CN112178360A - System and method for rapidly positioning infrasonic pipeline robot - Google Patents
System and method for rapidly positioning infrasonic pipeline robotDownload PDFInfo
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- CN112178360A CN112178360ACN202010616004.8ACN202010616004ACN112178360ACN 112178360 ACN112178360 ACN 112178360ACN 202010616004 ACN202010616004 ACN 202010616004ACN 112178360 ACN112178360 ACN 112178360A
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- 238000012545processingMethods0.000claimsdescription17
- 238000013461designMethods0.000claimsdescription8
- 238000012544monitoring processMethods0.000claimsdescription5
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- 238000004364calculation methodMethods0.000description3
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- 238000004140cleaningMethods0.000description2
- 238000012351Integrated analysisMethods0.000description1
- 238000009933burialMethods0.000description1
- 230000007797corrosionEffects0.000description1
- 238000005260corrosionMethods0.000description1
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/48—Indicating the position of the pig or mole in the pipe or conduit
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/10—Treating the inside of pipes
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
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- Radar, Positioning & Navigation (AREA)
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- Combustion & Propulsion (AREA)
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- Acoustics & Sound (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
Description
Technical Field
The invention relates to a rapid positioning system and a rapid positioning method for an infrasonic pipeline robot, which can be used for the ball passing operation process of oil, gas and other various conveying medium pipelines.
Background
At present, the mileage of pipelines in China reaches over 10 kilometers, and serious accidents such as corrosion perforation, leakage pollution, blockage of pipe explosion and the like can happen to the pipelines along with the lapse of time, so that the life and property are seriously lost. In order to prevent accidents, the pipeline robot needs to be regularly used for detecting and cleaning the pipeline robot. However, in the process of cleaning the pipeline by the pipeline robot, the pipeline robot is easy to block in the pipeline and is limited by the existing communication equipment and positioning technology, the pipeline condition is mostly unknown, the pipeline robot cannot be accurately positioned, fuzzy excavation, blind scrapping and the like are often caused, and the resource waste is serious.
At present, there are many international pipeline inspection robot positioning methods, mainly including: the mile wheel positioning method, the visual CCD positioning method, the Beidou/GPS positioning method, the low-frequency electromagnetic wave positioning method and the like are influenced by the length, the environment and the burial depth of the pipeline, the methods are greatly limited, the positioning effect is poor, and the positioning of the pipeline robot which is clamped can not be realized.
Disclosure of Invention
The invention aims to provide a system capable of quickly positioning a pipeline robot, aiming at the defects in the prior art.
It is still another object of the present invention to provide a method for quickly positioning a pipeline robot.
In order to achieve the purpose, the invention discloses the following technical scheme:
infrasonic pipeline robot quick positioning system includes main website system and substation system:
the substation system comprises an infrasonic wave sensor, a preamplifier and a data acquisition system which are connected in sequence;
the master station system comprises a data analysis system and a display terminal which are connected with each other;
the infrasonic wave sensor is connected with a monitored pipeline, and the data acquisition system is connected with the data analysis system through a data communication module;
the infrasonic wave sensor receives infrasonic wave signals in the pipeline and converts the infrasonic wave signals into electric signals;
the pre-amplifier amplifies and filters the electric signal and transmits the electric signal to a data acquisition system;
the data acquisition system converts the electric signals into data and sends the acquired infrasonic data to the data analysis system through the data communication module;
the data analysis system determines the position of the pipeline robot by analyzing and processing the data set sent by the data acquisition system.
Furthermore, the frequency of the sound wave received by the infrasonic wave sensor is 0 Hz-20 Hz.
Furthermore, the data communication module comprises a redundancy design, and the redundancy design comprises wireless and wired communication modes.
Furthermore, the data acquisition system comprises a Beidou/GPS time service module, and the time service precision is in a nanosecond level.
Furthermore, the substation systems are respectively arranged at the two monitored ends, and the data analysis system receives a plurality of data sent by the data acquisition systems of the substation systems.
The invention also discloses a method for quickly positioning the infrasonic pipeline robot, which utilizes the infrasonic pipeline robot quick positioning system to monitor infrasonic signals in a pipeline in real time so as to judge the implementation position of the pipeline robot.
Further, the method specifically comprises the following steps:
the substations which are arranged at the two ends of the monitored pipeline are provided with at least one infrasonic wave sensor which is used for receiving infrasonic wave signals in the pipeline and converting the infrasonic wave signals into electric signals; the pre-amplifier amplifies and filters the electric signal and transmits the electric signal to the data acquisition system; the data acquisition system comprises a Beidou/GPS time service module and a data communication module and is responsible for converting electric signals into data and sending acquired infrasonic data to the data analysis system through the data communication module; the data analysis system judges the position of the pipeline robot by analyzing and processing the data sent by the acquisition system.
Furthermore, in the actual monitoring process, a plurality of substation systems are arranged at two ends of the monitored pipeline, the data analysis system is connected with a data acquisition system for receiving the substation systems, and the data is processed and comprehensively analyzed by using a signal processing and recognition algorithm to judge the position of the pipeline robot.
Furthermore, one or more signal processing modes including an expert database, a fuzzy neural network, wavelet transformation and a support vector machine are adopted in the signal processing and identifying algorithm to carry out comprehensive analysis and calculation.
According to the technical scheme provided by the invention, the infrasonic pipeline robot rapid positioning system provided by the embodiment of the invention comprises a master station system and a substation system; the substation system comprises an infrasonic wave sensor, a preamplifier and a data acquisition system which are connected in sequence; the master station system comprises a data analysis system and a display terminal which are connected with each other; the infrasonic wave sensor is connected with a monitored pipeline, and the data acquisition system is connected with the data analysis system through a data communication module; the infrasonic wave sensor receives infrasonic wave signals in the pipeline in real time and converts the infrasonic wave signals into electric signals; the pre-amplifier amplifies and filters the electric signal and transmits the electric signal to the data acquisition system; the data acquisition system converts the electric signals into data and sends the acquired infrasonic data to the data analysis system through the data communication module; the data analysis system judges the position of the pipeline robot in real time by analyzing and processing the data sent by the data acquisition system. When the pipeline robot stops moving, the alarm prompt can be timely and quickly sent out, so that relevant departments can take measures in time.
Drawings
Fig. 1 is a schematic structural diagram of a infrasonic pipeline robot rapid positioning system according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The core of the invention is to provide a system and a method for quickly positioning an infrasonic pipeline robot, so as to describe the position of the pipeline robot timely and quickly, and when the pipeline robot stops moving, workers can be prompted timely, so that relevant departments can take measures timely.
Please refer to fig. 1.
Infrasonic pipeline robot quick positioning system includes main website system and substation system:
the substation system comprises an infrasonic wave sensor, a preamplifier and a data acquisition system which are connected in sequence;
the master station system comprises a data analysis system, a display terminal and the like which are connected with each other.
The infrasonic wave sensor is connected with a monitored pipeline, and the data acquisition system is connected with the data analysis system through a data communication module;
the infrasonic wave sensor receives infrasonic wave signals in the pipeline and converts the infrasonic wave signals into electric signals;
the pre-amplifier amplifies and filters the electric signal and transmits the electric signal to a data acquisition system;
the data acquisition system converts the electric signals into data and sends the acquired infrasonic data to the data analysis system through the data communication module;
the data analysis system determines the position of the pipeline robot by analyzing and processing the data set sent by the data acquisition system.
Compared with the prior art, the invention has obvious advantages. According to the technical scheme, the pipeline robot can cause disturbance of a medium when moving, continuous infrasonic beam signals are generated, the system judges the real-time position of the pipeline robot through the infrasonic signals in the real-time monitoring pipeline, and the system provides a novel pipeline robot rapid positioning mode. Compared with the prior art, the scheme has the advantages of timely and accurate alarm and less influence by the surrounding environment and the self environment of the pipeline.
In this embodiment, the frequency of the sound wave received by the infrasonic wave sensor is 0Hz to 20 Hz. The data communication module comprises a redundancy design, and the redundancy design comprises wireless and wired communication modes. The data acquisition system comprises a Beidou/GPS time service module, and the time service precision is in a nanosecond level. The substation systems are respectively arranged at the two monitored ends, and the data analysis system receives a plurality of data sent by the data acquisition systems of the substation systems.
A rapid positioning method of an infrasonic pipeline robot utilizes a rapid positioning system of the infrasonic pipeline robot to monitor infrasonic signals in a pipeline in real time so as to judge the implementation position of the pipeline robot. The method specifically comprises the following steps: the substations which are arranged at the two ends of the monitored pipeline are provided with at least one infrasonic wave sensor which is used for receiving infrasonic wave signals in the pipeline and converting the infrasonic wave signals into electric signals; the pre-amplifier amplifies and filters the electric signal and transmits the electric signal to the data acquisition system; the data acquisition system comprises a Beidou/GPS time service module and a data communication module and is responsible for converting electric signals into data and sending acquired infrasonic data to the data analysis system through the data communication module; the data analysis system judges the position of the pipeline robot by analyzing and processing the data sent by the acquisition system.
In this embodiment, in the actual monitoring process, the both ends of being monitored the pipeline are equipped with a plurality of substation systems, and data analysis leads to the data acquisition system who receives a plurality of substation systems, and application signal processing and recognition algorithm handle and integrated analysis to data, judge the position of pipeline robot. In the signal processing and identifying algorithm, one or several signal processing modes including expert database, fuzzy neural network, wavelet transform and support vector machine are used for comprehensive analysis and calculation.
When the distance is measured, the following formula is adopted for calculation:
wherein, X is the distance between the sensor at the left end of the pipeline and the pipeline robot in FIG. 1, L is the distance between the sensors arranged at the two ends of the pipeline, T1-T2 bit time difference of the infrasonic wave signal reaching the sensors at the two ends, and C is the speed of the infrasonic wave propagating in the pipeline medium.
The invention adopts the infrasonic wave sensor with high sensitivity, and the redundant design of the system reduces the possibility of system failure. The field device adopts a backup design, and can ensure normal work even if a certain part fails; the Beidou/GPS time service is adopted, so that the positioning precision of the system is improved.
The invention adopts a special high-sensitivity infrasonic wave sensor and a special data processing and identifying algorithm, ensures the system time synchronization precision of different monitoring points through a high-precision Beidou/GPS timing module, and can prompt the real-time position of the pipeline robot timely, effectively and accurately.
The foregoing is only a preferred embodiment of the present invention and is not limiting thereof; it should be noted that, although the present invention has been described in detail with reference to the above embodiments, those skilled in the art will understand that the technical solutions described in the above embodiments can be modified, and some or all of the technical features can be equivalently replaced; and the modifications and the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (9)
1. Infrasonic pipeline robot quick positioning system, its characterized in that includes main website system and substation system:
the substation system comprises an infrasonic wave sensor, a preamplifier and a data acquisition system which are connected in sequence;
the master station system comprises a data analysis system and a display terminal which are connected with each other;
the infrasonic wave sensor is connected with a monitored pipeline, and the data acquisition system is connected with the data analysis system through a data communication module;
the infrasonic wave sensor receives infrasonic wave signals in the pipeline and converts the infrasonic wave signals into electric signals;
the pre-amplifier amplifies and filters the electric signal and transmits the electric signal to a data acquisition system;
the data acquisition system converts the electric signals into data and sends the acquired infrasonic data to the data analysis system through the data communication module;
the data analysis system determines the position of the pipeline robot by analyzing and processing the data set sent by the data acquisition system.
2. The infrasonic pipeline robot rapid positioning system of claim 1, wherein the frequency of the infrasonic sensor receiving the sound waves is 0Hz to 20 Hz.
3. The infrasonic pipeline robot fast positioning system of claim 1, wherein the data communication module comprises a redundant design, the redundant design comprising wireless and wired communication.
4. The infrasonic pipeline robot rapid positioning system of claim 1, wherein the data acquisition system comprises a Beidou/GPS time service module, and the time service precision is in the nanosecond level.
5. The infrasonic pipeline robot rapid positioning system of claim 1, wherein the substation systems are respectively provided at both ends to be monitored, and the data analysis system receives data transmitted from data acquisition systems of a plurality of the substation systems.
6. A method for rapidly positioning an infrasonic pipeline robot, which is characterized in that the infrasonic signal in the pipeline is monitored in real time by using the infrasonic pipeline robot rapid positioning system as claimed in claims 1-5 so as to judge the implementation position of the pipeline robot.
7. The infrasonic pipeline robot rapid positioning method according to claim 6, specifically comprising the steps of:
the substations which are arranged at the two ends of the monitored pipeline are provided with at least one infrasonic wave sensor which is used for receiving infrasonic wave signals in the pipeline and converting the infrasonic wave signals into electric signals; the pre-amplifier amplifies and filters the electric signal and transmits the electric signal to the data acquisition system; the data acquisition system comprises a Beidou/GPS time service module and a data communication module and is responsible for converting electric signals into data and sending acquired infrasonic data to the data analysis system through the data communication module; the data analysis system judges the position of the pipeline robot by analyzing and processing the data sent by the acquisition system.
8. The method as claimed in claim 7, wherein during the actual monitoring process, the two ends of the monitored pipeline are provided with a plurality of substation systems, the data analysis system receives the data acquisition systems of the substation systems, and the position of the pipeline robot is determined by processing and analyzing the data comprehensively by using signal processing and recognition algorithms.
9. The method of claim 8, wherein the signal processing and recognition algorithm is one or more of expert database, fuzzy neural network, wavelet transform, and support vector machine.
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| CN202010616004.8ACN112178360A (en) | 2020-06-30 | 2020-06-30 | System and method for rapidly positioning infrasonic pipeline robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114646023A (en)* | 2022-04-18 | 2022-06-21 | 中海福建天然气有限责任公司 | Infrasonic pipeline leakage monitoring and rapid positioning device |
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