管道机器人毕业论文.docVIP

管道机器人毕业论文 PAGE 1 管道机器人毕业论文 燃气管道内部缺陷智能检测器的设计 摘　　要 本课题来源于实际科研项目——燃气管道内部缺陷智能检测器的设计，并为其子项目之一。管道内部缺陷检测机器人的设计涉及电子、计算机、信息处理、模式识别、探伤、管道等。目前，管道无损检测的方法很多，利用漏磁管道检测的方法通用性广，本课题因此应运而生。 本课题利用实验室环境建立管道模型，进行运载体管道定位技术研究，完成运行体及检测电路设计。第一章绪论介绍课题的背景意义，国内外的发展现状。第二章说明管道检测的基本原理及对缺陷漏磁场分析出的三种理论模型，并列举漏磁场的三个影响因素。第三章说明了霍尔传感器功能及应用，并进行硬件电路的的设计。第四章简要说明了运载体管内定位方法，并进行运载体的外形设计。 通过本课题的研究，自己对管道漏磁检测有了更为深入的理解，对管道定位技术有了新的认识，自己解决问题的能力也得到了提高。 关键词：管道机器人；漏磁检测；霍尔传感器；定位技术；运载体设计 ABSTRACT The paper stems from one of sub-projects of the actual scientific research project-gas pipeline of internal defects in the design of intelligent detector.The design of pipeline internal defect inspection robot is involved in electronics, computer, information processing, pattern recognition, flaw detection, pipe and other. At present, there are a lot of pipeline non-destructive testing methods. Magnetic flux leakage pipeline inspection is used widely, the subject thus comes into being. The pipe model was established based on laboratory environment,through the research of pipeline carrier positioning technology,the paper completed detection circuit operation and design of body. In this paper Chapter I introduces the background and signification of the inspection, and the development of the project at home and abroad. Chapter II introduces to the basic principles of pipeline inspection and three theoretical models of detection analysis of leakage magnetic field , and lists the three magnetic field leakage factor. The third chapter describes the function and application of Hall sensor and the design of hardware circuits. Chapter IV provides a brief description about the transporter tube positioning methods, and design method of the carrier is given. Through the study of the subject,basic understanding to pipeline magnetic flux leakage testing technique can be given to me, ,and ability to solve actual problem also has been improved. Key words:pipeline robot;magnetic flux leakage testing;hall sensor; positioning technology; carrier d