This paper presents the study of a pipeline robot based on a bristle mechanism. The bristle mechanism shows great flexibility and makes the pipeline robot to be able to work in ill-constraint pipes, which were previou...
详细信息
This paper presents the study of a pipeline robot based on a bristle mechanism. The bristle mechanism shows great flexibility and makes the pipeline robot to be able to work in ill-constraint pipes, which were previously considered as unpiggable or uninspectable. The working principle of pipeline robot is illustrated and the bristle mechanism is given in-depth analysis. Bristle traction force model is set up and the approximate calculation of bristle traction force based on Euler buckling theory is also described. The approximate calculation is conducted and simulated by using one single bristle. A laboratory experiment of bristle traction force is carried out and then the experimental result is compared with the calculation result. The experimental result shows the validity of bristle traction force model. Field trials of brush pipeline robots are also conducted in ill-constraint pipes and trial results show the flexibility and adaptability of the bristle mechanism. Future work and key issues in the research of brush pipeline robots are discussed at the end of the paper.
This paper developed a fuzzy logic controller with a neural network control system for sensor based pipeline robot navigation in pipe environment. The fuzzy controller creates initial membership functions and fuzzy lo...
详细信息
ISBN:
(纸本)9783540885160
This paper developed a fuzzy logic controller with a neural network control system for sensor based pipeline robot navigation in pipe environment. The fuzzy controller creates initial membership functions and fuzzy logic rules. the neural network, which automatically process range information for determining a good steering angle in local regions. This NN-fuzzy system is used to control the mobile pipeline robot, which is equipped with an array of ultrasonic sensors to acquire the distance between the pipeline robot and obstacle. On the basis of this system, a strategy for combining local behavior control with global behavior control planning was proposed in this paper. Finally a pipeline robot runs in simulation environment. The experimental results show that appropriate control mechanisms of the fuzzy controller are obtained by evolution. The controller has evolved well enough to smoothly drive the pipeline robot in different pipe environment.
The magnetic field distribution of an emission antenna is studied in this *** the slenderness ratio of the emission antenna is high,the emission antenna can be simplified as a magnetic dipole for practical *** numeric...
详细信息
The magnetic field distribution of an emission antenna is studied in this *** the slenderness ratio of the emission antenna is high,the emission antenna can be simplified as a magnetic dipole for practical *** numerical results of the magnetic dipole magnetic field show that the magnetic magnitude distribution has a hump-shape,whose direction is perpendicular with the antenna axis direction.A localization method based on the hump-shape signal detection is *** experimental result shows that the precision can reach a value of±5 *** method can be used to localize a pipeline robot working in a metal pipe.
This paper developed a fuzzy logic controller with a genetic algorithm control system for sensor based pipeline robot navigation in pipe environment. The fuzzy controller creates initial membership functions and fuzzy...
详细信息
ISBN:
(纸本)9781424417339
This paper developed a fuzzy logic controller with a genetic algorithm control system for sensor based pipeline robot navigation in pipe environment. The fuzzy controller creates initial membership functions and fuzzy logic rules. the genetic algorithm, which automatically designs a fuzzy logic controller by modifying the position of controller membership functions and the commands given to the pipeline robot, optimizes the fuzzy controller. This GA-fuzzy system is used to control the mobile pipeline robot, which is equipped with an array of ultrasonic sensors to acquire the distance between the pipeline robot and obstacle. On the basis of this system, a strategy for combining local behavior control with global behavior control planning was proposed in this paper. Finally a pipeline robot runs in simulation environment. The experimental results show that appropriate control mechanisms of the fuzzy controller are obtained by evolution. The controller has evolved well enough to smoothly drive the pipeline robot in different pipe environment.
High pressure isolation plug train is a remote control, tetherless, highly piggable and high pressure isolation tool. The advantage of using the pressure isolation tool is to minimize production down time. Domestic re...
详细信息
ISBN:
(纸本)9780878492268
High pressure isolation plug train is a remote control, tetherless, highly piggable and high pressure isolation tool. The advantage of using the pressure isolation tool is to minimize production down time. Domestic research has started recently because of the foreign blockade of its core technologies, there are no relative products coming out currently. The smartplug that have been mentioned consist of plugging module, pigging module, hydraulic power module and communication and control module. The paper describes design ideas of each module in detail respectively and according to the design methods the prototype with diameter of 12 inches has been produced so far. Sealing pressure achieves 10Mpa by experiment. Looking forward to the technology would be applied in pipeline valve replacements and repairs, riser replacements and repairs, pressure test of risers and pipelines, midline pipeline repairs and relative engineering areas.
The elbow of pipe is one kind of barrier which the pipeline robots frequently encounter, compared with walkidng in straight pipe the influence factor on robot driving force are more complex at this position. This pape...
详细信息
ISBN:
(纸本)9781424417612
The elbow of pipe is one kind of barrier which the pipeline robots frequently encounter, compared with walkidng in straight pipe the influence factor on robot driving force are more complex at this position. This paper is focus on research the influence factor, namely the additional deformation of elastic wheel legs, to robot driving force at elbow of pipe. Firstly, the composition of robot driving force was analyzed, and the influence model of additional deformation of elastic wheel legs was established about all-driven wheel pipeline robot. Finally, the virtual test of this influence analysis has been carried out. The obtained conclusions can be served as the numeric foundation of driving force design criterion in order to make pipeline robot can autonomously walk in pipe.
A global localization system of in-pipe robot is introduced in this *** position system(GPS)is applied to monitor the motion of robot along the whole pipeline which is equally divided intomany segments by tracking ***...
详细信息
A global localization system of in-pipe robot is introduced in this *** position system(GPS)is applied to monitor the motion of robot along the whole pipeline which is equally divided intomany segments by tracking *** definite segment in which robot existing can be detected and thisis long-range ***-long wave(ULW)is adopted to solve the problem of metallic shieldingand realize effective communication between inside and outside of *** emitter is carried *** the plant is broken or defects on pipe-wall are inspected,the robot will stop ***-na array is presented and disposed upon the definite segment to search the accurate location of robot,andthis is short-range *** this paper,five-antenna array is adopted and an effective linear signalfusion algorithm is *** localization precision reaches R < *** tests in Shengli oil field,the whole system is verified with robust solutions.
A "spherical mirror-CCD" vision position sensor scheme is presented with the relationship between image parameters and distance between the pipeline robot and the welding line formulated. By applying the tec...
详细信息
ISBN:
(纸本)7560317685
A "spherical mirror-CCD" vision position sensor scheme is presented with the relationship between image parameters and distance between the pipeline robot and the welding line formulated. By applying the techniques, such as "associative memory neural network" and "image symmetric compression", the accuracy of the vision position sensor can be +/-1 pixel (+/-5 mm), and the frequency of sampling can reach 3 Hz.
Aimed at the environment recognition problem of pipeline robot in bent pipes this paper constructs the characteristic rotating vector description of images and uses RBF neural network to recognize the direction of tur...
详细信息
ISBN:
(纸本)7312012035
Aimed at the environment recognition problem of pipeline robot in bent pipes this paper constructs the characteristic rotating vector description of images and uses RBF neural network to recognize the direction of turn. Experiments prove that the speed and accuracy of the algorithms can meet the requirement of visual servo control in pipeline robot.
暂无评论