permanent magnet to rotate, thereby emitting electromagnetic wave signals; After the signal receiving module of the communication unit outside the pipe receives the signal, the main control chip demodulates the electromagnetic wave signal into feedback instruction information and transmits it to the host computer outside the pipe to realize two-way communication inside and outside the pipeline.

[0015] The beneficial effects are: 1. The appearance of the present invention is a pipe cleaner or plugger unit type, which can be connected with other working units of the pipe cleaner or plugger through a universal joint for use, and can realize information transmission between various units by establishing a communication method, realize real-time monitoring of the working conditions of the pipe cleaner or plugger in the pipe, and realize the intelligence of the pipe cleaner and plugger.

[0016] 2. The aluminum sleeve, clamping cover, rotating shaft and other components used in the present invention are all made of non-magnetic materials made of aluminum alloy, which reduces the interference of internal components on electromagnetic signals and ensures the working stability of the rotating permanent magnet transmitter.

[0017] 3. The present invention adopts a rotating permanent magnet transmitter to generate electromagnetic waves through a rotating magnetic field. It has a simple structure, a small size, and a strong anti-interference ability, and meets the needs of real-time communication in the pipeline.

[0018] The present invention utilizes a rotating permanent magnet to generate electromagnetic waves through a rotating magnetic field. By adjusting the rotation speed to adjust the electromagnetic wave transmission frequency, the frequency of the transmitted signal can be flexibly adjusted to meet different communication or radar requirements. There is no need for a traditional electromagnetic wave generator, and there is no need to rely on the matching of the traditional antenna size and the signal wavelength. It has a simpler structure, fewer parts and a smaller size, and is therefore easier to implement and maintain. The problem of traditional antennas being too large and having complex layouts is solved. This technology is expected to achieve miniaturization of the size of the communication unit, improve the layout flexibility, signal stability and anti-interference ability of communication equipment in a limited space, and at the same time improve the overall performance and rate of the communication system. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a front view of the present invention; Figure 2 It is a front exploded view of the present invention; Figure 3 It is a half-section front view of the present invention; Figure 4 It is a schematic diagram of the internal arrangement relationship of the axonometric measurement of the present invention; Figure 5 It is a schematic diagram of the communication principle of the intelligent occluder of the present invention; Figure 6 This is a simplified structural diagram of the communication unit in the rotating permanent magnet tube of the present invention.

[0020] In the figure: 101, sleeve; 102, leather cup; 201, modulation controller; 202, drive motor; 3. Fixed bracket; 4. Coupling; 501, cylindrical radially magnetized permanent magnet; 502, second clamping cover; 503, rotating shaft; 504, first clamping cover; 601, first bearing; 602, second bearing; 7. Pipeline; 8. Host computer outside the pipe; 9. Communication unit outside the pipe; 10. Control unit inside the pipe; 11. In-tube communication unit based on rotating permanent magnets; 12. CAN bus. DETAILED DESCRIPTION

[0021] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0022] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "axial" and "radial" is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the system or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention. In addition, the use of terms such as "first" and "second" to define components is only for the convenience of distinguishing the above components. If not otherwise stated, the above terms have no special meaning and cannot be understood as indicating or implying relative importance.

[0023] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "disposed" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0024] The present invention provides an in-pipe communication unit based on rotating permanent magnets, comprising a housing, a drive control component, a permanent magnet fixing component and a cylindrical radially magnetized permanent magnet. Along the axial direction of the housing, the drive control component and the permanent magnet fixing component are arranged in the housing, the drive control component is connected to the permanent magnet fixing component, the drive control component can drive the permanent magnet fixing component to rotate inside the housing, the radial direction of the cylindrical radially magnetized permanent magnet is fixed inside the permanent magnet fixing component, and the cylindrical radially magnetized permanent magnet rotates synchronously with the permanent magnet fixing component while the permanent magnet fixing component rotates inside the housing. The present invention is a communication device unit installed on an intelligent pipe cleaner or intelligent plugging device for oil and gas pipelines, which transmits information from the inside of the pipeline to the outside of the pipeline. It is a system that can perform rapid in-pipe and out-pipe communication in a narrow pipeline that has a strong shielding effect on conventional frequency band electromagnetic signals.

[0025] The entire technical process is described in detail below using an in-tube communication unit based on a rotating permanent magnet as an example.

[0026] Example 1 The plugger and the pipe cleaner are tools for emergency repair work in the pipe, and the plugger and the pipe cleaner are multi-unit structures. The units are connected by universal joints to form a whole that moves together under the pressure of oil and gas in the pipe. Each unit is similar to a train car, and the units are connected by universal joints. The maintenance tools loaded on each unit are different. The present invention is loaded with a communication device. The present invention can be loaded into a plugger or a pipe cleaner and used in conjunction with other pipe cleaners and plugger units. This example takes the plugger as an example.

[0027] Reference Figures 1 to 6 An intra-tube communication unit based on rotating permanent magnets is shown, comprising a shell, a drive control component, a permanent magnet fixing component and a cylindrical radially magnetized permanent magnet 501. Along the axial direction of the shell, the drive control component and the permanent magnet fixing component are arranged in the shell, the drive control component is connected to the permanent magnet fixing component, and the drive control component can drive the permanent magnet fixing component to rotate inside the shell. The cylindrical radially magnetized permanent magnet 501 is radially fixed in the permanent magnet fixing component. When the permanent magnet fixing component rotates inside the shell, the cylindrical radially magnetized permanent magnet 501 rotates synchronously with it.

[0028] The housing includes a sleeve 101, a leather cup 102 and a fixed bracket 3. The leather cup 102 is sleeved on the outer ring of the sleeve 101 and connected by bolts. Along the axial direction of the sleeve 101, the drive control component is fixed on the fixed bracket 3, and the permanent magnet fixed component is connected to the drive control component. Furthermore, the sleeve 101 and the leather cup 102 are determined according to the dimensional parameters such as the outer diameter and wall thickness of the pipeline in actual working conditions, and the material of the sleeve 101 is aluminum. The leather cup 102 supports the in-pipe communication unit and the cleaning pipeline 7 based on the rotating permanent magnet, and carries the driving force of the fluid in the pipe 7.

[0029] Continue to refer to Figure 2-4 As shown, the drive control component includes a modulation controller 201, a drive motor 202 and a coupling 4. The modulation controller 201 is connected to the drive motor 202, and the drive motor 202 is connected to the permanent magnet fixing component through the coupling 4.

[0030] The drive motor 202 uses a 24V or 48V servo control motor, the diameter of the drive motor 202 is smaller than the inner diameter of the housing aluminum sleeve 101, and the drive motor 202 can be adjusted in real time by the modulation controller 201, and the acceleration and deceleration time is less than 50ms. The modulation controller 201 is connected to the drive motor 202 through a connecting harness.

[0031] The fixing bracket 3 is used for circumferentially driving the motor 202 and the modulation controller 201 inside the shell, and the size of the fixing bracket 3 is determined by the inner diameter of the aluminum sleeve 101 and the diameter of the driving motor 202 .

[0032] Continue to refer to Figure 2-4As shown, the permanent magnet fixing assembly includes a first clamping cover 504, a second clamping cover 502, a first bearing 601, a second bearing 602 and a rotating shaft 503. The first clamping cover 504 is provided with a rotating shaft mounting threaded hole, and the rotating shaft 503 is provided in the rotating shaft mounting threaded hole. The rotating shaft 503 is connected to the coupling 4. The first clamping cover 504 and the second clamping cover 502 are connected by bolts to form a cavity. The radial direction of the cylindrical radially magnetized permanent magnet 501 is fixed in the cavity. The first clamping cover 504 is connected to the sleeve 101 through the first bearing 601, and the second clamping cover 502 is connected to the sleeve 101 through the second bearing 602.

[0033] The cylindrical radially magnetized permanent magnet 501 is made of neodymium iron boron material, and the first clamping cover 504, the second clamping cover 502 and the rotating shaft 503 are made of aluminum alloy non-magnetic material.

[0034] The sizes of the first bearing 601 and the second bearing 602 are determined by the inner diameter of the aluminum sleeve 101 and the outer diameters of the first clamping cover 504 and the second clamping cover 502 , respectively.

[0035] Reference Figure 5 and Figure 6 As shown, when working, after the modulation controller 202 receives the communication signal from the controller 10, it encodes and modulates the output information to control the speed of the drive motor 201, thereby controlling the rotation of the cylindrical radial magnetized permanent magnet 501. The N and S poles of the cylindrical radial magnetized permanent magnet 501 change positions continuously during rotation, forming a rotating magnetic field in space, and generating electromagnetic waves containing relevant information by adjusting the rotation frequency. After the receiver outside the pipeline 7 receives the relevant signal, it demodulates and decodes the information to obtain information about the operating status of the equipment in the pipeline 7. This type of electromagnetic wave has the characteristics of low frequency and long wavelength, so it has strong penetration ability and can work well in metal pipelines.

[0036] The external host computer 8 and the external communication unit 9 send information instructions to the internal communication unit 11 based on the rotating permanent magnet in this embodiment. The internal communication unit 11 based on the rotating permanent magnet receives the instructions and sends the instructions to the internal control unit 10. The internal control unit 10 controls the occluder to start blocking. After the blocking operation is completed, the internal control unit 10 feeds back the operation completion information to the internal communication unit 11 based on the rotating permanent magnet. The internal communication unit 11 based on the rotating permanent magnet sends feedback instructions to the outside of the pipe. The external host computer 8 receives the feedback instructions, thereby realizing two-way communication inside and outside the pipeline 7.

[0037] Example 2 Reference Figure 5 and Figure 6As shown, a method for signal transmission using an in-pipe communication unit based on a rotating permanent magnet is provided in the pipe 7, wherein an in-pipe communication unit 11 based on a rotating permanent magnet and an in-pipe control unit 10 are provided in the pipe 7, and an external host computer 8 and an external communication unit 9 are provided outside the pipe 7. The in-pipe communication unit 11 based on a rotating permanent magnet is as shown in Example 1, and specifically comprises the following steps: Step S1: The external host computer 8 is connected to the external communication unit 9. The external host computer 8 encodes the command for starting the sealing of the plugger in the pipeline 7, and writes the coded instruction into the main control chip of the external communication unit 9. The main control chip modulates the coded instruction into electromagnetic wave signals of different frequencies. The external communication unit 9 has two modules, signal transmission and signal reception. The signal is generated by the electromagnetic generator in the signal transmission module and then transmitted through the copper spiral coil antenna.

[0038] Step S2: The modulation controller 201 receives the electromagnetic signal penetrating the pipe wall of the pipe 7 through the antenna and demodulates it again into the coded instruction information.

[0039] Step S3: the command information in the in-tube communication unit 11 based on the rotating permanent magnet is sent to the in-tube control unit 10 through the CAN bus 12. After receiving the command information, the in-tube control unit 10 controls the occluder to start setting.

[0040] Step S4: After the sealing is completed, the control unit 10 in the pipe sends the sealing completion feedback information to the communication unit 11 in the pipe based on the rotating permanent magnet through the CAN bus 12.

[0041] Step S5: the in-tube modulation controller 201 modulates the feedback information into electromagnetic wave signals of different frequencies, controls the drive motor 202 to rotate at different speeds, and the rotation of the drive motor 202 drives the cylindrical radially magnetized permanent magnet 501 to rotate, thereby emitting electromagnetic wave signals.

[0042] Step S6: After the signal receiving module of the external communication unit 9 receives the signal, its main control chip demodulates the electromagnetic wave signal into feedback instruction information and transmits it to the external host computer 8, thereby realizing two-way communication between the inside and outside of the pipeline 7.

[0043] The traditional electromagnetic generator has poor stability and high deviation of the transmitted signal frequency. The ultra-low frequency electromagnetic wave transmitting antenna is large in size and weight and is not suitable for use in pipelines with narrow internal space. The structure and appearance of the present invention is a pipe cleaner or plugger unit type, which can be directly carried by the pipe cleaner or plugger in the pipe, is easy to assemble, and has good spatial adaptability.

[0044] The present invention uses a rotating permanent magnet transmitter to generate electromagnetic waves through a rotating magnetic field without the need for a conventional electromagnetic wave generator. Compared with conventional transmitters, it can achieve high-efficiency and high-stability transmission of electromagnetic waves through the rotation of a small-volume permanent magnet. It has a simpler and more compact structure, reduces parts, and is easy to implement and maintain. No additional energy is required to drive the electromagnetic oscillator, so it can save energy and reduce energy consumption.

[0045] The present invention adjusts the rotating magnetic field characteristics by the rotation speed, and can realize flexible adjustment of the transmission signal frequency to meet different communication or radar requirements. By using the rotating magnetic field to generate electromagnetic waves, this transmitter can reduce external electromagnetic interference to a certain extent and improve the system's anti-interference ability. This new electromagnetic wave generation technology is expected to promote technological innovation and development in the fields of communication and radar. Using a rotating permanent magnet as a signal source has many advantages. It can create a stable signal source, and compared with traditional equipment, the design and maintenance costs may be lower, and there is no energy loss such as resistance, while improving the overall performance and rate of the communication system.

[0046] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An in-tube communication unit based on a rotating permanent magnet, characterized in that: The invention comprises a shell, a drive control component, a permanent magnet fixing component and a cylindrical radially magnetized permanent magnet. The drive control component and the permanent magnet fixing component are arranged in the shell along the axial direction of the shell. The drive control component is connected to the permanent magnet fixing component. The drive control component can drive the permanent magnet fixing component to rotate inside the shell. The radial direction of the cylindrical radially magnetized permanent magnet is fixed inside the permanent magnet fixing component. When the permanent magnet fixing component rotates inside the shell, the cylindrical radially magnetized permanent magnet rotates synchronously with it.

2. The in-pipe communication unit based on rotating permanent magnet according to claim 1, characterized in that: The drive control component includes a modulation controller, a drive motor and a coupling. The modulation controller is connected to the drive motor, and the drive motor is connected to the permanent magnet fixing component through the coupling.

3. The in-pipe communication unit based on rotating permanent magnet according to claim 2, characterized in that: The permanent magnet fixing assembly includes a first clamping cover, a second clamping cover, a first bearing, a second bearing and a rotating shaft. The first clamping cover is provided with the rotating shaft, and the rotating shaft is connected to the coupling. The first clamping cover and the second clamping cover are connected by bolts to form a cavity. The cylindrical radially magnetized permanent magnet is radially fixed in the cavity. The first clamping cover is connected to the housing through the first bearing, and the second clamping cover is connected to the housing through the second bearing.

4. The in-pipe communication unit based on rotating permanent magnets according to claim 3, characterized in that: The first clamping cover, the second clamping cover and the rotating shaft are made of aluminum alloy non-magnetic material.

5. The in-pipe communication unit based on rotating permanent magnets according to any one of claims 1 to 4, characterized in that: The shell includes a sleeve, a leather cup and a fixed bracket. The leather cup is sleeved on the outer ring of the sleeve and connected by bolts. Along the axial direction of the sleeve, the drive control component is fixed on the fixed bracket, and the permanent magnet fixing component is connected to the drive control component.

6. The in-pipe communication unit based on rotating permanent magnets according to claim 5, characterized in that: The sleeve is made of aluminum.

7. A signal transmission method using the in-tube communication unit based on a rotating permanent magnet as described in any one of 1 to 6, characterized in that: The in-pipe communication unit based on the rotating permanent magnet is arranged in the pipeline, the pipeline also includes an in-pipe control unit, and an out-pipe host computer and the out-pipe communication unit are arranged outside the pipeline. The specific use method includes the following steps: The external host computer is used to encode the command for starting the setting of the plugging device in the pipeline, and write the coded instruction into the main control chip of the external communication unit, and the main control chip modulates the coded instruction into electromagnetic wave signals of different frequencies. The external communication unit has a signal transmitting module and a signal receiving module, and the electromagnetic wave signal generates and transmits a signal through the signal transmitting module; The modulation controller receives the electromagnetic wave signal penetrating the pipe wall of the pipe through the antenna and demodulates it again into coded instruction information; The command information in the in-pipe communication unit based on the rotating permanent magnet is sent to the in-pipe control unit through the CAN bus, and the in-pipe control unit controls the occluder to start setting after receiving the command information; After the sealing is completed, the in-pipe control unit sends a sealing completion feedback message to the in-pipe communication unit based on the rotating permanent magnet through the CAN bus; The modulation controller modulates the feedback information into electromagnetic wave signals of different frequencies, controls the drive motor to rotate at different speeds, and the rotation of the drive motor drives the cylindrical radially magnetized permanent magnet to rotate, thereby emitting electromagnetic wave signals; After the signal receiving module of the communication unit outside the pipe receives the signal, the main control chip demodulates the electromagnetic wave signal into feedback instruction information and transmits it to the host computer outside the pipe to realize two-way communication inside and outside the pipeline.

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