基于磁偶极子模型的管道机器人定位技术研究

Localization technique of pipeline robot based on magnetic-dipole model

分析了低频电磁波发射天线的磁场分布,为了便于工程实现将发射天线简化为磁偶极子模型;给出了磁偶极子磁场分布的数值计算结果;结果表明,垂直于发射天线轴线方向的磁感应强度幅值随位置的改变呈双峰变化的规律。提出了一种基于低频电磁波磁场幅值信号双峰变化规律的管道机器人定位方法。实验结果表明,该方法的定位精度为±5cm,可用于管道机器人管内位置的管外定位。

By analyzing the magnetic field distribution of transmiting antenna, the ＂ antenna with a high slenderness ratio may be simplified as a magnetic dipole for practical application. The numerical results of magnetic field distibution show that the maximum value of magnetic induction strength in the direction of perpendicular antenna axes varies with position is of a hump-shape. A localization scheme based on the signal detection is presented. The experiment results show that the localization precision may reach ± 5cm. This scheme can be used to localize the pipeline robot moving in a metal pipe.