输油管道探伤机器人的数据采集技术

,1),(,201800):,,:;;;:TG115.28;TP242:A:100026656(2002)0320103205DATAACQUISITIONTECHNIQUEFORPIPELINEINSPECTIONPIGZHAOHeng2kai,FANGZhen2he1),ZHANGJun(DepartmentofCommunicationandInformation,ShanghaiUniversity,Shanghai201800,China)Abstract:Dataacquisitiontechniqueisacruxforpipelineinspectionpig.Adataacquisitionsystemhasbeenprovidedforthepig.Thetechnicalproblemsindevelopingthesystemhavebeenanalysedindetail,andthemeasureshavebeenputforward.Keywords:Nondestructivetesting;Oilpipeline;Robot;Dataprocessing,,,,,,,,,,,,,:2000212207:863(9913201)1),201800,,,,,,,2090,,[1],,,(R&D),[2],200010,30124320023NDTVol.24No.3Mar.2002©1995-2004TsinghuaTongfangOpticalDiscCo.,Ltd.Allrightsreserved.,1,,,111,,;,;,[3,4],,,,,,,,[5],,,2,,,;(,,),,,,,,,;,(),[3];,,,(),,,2mm,2mm,,16,/8rad,,,,2.1SQ(bit),DL,CC=DSLSQ(1)D/SL/S,,8bit,,25mm,0.1mm;,,12bit,,0.8m(0.4m),0.1mm401:©1995-2004TsinghuaTongfangOpticalDiscCo.,Ltd.Allrightsreserved.,16,,4bit,Q=24bit(0.002m)0.5m100kmC=0.50.00210010000.00224=942(Gbit),,,,,,,2.2SVQ,DL,RR=DSVSQ(2)V/SD,S,Q,V=0.5m/s,R=0.50.0020.50.00224=4.71(Mbit/s),,16,16,,,2.3,,,,,3,1(2)2(3)233.121,,,,,,,,,(),,,,,,12bit8bit1/100,,C=9421002024=7.85(Gbit),,3.23,16,,,(3),501:©1995-2004TsinghuaTongfangOpticalDiscCo.,Ltd.Allrightsreserved.,3,,,,,,,,,,,,,,,,;,,,,4ab3.3,,,(5),,,,,,,,(a)(b)45,,803,,,,,803,,,,,,,4,,601:©1995-2004TsinghuaTongfangOpticalDiscCo.,Ltd.Allrightsreserved.,67,6,76,,2355mm,11mm,522mm,31cm2,6.9mm;7,,,7.5mm,675,,=K1=K2()K1,K2,,:5.1,,,(1),,,,(2);(DSP)5.2,,,:(1),,,,,(2),,,(DOC)(DOM),DOCDOM,,(SCSI)DOCDOM,,;,DOCDOM,:[1]NaylorJon.Advanceinpiggingtechnology[J].Pipeline&GasJournal,1998,225(8):49-54.[2]CordellJim.Utilitypigdesignincreasinglyscientific[J].Pipeline&GasJournal,1999,226(8):42-44.[3]FarquJasonA.Magneticpulsingtechniquefortracking,locatingpigs[J].PipelineIndustry,1994,77(1):59-62.[4]GwartneyWR.Ultrasonicin2serviceinspection[J].Pipeline&GasJournal,1991,218(3):21-27.[5]VingerhadenArne,CordellJim.Thedesignanddevelop2mentofmultidiameterpigsforpipelinesandflexiblerisers[J].Pipes&PipelineInternational,1999,44(1):5-15.701:©1995-2004TsinghuaTongfangOpticalDiscCo.,Ltd.Allrightsreserved.