在役管道健康监测机器人系统通信链路设计

油气管道健康监测的管道机器人技术是机器人领域的研究热点.针对在役管道健康监测的管道内外通信问题,介绍了一种内嵌于细缆中的智能节点间驿站式有线通信和智能节点与管道机器人间短距无线通信相结合的链路系统,该链路中智能节点由超级电容供电,超级电容通过两根细缆充电.着重阐述了基于两根细电缆的驿站式通信链路的硬件设计、链路运行机制及该链路中充电和通信过程中关键问题的解决方法.采用该通信系统使管道无缆检测机器人超长距离作业成为可能.

Design of Robot Communication System for Health Monitoring of Pipeline in Service

Pipeline robot technology for oil and gas pipeline health monitoring is a research hot spot in the filed of robotics.To solve the communication problem between pipeline internal robot and external monitor computer,a kind of communication link system is proposed,which combines the post type cable communication between smart nodes embedded in the thin cable and the short distance wireless communication between smart node and the pipeline robot,in which each smart node is powered by super capacitor,and the super capacitor is charged through two thin cables.The hardware design of a post type cable communication link based on two thin cables,communication link operation mechanism and the solutions of the key questions in the charging and communication process are explained.The system makes it possible for the cableless pipeline robot long distance operation.