不可清管天然气管道机器人MFL系统的研制

2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI) Pub Date : 2013-12-02 DOI:10.1109/URAI.2013.6677469

Dae-Kwang Kim, H. Yoo, Junghyun Yoo, Dong-Kyu Kim, Sung-Ho Cho, Sung-Ja Koo, R. Woo, Haeseung Jung

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引用次数: 9

摘要

本文介绍了KOGAS于2011年启动的一个研究项目开发的MFL系统，用于开发名为“PIBOT”的ILI(在线检测)机器人，用于检测16英寸至14英寸不可清管的天然气管道。漏磁系统的所有元件和功能都被设计为最小化磁化器与管壁之间的摩擦和最大化缺陷检测。为了提高车辆的行驶性能和越障能力，研制了可控制磁通方向的分路系统。在搭建的不可清管仿真设施(UPSF)中，对该系统进行了缺陷检测性、驱动效率和抗压能力等多项性能测试，验证了该系统的性能。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Development of MFL system for in-pipe robot for unpiggable natural gas pipelines

This paper introduces a MFL system developed by a research project, which has been being conducted by KOGAS and initiated in 2011, to develop ILI (In-Line Ispection) Robot named “PIBOT” for the inspection of 16” to 14” unpiggable natural gas pipelines. All elements and functions in the proposed MFL (Magnetic Flux Leakage) system were designed to minimize friction between magnetizer and pipe wall and maximize defect detectability. To enhance driving performance and the ability of obstacle-negotiation, shunting system that can control direction of magnetic flux was developed. The performance of proposed MFL system was verified in the UPSF (Unpiggable Pipeline Simulation Facility) constructed to undertake several kinds of performance test about defect detectability, driving efficient and pressure resistance ability.

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2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)

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