基于磁记忆效应的新型管道机器人

The magnetic memory effect-based pipeline robot

目前国内管道内检测技术水平低,无法满足日益增长的油气管道检测需求,为此,研制了一种基于磁记忆效应的新型管道机器人。该装置由机械行走机构、信号采集与处理系统、姿态控制与定位系统、辅助系统4部分组成。机械部分提供支撑与动力,信号部分采集并处理管道漏磁场信号,姿态部分确定缺陷的位置,辅助系统提供电力,并可进行应急定位。试验情况表明,该装置可有效识别各种管道缺陷,具有检测精度高、定位准确、通过性能好、结构简单和稳定可靠等优点,达到了设计要求,这对于保障我国油气管道安全运行,推进管道完整性管理具有重大意义。

The pipeline detection technology in China was currently at low level so as not to satisfy the requirement of oil-gas pipeline inspection. Therefore, a new type of magnetic memory effect-based pipeline robot was developed. The device consisted of the mechanical travel mechanism, signal collection and treatment system, attitude control and positioning system, and accessory system. The mechanical part provides support and power; the signal part collects and deals with in-pipe leakage magnetic field; the attitude part determines the position of defects; the accessory system provides power and conducted emergency positioning. The experiment showed that the device could effectively identify various kinds of pipeline defects, with many advantages, such as precise detection, exact positioning, good trafficability, simple structure, stability and reliability.