油气管道中智能机器人跟踪定位关键技术综述
详细信息 本馆镜像全文    |  推荐本文 | | 获取馆网全文
摘要
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。
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 intelligent robots to inspect the pipelines.On the inspection process,tracking and positioning of intelligent robots are required to 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 real-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.
引文
[1]齐玉钗.“十一五”我国海底管道新技术开发应用概况[J].石油科技论坛,2012,31(1):25-29.QI Y CH.A summary of development and application of new sub sea pipeline technology during“11th five year plan”period in China[J].Oil Forum,2012,31(1):25-29.
    [2]刘刚,陈雷,张国忠,等.管道清管器技术发展现状[J].油气储运,2011,30(9):646-653.LIU G,CHEN L,ZHANG G ZH,et al.Development status of pipe pigging devices[J].Oil&Gas Storage and Transportation,2011,30(9):646-653.
    [3]许红,李著信,苏毅,等.管道内检测机器人定位技术研究现状与展望[J].机床与液压,2013,41(9):172-175.XU H,LI ZH X,SU Y,et al.Research status and prospect of pipeline inspection robot localization technology[J].Machine Tool&Hydraulics,2013,41(9):172-175.
    [4]BICKERSTAFF R,VAUGHN M,STOKER G,et al.Review of sensor technologies for in-line inspection of natural gas pipelines[J].Sandia National Laboratories,Albuquerque,NM,2002.
    [5]HUNSBEDT R,JUNG T,GEORGSON M,et al.Experiences with ultrasound in wax rich pipelines[C].Pipeline Pigging Seminar,Pigging Products&Services Association,Aberdeen,UK,2010.
    [6]USHIMI N,YAMAMOTO M,MOHRI A.Two wheels caster type odometer for omni-directional vehicles[C].IEEE International Conference on Robotics and Automation,2003,1:497-502.
    [7]王忠巍.自主海底管道机器人智能控制关键技术研究[D].上海交通大学,2010.WANG ZH W.Research on key technology of intelligent control for autonomous subsea in-pipe robot[D].Shanghai Jiao Tong University,2010.
    [8]DU H,LIU H.Dielectric sensor for detecting capsules moving through pipelines[J].IEEE Transactions on Mechatronics,2000,5(4):429-436.
    [9]HAY B R,SMITH J W K.Magnetic flux leakage inspection tool for pipelines:U.S.Patent 6,023,986[P].2000-2-15.
    [10]LIU Z W,DEAN A P.Precision positioning AGM system:U.S.Patent 6,816,110[P].2004-11-9.
    [11]吴刚.高清晰管道漏磁通检测系统地面标记技术研究[D].天津大学,2005.WU G.Research on the above ground marking technology of pipeline inspection based on magnetic flux leakage theory[D].Tian Jin University,2005.
    [12]苏志毅,黄松岭,赵伟,等.油气管道缺陷漏磁检测地面标记器研制[J].无损检测,2012,34(10):16-18.SU ZH Y,HUANG S L,ZHAO W,et al.Development of a portable high-precision above ground marker system for an MFL pipeline inspection[J].Nondestructive Testing,2012,34(10):16-18.
    [13]吴晓.基于声传感器阵列的油气管道内检测器地面标记跟踪技术研究[D].天津大学,2010.WU X.Research on above ground marking and tracking of oil and gas pipeline internal inspection instrument based on geophone array[D].Tian Jin University,2010.
    [14]DA SILVA J A P,DE CASTRO A R,AFONSO O J R,et al.A smart location system[C].2004 International Pipeline Conference,American Society of Mechanical Engineers,2004:975-981.
    [15]卓贤军,陆建勋.极低频探地工程在资源探测和地震预测中的应用与展望[J].舰船科学技术,2010,32(6):3-7,30.ZHUO X J,LU J X.Application and prospect of WEM to resource exploration and earthquake predication[J].Ship Science and Technology,2010,32(6):3-7,30.
    [16]赵国泽,陆建勋.利用人工源超低频电磁波监测地震的试验与分析[J].中国科学工程,2003,5(10):27-33.ZHAO G Z,LU J X.Monitoring&analysis of earthquake phenomena by artificial SLF waves[J].Engineering Science,2003,5(10):27-33.
    [17]XIA M Y,CHEN Z Y.Attenuation predictions at extremely low frequencies for measurement-while-drilling electromagnetic telemetry system[J].IEEE Transactions on Geoscience and Remote Sensing,1993,31(6):1222-1228.
    [18]殷科生,张志刚,刘文彦,等.新型极低频信号遥测系统的研制[J].制造业自动化,2011,33(10):152-153.YIN K SH,ZHANG ZH G,LIU W Y,et al.Development of a new telemetry system for extrem-low frequency signal[J].Manufacturing Automation,2011,33(10):152-153.
    [19]WOLF S A,DAVIS J R,NISENOFF M.Superconducting extremely low frequency(ELF)magnetic field sensors for submarine communications[J].IEEE Transactions on Communications,1974,22(4):549-554.
    [20]ROWE H E.Extremely low frequency communication to submarines[J].IEEE Transactions on Communications,1974,22(4):371-385.
    [21]王淳,郭静波,刘红旗,等.基于最小二乘的极低频微弱信号实时检测方法[J].仪器仪表学报,2009,30(12):2013-2016.WANG CH,GUO J B,LIU H Q,et al.Novel approach of real-time ELF weak signal detection based on least square algorithm[J].Chinese Journal of Scientific Instrument,2009,30(12):2013-2016.
    [22]王淳.极低频微弱信号的实时检测方法与系统实现[D].北京:清华大学,2009.WANG CH.Research on real-time extremely low frequency weak signal detection method and system implementation[D].Beijing:Tsinghua University,2009.
    [23]陈水平,郭静波,胡铁华.铁磁管道环境下极低频微弱磁场的分布及检测[J].仪器仪表学报,2011,32(10):2348-2356.CHEN SH P,GUO J B,H T H.Distribution and detection of ELF weak magnetic field in ferromagnetic pipeline environment[J].Chinese Journal of Scientific Instrument,2011,32(10):2348-2356.
    [24]陈水平.管道环境下的极低频发射与接收系统研究[D].北京:清华大学,2011.CHEN SH P.Research on extremely low frequency transmitting and receiving system in pipeline environment[D].Beijing:Tsinghua University,2011.
    [25]蔡雄,郭静波,胡铁华,等.铁磁管道用极低频发射机的逆向优化设计[J].仪器仪表学报,2014,35(3):634-641.CAI X,GUO J B,HU T H,et al.The reverse optimization of ELF magnetic transmitter for ferromagnetic pipeline[J].Chinese Journal of Scientific Instrument,2014,35(3):634-641.
    [26]李军远,陈宏钧,张晓华,等.基于信息融合的管道机器人定位控制研究[J].控制与决策,2006,21(6):661-665.LI J Y,CHEN H J,ZHANG X H,et al.Localization technique of pipeline robot based on multi-sensor data fusion[J].Control and Decision,2006,21(6):661-665.
    [27]李军远,李盛凤,陈宏钧,等.基于磁偶极子模型的管道机器人定位技术研究[J].电波科学学报.2006,21(4):553-557.LI J Y,LI SH F,CHEN H J,et al.Localization technique of pipeline robot based on magnetic-dipole model[J].Chinese Journal of Radio Science.2006,21(4):553-557.
    [28]李军远,李盛凤,张晓华,等.基于K-NN算法的管道机器人超低频电磁波定位技术研究[J].机器人,2007,29(1):72-77.LI J Y,LI SH F,ZHANG X H,et al.Pipeline robot localization technique based on CSP and N order K-NN algorithm[J].Robot,2007,29(1):72-77.
    [29]李军远.基于超低频电磁波的管道机器人示踪定位技术研究[D].哈尔滨:哈尔滨工业大学,2006.LI J Y.Research on localization technique of pipeline robot based on ultra low frequency electromagnetic wave[D].Harbin:Harbin Institute of Technology,2006.
    [30]QI H,YE J,ZHANG X,et al.Wireless tracking and locating system for in-pipe robot[J].Sensors and Acutators A:Physical.2010,159(1):117-125.
    [31]QI H,ZHANG X,CHEN H,et al.Tracing and localization system for pipeline robot[J].Mechatronics,2009,1:76-84.
    [32]QI H,ZHANG X,CHEN H,et al.Global localization of in-pipe robot based on ULW antenna array and GPS[J].High Technology Letters.2009,15(2):120-125.
    [33]QI H,ZHANG X,CHEN H,et al.Research of pipeline robot tracking&localization technology based on elf-ep communication[C].IEEE/ASME International Conference on MESA,2008:321-326.
    [34]齐海铭,张晓华,陈宏钧,等.基于超长波与对称分布天线阵的管道机器人定位技术[J].机器人,2009,31(2):104-409.QI H M,ZHANG X H,CHEN H J,et al.Localization technique of pipeline robot based on ultra-long electromagnetic wave and symmetrical antenna array[J].Robot,2009,31(2):104-409.
    [35]齐海铭,叶金蕊,张晓华,等.管内移动机器人定位技术与系统优化研究[J].高技术通讯,2010,20(11):1162-1172.QI H M,YE J R,ZHANG X H,et al.Research on locating of an in-pipe robot and optimizing of the locating system design[J].Chinese High Technology Letters,2010,20(11):1162-1172.
    [36]齐海铭.管内移动机器人示踪定位技术研究[D].哈尔滨:哈尔滨工业大学,2010.QI H M.Tracking and locating technology of in-pipe mobile robot[D].Harbin:Harbin Institute of Technology,2010.
    [37]张晓华,贾研研,齐海铭,等.低功耗数字控制超长波发射与接收系统[J].控制工程,2009,16(3):338-341.ZHANG X H,JIA Y Y,QI H M,et al.ELF electromagnetic wave emission-receiving system based on low power consumption digital control method[J].Control Engineering of china,2009,16(3):338-341.
    [38]孙小京.管道检测极低频定位技术研究[D].沈阳:沈阳工业大学,2007.SUN X J.Research on localization technique of pipeline detecting based on even low frequency electromagnetic wave[D].Shenyang:Shenyang University of Technology,2007.
    [39]魏明生,童敏明,訾斌,等.管道机器人无线电磁自适应定位技术[J].光学精密工程,2012,20(4):772-780.WEI M SH,TONG M M,ZI B,et al.Adaptive localization method based on wireless magnet sensors for pipeline robots[J].Optics and Precision Engineering,2012,20(4):772-780.
    [40]TUMANSKI S.Handbook of magnetic measurements[M].Taylor&Francis US,2011.
    [41]RIPKA P.Magnetic sensors and magnetometers[M].Artech House,2001.
    [42]LENZ J,EDELSTEIN S.Magnetic sensors and their applications[J].IEEE Sensors Journal,2006,6(3):631-649.
    [43]TUMANSKI S.Induction coil sensors-a review[J].Measurement Science and Technology.2007,18:31-46.
    [44]SERAN H C,FERGEAU P.An optimized low-frequency three-axis search coil magnetometer for space research[J].Review of Science Instruments,2005.
    [45]FRANDSEN A M A,HOLZER R E,SMITH E J.OGO search coil magnetometer experiments[J].IEEE Transactions on Geoscience Electronics.1969,7:61-74.
    [46]PRANCE R J,CLARK T D,PRANCE H.Ultra low noise induction magnetometer for variable temperature operation[J].Sensors Actuators,2000,85(1):361-364.
    [47]KOREPANOV V,BERKMAN R.Advanced field magnetometers comparative study[J].Measurement,2001,29(2):137-146.
    [48]ROUX A,CONTEL O L,COILLOT C,et al.The search coil magnetometer for THEMIS[J].Space Science Reviews,2009:265-275.
    [49]PAPERNO E,GROSZ A.A miniature and ultralow power search coil optimized for a 20 m Hz to 2 k Hz frequency range[J].Journal of Applied Physics,2009,105(7):07E708.
    [50]GROSZ A,PAPERNO E,AMRUSI SH,et al.Integration of the electronics and batteries inside the hollow core of a search coil[J].Journal of Applied Physics,2010,107(9):09E703.
    [51]GROSZ A,PAPERNO E,AMRUSI S,et al.A three-axial search coil magnetometer optimized for small size,low power,and low frequencies[J].IEEE Sensors Journal,2011,11(4):1088-1094.
    [52]MCDONOUGH R N.Detection of signals in noise[M].Elsevier,1995.
    [53]KAY S M.Fundamentals of statistical signal processing,volume 2:Detection theory[M].Prentice Hall PTR,1998.
    [54]HARRY L,VAN TREES.Detection,estimation,and modulation theory[M].John Wiley and Sons,Inc,1968.
    [55]TUZLUKOV V P.Signal detection theory[M].Springer,2001.
    [56]THOMAS A.Schonhoff,arthur anthony giordano.Detection and estimation theory and its applications[M].Pearson Prentice Hall,2006.
    [57]李道本.信号的统计检测与估计理论[M].北京:科学出版社,2004.LI D B.The statistical theory of signal detection and estimation[M].Beijing:Science Press,2004.
    [58]赵树杰,赵建勋.信号检测与估计理论[M].北京:清华大学出版社,2005.ZHAO SH J,ZHAO J X.Theory of signal detection and estimation[M].Beijing:Tsinghua University Press,2005.
    [59]BRODER B,SCHWARTZ S.Quickest detection procedures and transient signal detection[D].Princeton University Information Sciences and Systems Lab,1990.
    [60]LIU Y.Quickest detection of a change in a random sequence with application to adaptive identification of fading channels[D].Queen’s University,1996.
    [61]WANG ZH.New approaches to transient detection and signal segmentation[D].University of Connecticut,2002.
    [62]POOR H V,HADJILIADIS O.Quickest detection[M].Cambridge University Press,2008.
    [63]NUTTALL A H.Detection performance of power-law processors for random signals of unknown location,structure,extent,and strength[R].Naval Undersea Warfare Center Newport Div Ri,1994.
    [64]NUTTALL A H.Near-optimum detection performance of power-law processors for random signals of unknown locations,structure,extent,and arbitrary strengths[R].Naval Undersea Warfare Center Newport Div New London Ct New London Detachment,1996.
    [65]WANG ZH,WILLETT P K.All-purpose and plug-in power-law detectors for transient signals[J].IEEE Transactions on Signal Processing,2001,49(11):2454-2466.
    [66]PAGE E S.Continuous inspection schemes[J].Biometrika,1954:100-115.
    [67]PAGE E S.A test for a change in a parameter occurring at an unknown point[J].Biometrika,1955,42(3-4):523-527.
    [68]WANG J,WILLETT P.A variable threshold page procedure for detection of transient signals[J].IEEE Transactions on Signal Processing,2005,53(11):4397-4402.
    [69]KONG A W K.An analysis of Gabor detection[M].Image Analysis and Recognition.Springer Berlin Heidelberg,2009:64-72.
    [70]FRIEDLANDER B,PORAT B.Detection of transient signals by the Gabor representation[J].IEEE Transactions on Acoustics,Speech and Signal Processing,1989,37(2):169-180.
    [71]FRIEDLANDER B,ZEIRA A.Oversampled Gabor representation for transient signals[J].IEEE Transactions on Signal Processing,1995,43(9):2088-2094.
    [72]AGILI S,BJORNBERG D B,MORALES A.Optimized search over the Gabor dictionary for note decomposition and recognition[J].Journal of the Franklin Institute,2007,344(7):969-990.
    [73]LEARNED R E,WILLSKY A S.A wavelet packet approach to transient signal classification[J].Applied and Computational Harmonic Analysis,1995,2(3):265-278.
    [74]DEL MARCO S,WEISS J.Improved transient signal detection using a wave packet-based detector with an extended translation-invariant wavelet transform[J].IEEE Transactions on Signal Processing,1997,45(4):841-850.
    [75]ABBATE A,KOAY J,FRANKEL J,et al.Signal detection and noise suppression using a wavelet transform signal processor:application to ultrasonic flaw detection[J].IEEE Transactions on Ultrasonics,Ferroelectrics and Frequency Control,1997,44(1):14-26.
    [76]PLETT M I.Transient detection with cross wavelet transforms and wavelet coherence[J].IEEE Transactions on Signal Processing,2007,55(5):1605-1611.
    [77]RIERA-GUASP M,ANTONINO-DAVIU J A,PINEDA-SANCHEZ M,et al.A general approach for the transient detection of slip-dependent fault components based on the discrete wavelet transform[J].IEEE Transactions on Industrial Electronics,2008,55(12):4167-4180.
    [78]FRISCH M,MESSER H.Detection of a transient signal of unknown scaling and arrival time using the discrete wavelet transform[C].IEEE International Conference on Acoustics,Speech,and Signal Processing,1991:1313-1316.
    [79]FRISCH M,MESSER H.The use of the wavelet transform in the detection of an unknown transient signal[J].IEEE Transactions on Information Theory,1992,38(2):892-897.
    [80]CAMPBELL,T P.Underwater transient detection and localization using the wavelet transform[D].Royal Military College of Canada,1996.
    [81]王冠宇,陶国良,陈行,等.混沌振子在强噪声背景信号检测中的应用[J].仪器仪表学报,1997,18(2):209-212.WANG G Y,TAO G L,CH X,et al.The application of chaotic oscillators to weak signal detection under the stronger background noise[J].Chinese Journal of Scientific Instrument,1997,18(2):209-212.
    [82]王冠宇,陈大军,林建亚,等.Duffing振子微弱信号检测方法的统计特性研究[J].电子学报,1998,26(10):38-44.WANG G Y,CHEN D J,LIN J Y,et al.The statistical characteristics of weak signal detection based on duffing oscillator[J].Acta Electro Snica,1998,26(10):38-44.
    [83]WANG G,CHEN D,LIN J,et al.The application of chaotic oscillators to weak signal detection[J].IEEE Transactions on Industrial Electronics,1999,46(2):440-444.
    [84]WANG G,ZHENG W,HE S.Estimation of amplitude and phase of a weak signal by using the property of sensitive dependence on initial conditions of a nonlinear oscillator[J].Signal processing,2002,82(1):103-115.
    [85]WANG G,HE S.A quantitative study on detection and estimation of weak signals by using chaotic Duffing oscillators[J].IEEE Transactions on Circuits and Systems I:Fundamental Theory and Applications,2003,50(7):945-953.
    [86]聂春燕.混沌理论及基于特定混沌系统的微弱信号检测方法研究[D].吉林:吉林大学,2006.NIE CH Y.Research on the weak signal detection method based on the chaos theory and specific chaotic system[D].Jilin:Jilin University,2006.
    [87]吴冬梅.基于达芬振子的微弱信号检测方法研究[D].哈尔滨:哈尔滨工程大学,2010.WU D M.Research on methodology of weak signal detection based on Duffing oscillator[D].Harbin:Harbin Engineering University,2010.
    [88]刘海波,吴德伟,金伟,等.Duffing振子微弱信号检测方法研究[J].物理学报,2013,62(5):34-39.LIU H B,WU D W,JIN W,et al.Study on weak signal detection method with Duffing oscillators[J].Acta Phys.Sin,2013,62(5):34-39.
    [89]BENZI R,SUTERA A,VULPIANI A.The mechanism of stochastic resonance[J].Journal of Physics A:Mathematical and general,1981,14(11):L453.
    [90]ASDI A S,TEWFIK A H.Detection of weak signals using adaptive stochastic resonance[C].ICASSP,1995,2:1332-1335.
    [91]ZOZOR S,AMBLARD P O.On the use of stochastic resonance in sine detection[J].Signal Processing,2002,82(3):353-367.
    [92]SAHA A A,ANAND G V.Design of detectors based on stochastic resonance[J].Signal Processing,2003,83(6):1193-1212.
    [93]CHEN H,VARSHNEY P K,KAY S M,et al.Theory of the stochastic resonance effect in signal detection:Part I-Fixed detectors[J].IEEE Transactions on Signal Processing,2007,55(7):3172-3184.
    [94]CHEN H,VARSHNEY P K.Theory of the stochastic resonance effect in signal detection-part II:variable detectors[J].IEEE Transactions on Signal Processing,2008,56(10):5031-5041.
    [95]HARI V N,ANAND G V,PREMKUMAR A B,et al.Design and performance analysis of a signal detector based on suprathreshold stochastic resonance[J].Signal Processing,2012,92(7):1745-1757.
    [96]BAYRAM S,GEZICI S.Stochastic resonance in binary composite hypothesis-testing problems in the Neyman–Pearson framework[J].Digital Signal Processing,2012,22(3):391-406.
    [97]HE Q,WANG J.Effects of multi-scale noise tuning on stochastic resonance for weak signal detection[J].Digital Signal Processing,2012,22(4):614-621.
    [98]朱光起,丁珂,张宇,等.基于随机共振进行弱信号探测的实验研究[J].物理学报,2010(5):3001-3006.ZHU G Q,DING K,ZHANG Y,et al.Experimental research of weak signal detection based on the stochastic resonance of nonlinear system[J].Acta Physica Sinica,2010(5):3001-3006.
    [99]赵文礼,刘进,殷园平.基于随机共振原理的中低频信号检测方法与电路设计[J].仪器仪表学报,2011,32(4):721-728.ZHAO W L,LIU J,YIN Y P.Medium-low frequency signal detection and circuit design based on stochastic resonance principle[J].Chinese Journal of Scientific Instrument,2011,32(4):721-728.
    [100]HINICH M.Detecting a transient signal by bispectral analysis[J].IEEE Transactions on Acoustics,Speech and Signal Processing,1990,38(7):1277-1283.
    [101]FONOLIOSA J R,NIKIAS C L.Wigner higher order moment spectra:Definition,properties,computation and application to transient signal analysis[J].IEEE Transactions on Signal Processing,1993,41(1):245.
    [102]RAVIER P,AMBLARD P O.Wavelet packets and de-noising based on higher-order-statistics for transient detection[J].Signal Processing,2001:1909-1926.
    [103]SHI P,DING X,HAN D.Study on multi-frequency weak signal detection method based on stochastic resonance tuning by multi-scale noise[J].Measurement,2014,47:540-546.

版权所有:© 2023 中国地质图书馆 中国地质调查局地学文献中心