基于电磁超声的天然气管道机器人测控系统设计

Design of Measurement and Control System for Natural Gas Pipeline Inspection Robot Based on EMAT

摘要:

分析了国内天然气管道现状及检测维护情况,针对目前天然气管道裂纹缺陷检测问题,采用电磁超声检测方法,并结合虚拟仪器技术,设计了天然气管道机器人测控系统；系统以PXI模块化仪器平台为核心,结合数据采集模块和运动控制模块构建了硬件平台,以LabVIEW编程语言为基础开发了人机交互软件平台；该系统能够控制机器人在管道内的运动,并可在管道内壁激励和接收超声导波；整个系统可靠性高、扩展性强、人机交互界面友好,满足了机器人管内电磁超声检测作业时的运动控制、数据采集及处理要求。

Abstract:

The current situation of detection and repair of domestic natural gas pipeline are introduced. As the crack detection still poses a problem, a measurement and control system based on virtual instrument and EMAT is designed. PXI modular instrument platform is taken as the core of the system and a hardware platform, combined with data acquisition module and motion control module is built. A human–machine interaction software platform is designed based on LabVIEW. Robots can be controlled to move through the pipe, to produce and receive ultrasonic guided waves by the system. With the system’s reliability, expansibility, and user-friendly human machine interaction, the demands of motion control, data collection and processing can be met when the robot is conducting EMAT detecting through the pipe.