CN101118159A - Full self-determination type underground pipeline measuring systems based on inertia technology - Google Patents
Full self-determination type underground pipeline measuring systems based on inertia technology Download PDFInfo
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Abstract
The present invention discloses a full-autonomous underground pipeline measurement system based on an inertia technology, and the system consists of an in-pipe measurement unit, an external control unit, and a data information processing unit. The in-pipe measurement unit is arranged into a pipeline being measured and is caused to move along the central axle line of the pipeline, the three dimensional information of the pipeline can be completely gotten through measuring the moving track of the in-pipe measurement unit. The system adopts a strapped-down inertial navigation technology to measure the course heading and the attitude angle of the in-pipe measurement unit (carrier), the angular motion information of the carrier is measured according to the gyro output angle rate, each instant accurate location of the carrier can be analyzed according to the integrated angle and the displacement information, thereby the three dimensional information of the pipeline can be obtained. The operation of the in-pipe measurement unit is irrelevant to the external factor such as depth, location, peripheral electromagnetic field, etc., not limited by other conditions, the integrated course angle, the attitude angle, and the instant location information of a navigation principle are applied to any depth, and the three dimensional information of the pipeline waiting for measuring can be independently measured.
Description
Technical field
The present invention relates to a kind of measuring system, more particularly say, be meant a kind ofly to be applicable to that the internal diameter 〉=80mm pipeline to having built up carries out full self-determination type underground pipeline measuring systems based on inertial technology.
Background technology
Along with the continuous propelling of urban infrastructure, there is increasingly extensive demand the underground pipeline survey location.Usually adopt electromagnetism pipeline orientator and ground penetrating radar that underground pipeline is carried out planimetric position and degree of depth mensuration in the engineering.On principle, there is following defective in these conventional measuring methods:
1) investigation depth limited (less than 5 meters)
2) be subject to electromagnetic interference (EMI), measuring accuracy can't guarantee
3) every kind of method only is applicable to a certain type of conduits
4) influence traffic above-ground
Can't measure when 5) there is barrier (river, building) on ground
6) inefficiency
7) data are not directly perceived
Therefore, autonomous entirely, anti-interference, versatility and the increasingly automated underground pipeline three-dimensional measurement Developing Trend in Technology that becomes.
Inertial technology (Inertial Technology) is the subject that research and utilization inertial sensor (gyroscope and accelerometer) carries out Navigation And Guidance.Inertial navigation is a kind of autonomous carrier location technology fully.In the inertial navigation positioning system,, extrapolate instantaneous velocity, position and the attitude of carrier in conjunction with displacement information with the rotation of gyroscope survey carrier.The equipment of forming inertial navigation all is installed in the carrier, does not rely on external information during work, also, be difficult for being interfered not to extraneous emittance, and be a kind of autonomous type positioning system.Along with the micro-mechanical inertia device rise of low cost, low-power consumption in recent years, the inertial positioning technology is applied in the various small-sized civil equipment more and more.
Summary of the invention
The objective of the invention is to propose a kind of full self-determination type underground pipeline measuring systems based on inertial technology, this measuring system adopts strapdown inertial navigation commercial measurement pipeline course, attitude angle, adopt mileage wheel measurement pipeline orientator displacement information in the pipe, the comprehensive course angle of utilization navigation principle, attitude angle and instantaneous position information are carried out the pipeline three-dimensional information and are measured.Angle that measuring system of the present invention is utilized and displacement information all are independently to measure, and not influenced by external environment and pipe material, have independence completely.
The present invention is a kind of full self-determination type underground pipeline measuring systems based on inertial technology, includes measuring unit, external control unit, processing data information unit in computing machine, the pipe.
Measuring unit is made up of quick-connecting inertia measurement module, odometer module, signal condition module, microprocessor and storer in the described pipe, wherein, and the gyroscope output angle rate information G of quick-connecting inertia measurement module
nThe accelerometer output acceleration information A of quick-connecting inertia measurement module
nThe signal condition module is used for the angular speed information G to the output of 1. quick-connecting inertia measurement module gyroscope
nCarry out output angle speed numerical information D after low-pass filtering, the analog-to-digital conversion process
G, the 2. acceleration information A of accelerometer output in the quick-connecting inertia measurement module
nCarry out exporting acceleration numerical information D after low-pass filtering, the analog-to-digital conversion process
AThe odometer module is used for writing down the travel information L of the interior measuring unit of described pipe at tested pipeline
nMicroprocessor is used to note the clock information T of reading of data
nAnd with the angular speed numerical information D that reads
G, acceleration numerical information D
A, travel information L
nCarry out being stored in the outer extension memory after data encapsulation is handled;
Described external control unit is made up of communication transit module and descending control module, wherein the communication transit module is used for the data buffering of measuring unit collection in the pipe is exported to described processing data information unit, and descending control module is used for measuring unit in managing is carried out on/off, battery electric power inspection control;
Pipeline three-dimensional information processing module in the described processing data information unit is stored in the described computing machine, is used to read the data that measuring unit is gathered in the pipe, and carries out three-dimensional information calculating, demonstration, preservation, format conversion.
Description of drawings
Fig. 1 is the structured flowchart of the interior measuring unit of pipe of system of the present invention.
Fig. 2 is the process flow diagram of microprocessor executing data.
Fig. 3 is the interface synoptic diagram of processing data information unit.
Fig. 4 is the process flow diagram of pipeline three-dimensional information processing module.
Embodiment
The present invention is described in further detail below in conjunction with drawings and Examples.
The present invention is a kind of full self-determination type underground pipeline measuring systems based on inertial technology, include the interior measuring unit of pipe, external control unit, processing data information unit (in the present invention, can be described as host computer, it is made up of a known computer and pipeline three-dimensional information processing module);
See also shown in Figure 1, measuring unit by quick-connecting inertia measurement module, odometer module (odometer and pulse signal conditioning), signal condition module, microprocessor and outer extension memory (in the present invention in the described pipe, because the storage data are more, need configuration one jumbo storer separately) form, wherein, the gyroscope output angle rate information G of quick-connecting inertia measurement module
n(be X-axis gyroscope output X-axis angular speed G
X, Y-axis gyroscope output Y-axis angular speed G
YWith Z axle gyroscope output Z shaft angle speed G
Z); The accelerometer output acceleration information A of quick-connecting inertia measurement module
n(be X-axis accelerometer output X-axis acceleration A
X, Y-axis accelerometer output Y-axis acceleration A
YWith Z axis accelerometer output Z axle acceleration A
Z); In the present invention, each device that comprises in the measuring unit in the pipe reasonably is installed on the pedestal can constitutes measuring unit in the hereinafter alleged pipe.
The signal condition module is used for the angular speed information G to the output of 1. quick-connecting inertia measurement module gyroscope
nCarry out output angle speed numerical information D after low-pass filtering, the analog-to-digital conversion process
G, the 2. acceleration information A of accelerometer output in the quick-connecting inertia measurement module
nCarry out exporting acceleration numerical information D after low-pass filtering, the analog-to-digital conversion process
A
The odometer module is used for writing down the travel information L of the interior measuring unit of described pipe at tested pipeline
nIn the present invention, measuring unit displacement information in the mileage wheel measurement pipe in measuring unit adopts and manages in pipe, the mileage wheel is close to inner-walls of duct motion, real time record displacement information.This metering system accuracy is higher, is not subjected to external disturbance, is easy to realize miniaturization.
Microprocessor is used to note reading of data and (comprises angular speed numerical information D
G, acceleration numerical information D
A, travel information L
n) clock information T
nAnd with the angular speed numerical information D that reads
G, acceleration numerical information D
A, travel information L
nCarry out being stored in the outer extension memory after data encapsulation is handled.The flow process of microprocessor executing data as shown in Figure 2, measuring unit adopts built-in data storage method in the described pipe, with the sensor measurement signal real-time storage in outer extension memory, be not electrically connected thereby have between measuring unit and the external unit in having guaranteed to manage in the measuring process, guarantee the independence of system.
Described processing data information unit is made up of known computer and pipeline three-dimensional information processing module, is used to read the data that measuring unit is gathered in the pipe, and carries out three-dimensional information calculating, demonstration, preservation, format conversion etc.Computing machine is chosen common desk-top or notebook, and this computing machine minimalist configuration is the PIII processor, and internal memory 128Mb, hard disk 5G, operating system are Windows NT series, and operating system call has USB or RS232 port.The interface of pipeline three-dimensional information processing module is referring to shown in Figure 3, (one) data read: measure finish after, by computing machine serial port measuring unit read sensor data in manage; (2) calculate, revise: (utilize pipeline end points Given information such as GPS and location latitude to carry out the method for off-line correction according to the sensor raw data utilization inertial navigation algorithm of measuring unit in the pipe, can further improve measuring accuracy, and can obtain the three-dimensional information with respect to geographic coordinate of pipeline) carry out coordinate Calculation; In conjunction with the entrance of user's input, the coordinate information of outlet, information such as location latitude are revised navigation data, finally obtain the three-dimensional coordinate information of underground pipeline in geographic coordinate system; (3) graphic presentation: with the pipeline three-dimensional information with plane and 3 D stereo mode synthesis display.Wherein 3-D display mode OpenGL technological development can be rotated arbitrarily and convergent-divergent the pipeline figure; (4) data management: measurement data is exported with multiple form, comprised graphic file, AutoCAD script file (.scr) and can import the comma-delimited file form (.csv) of Excel, its treatment scheme as shown in Figure 4.
Described external control unit is made up of communication transit module and descending control module, wherein the communication transit module is used for the data buffering of measuring unit collection in the pipe is exported to described processing data information unit, and descending control module is used for measuring unit in managing is carried out controls such as on/off, battery electric power inspection.Described external control unit is connected with measuring unit employing waterproof aviation plug in the described pipe.The communication transit module of described external control unit adopts USB interface or RS232 serial line interface to be connected with described processing data information unit.
In the present invention, in the pipe there be the treatment step of measuring unit: drive by the hawser traction or by air-pressure equipment and move in pipe under test, be used for the three-dimensional information of pipelines.This unit comprises four parts:
(A) Inertial Measurement Unit: be made up of three miniature fiber gyroscopes or micro-mechanical gyroscope and three micro-mechanical accelerometers, carrier angular speed and linear acceleration information are provided, its output signal is an analog voltage amount.Gyrostatic concrete model is according to pipe under test diameter and instrument cost decision.Three gyro pairwise orthogonals are installed, and make sensitive axes constitute the quadrature carrier coordinate system.Three accelerometer installation forms are identical with gyroscope, also can only adopt a three axis accelerometer.For saving data acquisition channel quantity, also can adopt digital output type accelerometer, the digital signal of its output is connected to the corresponding interface that microprocessor provides by I2C or spi bus.
(B) odometer: constitute by mileage wheels that have magnetic material and Magnetic Sensor (for example Hall element, mistor or magnetodiode etc.), be fixed on the interior measuring unit outer wall of pipe, be used for the distance that measuring unit is passed by in the measuring tube in pipe.The mileage wheels are made of a mileage wheel at least, and several magnetic points with magnetic material processing along the circumferential direction evenly distribute on the wheel.When measuring unit moved in pipe in the pipe, the mileage wheel was close to inside pipe wall and is rolled, and magnetic point is every through Magnetic Sensor once, and this sensor is just exported the primary voltage pulse signal, is sent to the navigation data processing unit by signal cable.Be the inefficacy that prevents that the mileage wheel is stuck in the pipe internal cause or skid and cause, can adopt 2～4 mileage wheels to constitute the mileage wheels and measure simultaneously.
(C) navigation data processing unit, comprise signal condition module, microprocessor and storer, be used to gather sensor signals such as gyroscope and mileage wheel, carry out real-time storage, and measuring computing machine (ground) derived data of end back in the processing data information unit.The signal condition module comprises A/D conversion, low-pass filtering and pulse conditioning counting, is used for the voltage signal of gyroscope and accelerometer output and the pulse signal of odometer output are converted to digital signal and filter away high frequency noise; Data storage cell is high-performance flash chip and peripheral circuit, is used for preserving in real time sensing data; Microprocessor adopts Floating-point DSP or high-performance single-chip microcomputer, for guaranteeing the high-speed data processing power, also can adopt forms such as single-chip microcomputer+FPGA, DSP+ single-chip microcomputer or DSP+FPGA to constitute dual-CPU system; Microprocessor is provided with hi-speed USB interface or RS232 interface at least, helps after measuring end the sensing data of storing being sent to computing machine (ground).
In pipe, also be provided with power supply unit in the measuring unit, adopt high capacity cell and conventional mu balanced circuit, for measuring unit in managing provide ± 5V and ± the 12V DC voltage, guarantee the interior measuring unit long time continuous working in pipeline of pipe.Adopt the shell of high-strength alloy materials processing, compact size has good shock resistance and water resistance, and the maskable electromagnetic interference (EMI) is guaranteed the built-in system operate as normal.
The present invention is based on the full self-determination type underground pipeline measuring systems of inertial technology, have the following characteristic:
(1) the comprehensive course angle of utilization navigation principle, attitude angle and instantaneous position information are carried out the pipeline three-dimensional information and are measured.On principle, measuring unit is put into pipe under test and is made it and moves along pipeline in will managing, and this movement locus can be expressed the three-dimensional information of pipeline fully.
(2) adopt strap-down inertial navigation system measuring channel course, attitude angle: this measuring method angular motion information of gyroscope output angle speed measurement carrier, comprehensive angle and displacement information can be extrapolated carrier in each instantaneous accurate position.External factor such as the work of this navigational system and the degree of depth, position and peripheral electromagnetic field are irrelevant, are not subjected to other conditionality, can realize all that on the degree of depth arbitrarily the pipeline three-dimensional information independently measures.
(3) adopt the interior measuring unit displacement information of mileage wheel measurement pipe in the pipe: the mileage wheel is close to inner-walls of duct motion, real time record displacement information.This metering system accuracy is higher, is not subjected to external disturbance, is easy to realize miniaturization.
(4) measurement result real-time storage function: measuring unit in the motion overall process, can write down each sensing data automatically in the pipe in pipeline, is stored in the private memory of this inside, unit, exports to ground-based computer after to be measured the finishing again.This function makes the interior measuring unit of pipe need not external cable when measuring, thereby further guarantees the independence of system.
(5) measurement result calculated off-line and bearing calibration: after measurement is finished measurement data is derived the measuring unit in managing, carry out navigation calculating behind the input computing machine.And utilize other means such as GPS, optical measurement to know the positional information and the on-site latitude of pipeline of entrance, outlet or intermediate features point, navigation calculating is revised, finally calculate the three-dimensional information of pipeline in geographic coordinate system (GIS).
(6) measuring unit centering device in the pipe: measuring unit is positioned on the tested pipeline axis all the time in this device holding tube.
In the present invention, angle of being utilized and displacement information all are independently to measure, and not influenced by external environment and pipe material, have independence completely.Measuring unit is put into tested pipeline and is made it and moves along the pipeline axis in will managing, and can obtain the three-dimensional information of pipeline fully by the movement locus of measuring unit in the measuring tube.This system adopts the course and the attitude angle of measuring unit (carrier) in the strapdown inertial navigation commercial measurement pipe, angular motion information with gyroscope output angle speed measurement carrier, comprehensive angle and displacement information can parse carrier in each instantaneous accurate position, thereby obtain the three-dimensional information of pipeline.The work of measuring unit and external factor such as the degree of depth, position and peripheral electromagnetic field are irrelevant in this pipe, be not subjected to the restriction of other condition, using the comprehensive course angle of navigation principle, attitude angle and instantaneous position information on the degree of depth arbitrarily, can both independently measure the three-dimensional information of pipe under test.
The method of operation that the present invention is based on the full self-determination type underground pipeline measuring systems of inertial technology is:
(1) the pipeline three-dimensional information is measured: opening conduits inlet, outlet, measuring unit is put into pipeline in will manage, treats that complete static back moves along the pipeline axis with measuring unit in hawser traction or the use air-pressure equipment driving tube, until walking end conduit whole process.For guaranteeing measuring accuracy, can come and go the same pipeline of duplicate measurements, get repeatedly measurement result mean value.
(2) data derive and calculated off-line: measuring unit is connected via the external control unit with ground-based computer in will managing, and reads instrument data by special software; Entrance and information such as exit coordinates, pipeline location latitude that input obtains by methods such as GPS, automatically calculate and revise by computing machine, obtain the three-dimensional coordinate information of pipeline in geographic coordinate system, carry out graphic presentation and be output as the data designated form.
Claims (7)
1. the full self-determination type underground pipeline measuring systems based on inertial technology includes computing machine, it is characterized in that: also include measuring unit, external control unit, processing data information unit in the pipe;
Measuring unit is made up of quick-connecting inertia measurement module, odometer module, signal condition module, microprocessor and storer in the described pipe, wherein, and the gyroscope output angle rate information G of quick-connecting inertia measurement module
nThe accelerometer output acceleration information A of quick-connecting inertia measurement module
n
The signal condition module is used for the angular speed information G to the output of 1. quick-connecting inertia measurement module gyroscope
nCarry out output angle speed numerical information D after low-pass filtering, the analog-to-digital conversion process
G, the 2. acceleration information A of accelerometer output in the quick-connecting inertia measurement module
nCarry out exporting acceleration numerical information D after low-pass filtering, the analog-to-digital conversion process
A
The odometer module is used for writing down the travel information L of the interior measuring unit of described pipe at tested pipeline
n
Microprocessor is used to note the clock information T of reading of data
nAnd with the angular speed numerical information D that reads
G, acceleration numerical information D
A, travel information L
nCarry out being stored in the outer extension memory after data encapsulation is handled;
Described external control unit is made up of communication transit module and descending control module, wherein the communication transit module is used for the data buffering of measuring unit collection in the pipe is exported to described processing data information unit, and descending control module is used for measuring unit in managing is carried out on/off, battery electric power inspection control;
Pipeline three-dimensional information processing module in the described processing data information unit is stored in the described computing machine, is used to read the data that measuring unit is gathered in the pipe, and carries out three-dimensional information calculating, demonstration, preservation, format conversion.
2. full self-determination type underground pipeline measuring systems according to claim 1 is characterized in that: the external control unit is connected with measuring unit employing waterproof aviation plug in the described pipe.
3. full self-determination type underground pipeline measuring systems according to claim 1 is characterized in that: the communication transit module of described external control unit adopts USB interface or RS232 serial line interface to be connected with described processing data information unit.
4. full self-determination type underground pipeline measuring systems according to claim 1, it is characterized in that: contain data read in the described pipeline three-dimensional information processing module, this data read is after the measuring unit measurement is finished in described pipe, by computing machine serial port read sensor data from microprocessor;
Contain calculating in the described pipeline three-dimensional information processing module, revise, this calculating, correction are carried out coordinate Calculation according to the sensing data that reads, and utilize GPS or the position of optical instrument measuring channel end points in geographic coordinate system, carry out off-line correction in conjunction with pipeline location latitude, finally obtain the three-dimensional coordinate information of pipe under test in geographic coordinate system;
Contain graphic presentation in the described pipeline three-dimensional information processing module, this graphic presentation with the pipeline three-dimensional information with plane and 3 D stereo mode synthesis display;
Contain data management in the described pipeline three-dimensional information processing module, this data management is exported measurement data with multiple form, comprises graphic file, AutoCAD script file (.scr) and can import the comma-delimited file form (.csv) of Excel.
5. full self-determination type underground pipeline measuring systems according to claim 1, it is characterized in that: measuring unit adopts built-in data storage method in the described pipe, with the sensor measurement signal real-time storage in outer extension memory, be not electrically connected thereby have between measuring unit and the external unit in having guaranteed to manage in the measuring process, guarantee the independence of system.
6. full self-determination type underground pipeline measuring systems according to claim 1 is characterized in that: measuring unit adopts the interior measuring unit displacement information of mileage wheel measurement pipe in the pipe in the described pipe.
7. full self-determination type underground pipeline measuring systems according to claim 1 is characterized in that: measuring unit moves along the axis of tested pipeline in the described pipe.
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