油气管道中智能机器人跟踪定位关键技术综述

国民经济的持续快速发展对于油气供给提出了更大的需求。油气资源主要依靠管道进行运输,为保证管道运输安全可靠,需定期使用智能机器人对其进行检测。检测过程中要对智能机器人进行跟踪定位以确保知道管道内机器人的实时位置、状态,特别是发生故障如卡堵时的位置。油气管道通常为长距离管道,跟踪定位方式只能采用无缆或无线方式,其中极低频信号对于金属介质等具有良好穿透能力的特点特别适合于管道内智能机器人的跟踪定位。基于极低频磁技术的跟踪定位问题,本质上可以归纳为微弱磁信号的高分辨率探测和微弱瞬态磁信号的实时(快速)检测这两方面的问题。本文总结了油气管道中智能机器人的跟踪定位技术,介绍了国内外基于极低频技术的智能机器人跟踪定位装置;重点阐述了高分辨率磁传感器、微弱瞬态信号实时检测算法两项关键技术的研究现状,并介绍了基于极低频磁信号发射与接收的智能机器人跟踪定位系统的现有工作及未来展望。

Key technologies of tracking and positioning of intelligent robots in oil and gas pipelines: A review of recent advances

Sustained and rapid development of national economy makes great demands on oil and gas supply. The transportation of oil and gas mainly relies on pipelines. The requirement for safe and reliable pipeline transportation necessitates regular use of intelligentrobots to inspect the pipelines. On the inspection process, tracking and positioning of intelligent robots are requiredto ascertain their status and position in real time, especially when the malfunction such as a stoppage. Oil and gas pipelines usually have a long distance, which makes the tracking and positioning methods can only be used without cable or wireless. Extremely low frequency (ELF) magnetic signal is favorable for tracking and positioning of intelligent robots in oil and gas pipelines as it can penetrate high permeability material, such as metal pipeline. In essence, the issue of tracking and positioning of intelligent robots based on ELF can be summarized as high-resolution sensor of weak magnetic signal and eal-time (fast) detection algorithm of weak transient signal. In this review, the state of art of the methodologies of tracking and positioning of intelligent robots in oil and gas pipelines are firstly summarized. Then, related devices and approaches that are used for tracking and positioning of intelligent robots based on ELF technology are introduced. The key technologies, high-resolution magnetic sensors and detection algorithms of weak transient signals, are systematically described. Finally, the retrospect of the present work and prospect of the research trend of tracking and positioning of intelligent robots based on ELF magnetic signal transmission and reception are presented.