Adaptive localization method based on wireless magnet sensors for pipeline robots

WEI Ming-sheng; TONG Min-ming; ZI Bin; XIA Jing; LU Yang

doi:10.3788/OPE.20122004.0772

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Adaptive localization method based on wireless magnet sensors for pipeline robots

Article | 更新时间：2020-08-12

- Adaptive localization method based on wireless magnet sensors for pipeline robots
- Optics and Precision Engineering Vol. 20, Issue 4, Pages: 772-781(2012)
- 作者机构：
  
  1. 南京理工大学机械工程学院,江苏南京,210094
  2. 中国矿业大学信息与电气工程学院,江苏徐州,221008
  3. 中国矿业大学机电工程学院,江苏徐州,221116
  4. 江苏师范大学物理与电子工程学院,江苏徐州,221116
- 作者简介：
- 基金信息：
- DOI：10.3788/OPE.20122004.0772
  CLC： TP242.3
- Received：25 December 2011，
  
  Revised：31 January 2012，
  
  Published Online：22 April 2012，
  
  Published：22 April 2012
- 稿件说明：
移动端阅览
魏明生, 童敏明, 訾斌, 夏静, 陆阳. 管道机器人无线电磁自适应定位技术[J]. 光学精密工程, 2012,(4): 772-781

WEI Ming-sheng, TONG Min-ming, ZI Bin, XIA Jing, LU Yang. Adaptive localization method based on wireless magnet sensors for pipeline robots[J]. Editorial Office of Optics and Precision Engineering, 2012,(4): 772-781
魏明生, 童敏明, 訾斌, 夏静, 陆阳. 管道机器人无线电磁自适应定位技术[J]. 光学精密工程, 2012,(4): 772-781 DOI： 10.3788/OPE.20122004.0772.

WEI Ming-sheng, TONG Min-ming, ZI Bin, XIA Jing, LU Yang. Adaptive localization method based on wireless magnet sensors for pipeline robots[J]. Editorial Office of Optics and Precision Engineering, 2012,(4): 772-781 DOI： 10.3788/OPE.20122004.0772.

摘要

针对金属管道机器人跟踪定位问题

提出了一种改进的自适应无线电磁定位方法

在未知管道几何尺寸和周围环境电磁参数的情况下实现了管道内机器人的三维定位。首先

通过磁偶极子模型分析了管道外极低频电磁场分布规律。其次

建立了六传感器接收天线的自适应定位模型

设计了电磁发射和接收电路

基于该模型推导出了含有6个未知数的非线性方程组

并分别采用3种算法对其进行了仿真分析。最后

分别对不同壁厚及不同埋藏深度管道进行了试验研究。试验结果表明

在管道壁厚为5.74 mm

埋藏深度为0.8~2 m的情况下

总位置误差的平均值小于18.7 cm

即比原模型减少了3.4 cm

满足机器人实际工作中的定位需要。

Abstract

For tracking and locating robots in the pipeline inspection accurately

a wireless adaptive location model was presented to realize the 3D position of robots without the geometrical sizes of pipelines and electromagnetic parameters of ambient medium. Firstly

extremely low frequency electromagnetic fields of pipelines were described by a magnetic dipole model. Then

an adaptive antenna positioning model based on six sensors was proposed and electromagnetic transmitter and receiver circuits were designed.Based on the model

a linear equation containing six unknown numbers was derived and three kinds of algorithms were used to analyze and simulate the equation. Finally

engineering experiments were performed on the pipes with different thicknesses and burial depths. The experiment on a pipe wall thickness of 5.74 mm and burried deep from 0.8 to 0.2 m shows that the average position error is 18.7 cm

which has been decreased by 3.4 cm compared with that of the original model. The results can satisfy the requirements of systems for non-contact

real time and adaptive location.

关键词

Keywords

references

YANG W A,HU CH,MAO L,et al.. A new tracking system for three magnetic objectives[J]. IEEE Transactions on Magnetics,2010,46(12):4023-4029.[2] 郭旭东,严荣国,颜国正. 胶囊内窥镜无线遥测定位的校正[J]. 光学精密工程,2010,18(12):2650-2655. GUO X D,YAN R G,YAN G ZH. Calibration method for wirelessly localizing capsule endoscopy[J]. Opt. Precision Eng., 2010,18(12):2650-2655. (in Chinese)[3] 姜萍萍,颜国正,仓振杰,等. 胃肠道内目标物电磁跟踪定位系统设计及试验研究[J]. 高技术通讯,2011,21(5):523-529. JIANG P P, YAN G ZH, CANG ZH J,et al.. Design and experimental study of an electromagnetic tracking and locating system for argets in GI tract[J]. Chinese High Technology Letters, 2011,21(5):523-529. (in Chinese)[4] QI H M,ZHANG X H,CHEN H J, et al.. Tracing and localization system for pipeline robot[J]. Mechatronics,2009,19(1):76-84.[5] QI H M,YE J R,ZHANG X H, et al..Wireless tracing and locating system for in-pipe robot[J]. Sensors and Actuators A:Physical,2010,159(1):117-125.[6] DIPAK L, VALDIS V.Applied Electromagnetics and Electromagnetic Compatibility[M]. Beijing:China Machine Press. 2009,6:347-351.[7] YANG W A, HU C,MENG M Q H, et al.. A six-dimensional magnetic localization algorithm for a rectangular magnet objective based on a particle swarm optimizer[J]. IEEE Trans. Magn. 2009,45(8):3092-3099.[8] 臧洁, 唐加福. 能力约束下多产品物流网络系统决策模型及算法[J]. 东北大学学报( 自然科学版).2010, 31(2):161-164. ZANG J, TANG J F. Decision model and solution for logistic network system of multi-products with capacity constraints[J]. Journal of Northeastern University(Natural Science). 2010,31(2):161-164. (in Chinese)[9] 张勇,巩敦卫,张婉秋. 一种基于单纯形法的改进微粒群优化算法及其收敛性分析[J]. 自动化学报.2009,35(3):289-298. ZHANG Y, GONG D W, ZHANG W Q. A simplex method based improved particle swarm optimization and analysis on its global convergence [J]. Acta Automatica Sinica, 2009,35(3):289-298. (in Chinese)[10] 赵林海, 许俊杰, 刘伟宁,等. 基于Levenberg-Marquardt算法和广义S–变换的无绝缘轨道电路补偿电容的故障检测[J].控制理论与应用. 2010,27(12):1612-1622. ZHAO L H, XU J J, LIU W N,et al.. Compensation capacitor fault detection method in jointless track circuit based on Levenberg-Marquardt algorithm and generalized S-transform[J]. Control Theory & Applications, 2010, 27(12):1612-1622. (in Chinese)

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Related Institution

National Astronomical Observatories／Nanjing Institute of Astronomical Optics& Technology, Chinese Academy of Sciences

中国科学院长春光学精密机械与物理研究所2. 长春工业大学

Bioengineering College of Chongqing University

Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, Changchun 130033, China

Jilin Normal University

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