Tracing and localization system for pipeline robot

Two different robotic systems for in-pipe inspection of underground oil pipelines are overviewed. This paper mostly introduces the tracing and localization technology of in-pipe robot without tether cable. The key technique is how to achieve reliable communication between inside and outside of metal...

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Bibliographic Details
Published inMechatronics (Oxford) Vol. 19; no. 1; pp. 76 - 84
Main Authors Qi, Haiming, Zhang, Xiaohua, Chen, Hongjun, Ye, Jinrui
Format Journal Article
LanguageEnglish
Published Oxford Elsevier Ltd 01.02.2009
Elsevier
Subjects
Applied sciences
Communication
Computer science; control theory; systems
Control system synthesis
Control theory. Systems
Exact sciences and technology
Extreme low frequency
Industrial metrology. Testing
Low power consumption
Mechanical engineering. Machine design
Pipeline robot
Robotics
Tracing and localization
Tracing and localization
Pipeline robot
Extreme low frequency
Low power consumption
Communication
Cable
Autonomous system
Energy consumption
Artificial satellite
Database query
Long distance
Radiolocalisation
Control synthesis
Low frequency
Robotics
Localization
Monitoring
Electromagnetism
GPS system
Transmission protocol
Buried pipe
Compact design
Underground pipeline
Oil pipeline
Tether
Piping
Shielding effect
Position measurement
Robot
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Summary:Two different robotic systems for in-pipe inspection of underground oil pipelines are overviewed. This paper mostly introduces the tracing and localization technology of in-pipe robot without tether cable. The key technique is how to achieve reliable communication between inside and outside of metallic pipeline. In order to solve the shielding effect of metallic pipe-wall, extreme-low-frequency electromagnetic pulse (ELF-EP) is adopted to transmit messages. According to the multiple-satellite measuring principle, pipeline global position system (P-GPS) is proposed serving as long-distance tracing and near-field localization. The design method of compacted communication system with low power consumption is introduced and the communication protocol is made. An effective localization algorithm based on database query is presented. The tracing and localization system is verified with robust solutions during field tests and can be applied to various in-pipe robots for autonomous motion and inspection.
ISSN:0957-4158
1873-4006
DOI:10.1016/j.mechatronics.2008.06.001