3-D Positioning Method of Pipeline Robots Based on a Rotating Permanent Magnet Mechanical Antenna

Chen, Yinglong; Liu, Zichen; Li, Ang; Ning, Dayong; Hou, Jian; Zhang, Zeng-Meng; Gong, Yu

doi:10.1109/jsen.2023.3244270

Cited by 4 publications

(1 citation statement)

References 34 publications

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“…Permanent-magnet-type mechanical antennas have recently received wide attention in the field of underwater and underground communications. They can produce a strong magnetic field by using a small permanent magnet of high magnetic energy density [ 17 ], which provides a new method for the localization of and communication with pipeline robots [ 18 ].…”

Section: Introductionmentioning

confidence: 99%

A Novel Dual-Permanent-Magnet Mechanical Antenna for Pipeline Robot Localization and Communication

Dong

Zhang

et al. 2023

Sensors

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The demand for pipeline inspection has promoted the development of pipeline robots and associated localization and communication technologies. Among these technologies, ultra-low-frequency (30–300 Hz) electromagnetic waves have a significant advantage because of their strong penetration, which can penetrate metal pipe walls. Traditional low-frequency transmitting systems are limited by the size and power consumption of the antennas. In this work, a new type of mechanical antenna based on dual permanent magnets was designed to solve the above problems. An innovative amplitude modulation scheme that involves changing the magnetization angle of dual permanent magnets is proposed. The ultra-low-frequency electromagnetic wave emitted by the mechanical antenna inside the pipeline can be easily received by the antenna outside to localize and communicate with the robots inside. The experimental results showed that when two N38M-type Nd–Fe–B permanent magnets with a volume of 3.93 cm3 each were used, the magnetic flux density reached 2.35 nT at 10 m in the air and the amplitude modulation performance was satisfactory. Additionally, the electromagnetic wave was effectively received at 3 m from the 20# steel pipeline, which preliminarily verified the feasibility of using the dual-permanent-magnet mechanical antenna to achieve localization of and communication with pipeline robots.

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Section: Introductionmentioning

confidence: 99%