Localization technique research of a pipeline robot based on the magnetic-dipole model

摘要

The magnetic field distribution of an emission antenna is studied in this paper. When the slenderness ratio of the emission antenna is high, the emission antenna can be simplified as a magnetic dipole for practical application. The numerical results of the magnetic dipole magnetic field show that the magnetic magnitude dis-tribution has a hump-shape, whose direction is perpendi-cular with the antenna axis direction. A localization method based on the hump-shape signal detection is presented. The experimental result shows that the preci-sion can reach a value of + 5 cm. The method can be used to localize a pipeline robot working in a metal pipe.