CN101251588B - Mobile carrier omnidistance labelling positioning device within metallic pipe - Google Patents
Mobile carrier omnidistance labelling positioning device within metallic pipe Download PDFInfo
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- CN101251588B CN101251588B CN2008100641965A CN200810064196A CN101251588B CN 101251588 B CN101251588 B CN 101251588B CN 2008100641965 A CN2008100641965 A CN 2008100641965A CN 200810064196 A CN200810064196 A CN 200810064196A CN 101251588 B CN101251588 B CN 101251588B
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Abstract
A through tracing locating device of a mobile carrier positioned inside a metal pipe relates to a locating device and is provided to overcome the disadvantages of the prior art that long-distance outside-pipe through tracing locating can not be realized because the limited signal blind inside a metal pipe the limited transmission distance of electromagnetic signal. The through tracing locating device comprises a mobile carrier, a very low frequency power electromagnetic pulse signal emitter arranged on the mobile carrier operating inside the metal pipe and a portable antenna array system arranged on a mobile loading device, wherein the signal of each detection base station arranged underground or in water identifies the signal emitted by the very low frequency power electromagnetic pulse signal emitter and received by a GPS communication module, thereby identifying whether the mobile carrier passes and sending the signal to a communication satellite; the portable antenna array system realizes precise location of the mobile carrier inside the metal pipe through receiving the signal emitted by the very low frequency power electromagnetic pulse signal emitter. The through tracing locating device has the advantage that: the device ensures that outside-pipe staff can complete long-distance and close range outside-pipe through tracing locating of the mobile carrier.
Description
Technical field
The present invention relates to a kind of locating device, be specifically related to the omnidistance spike locating device of mobile vehicle in a kind of metallic conduit.
Background technology
Along with the sharp increase of institute of department pipeline installations such as China's oil chemical industry and urban construction, there is great demand the aspects such as distribution mapping that the interior dirt of defective maintenance, pipe that the quality testing of new tubing, old pipeline are existed stops up cleaning and unknown underground utilities.Mobile vehicle is a kind of device that is specifically applied to detection in the pipework, pigging and operation in the pipe, and it can carry all kinds of detecting instruments and implement operation in pipe, finishes operations such as pipeline inspection, blocking Leakage.Because breakage, defective, latch up phenomenon happen occasionally in pipework, also Chang Yinwei power shortage or equipment malfunction and the state that paralyses of mobile vehicle in the pipe, the metallic conduit environment of sealing has shielded all information in the pipeline, the surface work personnel can't learn the accurate position of interior defective of pipe and mobile vehicle, so need to develop the outer spike locating device of the pipe of mobile vehicle in a kind of pipe urgently, come in the auxiliary tube mobile vehicle to finish the various pipes engineering duty and the outer staff of pipe in case of emergency implements rescue work.At present the spike location technology in the pipework mainly comprise vision localization technology, ray localization technology, magnetic field location technology, ultrasonic locating technology, INS inertial navigation and the wheel location technology of having the records of distance by the log several.But all there is shortcoming more or less in these technology, the vision localization technology only can realize locating in the pipe to defect of pipeline position and mobile vehicle job position, positional information can't be transferred to outside the pipe, its measurement range is less simultaneously, require mobile vehicle with lower speed operation, be not suitable for engineering and use; The INS inertial navigation location technology and all non-online location technology of wheel location technology of having the records of distance by the log can only provide the analysis of off-line position data; The ray localization technology can realize the pipe outside fix to mobile vehicle in managing, but it has stronger radioactivity that biology and surrounding environment are brought bigger harm, especially is not suitable for submarine pipeline engineering, the use that has been under an embargo of this technology; The magnetic field location technology is mainly used in the interior mobile vehicle of detector tube to managing outer whether the passing through of base station of setting, and can determine the operation pipeline section of mobile vehicle, but can't realize accurate location; The inside and outside ultrasonic head of ultrasonic locating technical requirement pipeline must be close to tube wall, and must apply coupling liquid, and the scope that this technology is used is less, can not be applied to underground, submarine pipeline engineering; The cable working method that has of tradition mobile vehicle more can't be implemented in the pipeline operations requirement of line length distance.This shows, existing spike location technology only can assist mobile vehicle to finish the tasks such as synchronous operation of the tracking record of the search of intraductal operation position, running orbit, the inside and outside apparatus for work of pipeline, but ubiquity application limit, because metallic conduit signal shielding and electromagnetic signal propagation distance are limited, can't satisfy 50-1000km or longer apart from the demand of oil/feed channel to the outer omnidistance spike of mobile vehicle pipe in managing location.
Summary of the invention
The present invention can't realize the shortcoming of the outer omnidistance spike of long distance pipe location having proposed a kind of mobile carrier omnidistance labelling positioning device within metallic pipe because metallic conduit signal shielding and electromagnetic signal propagation distance are limited in order to solve that existing spike location technology exists.
Mobile carrier omnidistance labelling positioning device within metallic pipe, it comprises mobile vehicle, it also comprises following a few part:
The very low frequency power electromagnetic pulse signal projector, it is installed on the mobile vehicle of operation in the metallic conduit, is used to launch the very low frequency power electromagnetic pulse signal;
The portable antenna array 1 system, it is installed on the mobile loading attachment, be used to receive the very low frequency power electromagnetic pulse signal of very low frequency power electromagnetic pulse signal projector emission, accurately locate the position of mobile vehicle in metallic conduit by the software systems of computing machine;
Signal identification and GPS communication module, it is installed in each base stations detected in underground or the water, be used to receive the very low frequency power electromagnetic pulse signal of very low frequency power electromagnetic pulse signal projector emission, and determine mobile vehicle whether passing through and signal is sent to communications satellite with respect to base stations detected by signal Recognition Algorithm;
The portable antenna array 1 system adopts based on bus-structured collecting and distributing five antenna array systems of CAN;
The portable antenna array 1 system comprises following components:
Mobile loading attachment is used to load the portable antenna array 1 system;
Computing machine is used to receive the digital quantity voltage signal of CAN bus interface card transmission, and the two dimensional surface position by the interior mobile vehicle of spike positioning software computer tube;
The CAN bus interface card is used to receive the digital quantity voltage signal that five antenna arrays transmit, and signal is transferred to computing machine;
Five antenna arrays are used to receive the very low frequency power electromagnetic pulse signal of the very low frequency power electromagnetic pulse signal projector emission in the metallic conduit, and electromagnetic signal is converted to the digital quantity voltage signal are transferred to the CAN bus interface card;
Ups power is used to the portable antenna array 1 system that electric energy is provided;
Switching Power Supply is used to five antenna arrays that electric energy is provided.
Beneficial effect of the present invention is that the outer staff of metal tube has realized mobile vehicle 2 is carried out far, closely manages outer omnidistance spike location.
Description of drawings
Fig. 1 is a structural representation of the present invention; Fig. 2 is the structural representation of embodiment three; Fig. 3 is the structural representation of embodiment four; Fig. 4 is the structural representation of embodiment six; Detected signal waveform synoptic diagram when Fig. 5 passes through the base station for mobile vehicle.
Embodiment
Embodiment one: present embodiment is described in conjunction with Fig. 1, present embodiment comprises mobile vehicle 2, very low frequency power electromagnetic pulse signal projector 3, it is installed on the mobile vehicle 2 of operation in the metallic conduit 1, is used to launch the very low frequency power electromagnetic pulse signal;
Portable antenna array 1 system 4, it is installed on the mobile loading attachment 4-1, is used to receive the very low frequency power electromagnetic pulse signal of very low frequency power electromagnetic pulse signal projector 3 emissions, accurately locatees the position of mobile vehicle 2 in metallic conduit 1 by calculating;
Signal identification and GPS communication module 5, it is installed in each base stations detected in underground or the water, be used to receive the very low frequency power electromagnetic pulse signal of very low frequency power electromagnetic pulse signal projector 3 emissions, and determine mobile vehicle 2 whether passing through and signal is sent to communications satellite 7 with respect to base stations detected by signal Recognition Algorithm.
Embodiment two: present embodiment and embodiment one difference are that portable antenna array 1 system 4 adopts based on bus-structured collecting and distributing five antenna array systems of CAN.Other composition is identical with embodiment one.
Embodiment three: in conjunction with Fig. 2 present embodiment is described, present embodiment and embodiment two differences are that portable antenna array 1 system 4 comprises following components:
Mobile loading attachment 4-1 is used to load portable antenna array 1 system 4;
Computing machine 4-2 is used to receive the digital quantity voltage signal of CAN bus interface card 4-3 transmission, and the two dimensional surface position by the interior mobile vehicle 2 of spike positioning software computer tube;
CAN bus interface card 4-3 is used to receive the digital quantity voltage signal that five antenna array 4-4 transmit, and signal is transferred to computing machine 4-2;
Five antenna array 4-4 are used to receive the very low frequency power electromagnetic pulse signal of very low frequency power electromagnetic pulse signal projector 3 emissions in the metallic conduit 1, and electromagnetic signal is converted to the digital quantity voltage signal are transferred to CAN bus interface card 4-3;
Ups power 4-5 is used to portable antenna array 1 system 4 that electric energy is provided;
Switching Power Supply 4-6 is used to five antenna array 4-4 that electric energy is provided.
It is identical that other forms embodiment two.The model of CAN bus interface card 4-3 is USB-CANII.
Embodiment four: present embodiment is described in conjunction with Fig. 3, present embodiment is that with embodiment three differences five antenna array 4-4 comprise five antenna element 4-9 that independent structure is identical, function is identical, and antenna element 4-9 comprises following components:
The first receiving antenna 4-9-1 is used to receive the very low frequency power electromagnetic pulse signal of very low frequency power electromagnetic pulse signal projector 3 emissions in the metallic conduit 1, and converts magnetic signal to voltage signal and be transferred to the first operational amplifier 4-9-3;
Voltage transformation module 4-9-2, the high value DC voltage that is used for that Switching Power Supply 4-6 is provided converts Low Level Direct Current voltage to and provides electric energy for antenna element 4-9;
The first operational amplifier 4-9-3 is used to receive the voltage signal of first receiving antenna 4-9-1 output, and carries out being transferred to the first integrated filter 4-9-4 after amplitude amplification and the low-pass filtering;
The first integrated filter 4-9-4, be used for utilizing the digital pulse signal that becomes 50 times or 100 times with emission signal frequency that the voltage signal of first operational amplifier 4-9-3 output and the first embedded microcontroller 4-9-6 provide bandpass filtering to identify the very low frequency power electromagnetic pulse signal of very low frequency power electromagnetic pulse signal projector 3 emissions in the metallic conduit 1, and be transferred to an AD modular converter 4-9-5;
The one AD modular converter 4-9-5 is used for the analog signals that receives first integrated filter 4-9-4 output is converted to digital quantity signal, outputs to the first embedded microcontroller 4-9-6 by the I/O port;
The first embedded microcontroller 4-9-6 is used to the first integrated filter 4-9-4 to provide to become with emission signal frequency the digital signal of 50 times or 100 times, and the digital quantity signal of AD modular converter 4-9-5 input is transferred to CAN controller 4-9-7;
CAN controller 4-9-7 is used for the voltage magnitude signal of first embedded microcontroller 4-9-6 input is arrived CAN bus interface card 4-3 by the CAN bus transfer.
Other composition is identical with embodiment three.The model of voltage transformation module 4-9-2 is HZD05-24S05; The model of the first operational amplifier 4-9-3 is TI-OP07; The model of the first integrated filter 4-9-4 is MF10; The model of the one AD modular converter 4-9-5 is TLC2543; The model of the first embedded microcontroller 4-9-6 is ARM2119; The model of CAN controller 4-9-7 is SJA1000.
Embodiment five: present embodiment and embodiment three differences are that mobile loading attachment 4-1 adopts vehicle or boats and ships.Other composition is identical with embodiment one.
Embodiment six: in conjunction with Fig. 4, Fig. 5 illustrates present embodiment, and present embodiment and embodiment one difference are that signal identification and GPS communication module 5 be made up of following components:
The second receiving antenna 5-1 is used to receive the very low frequency power electromagnetic pulse signal of very low frequency power electromagnetic pulse signal projector 3 emissions in the metallic conduit 1, and converts magnetic signal to voltage signal and be transferred to the second operational amplifier 5-3;
High-capacity lithium battery 5-2 is used to signal identification to provide electric energy with GPS communication module 5;
The second operational amplifier 5-3 is used to receive the voltage signal of second receiving antenna 5-1 output, and carries out being transferred to the second integrated filter 5-4 after amplitude amplification and the low-pass filtering;
The second integrated filter 5-4, be used for utilizing the digital pulse signal that becomes 50 times or 100 times with emission signal frequency that the voltage signal of second operational amplifier 5-3 output and the second embedded microcontroller 5-6 provide bandpass filtering to identify the very low frequency power electromagnetic pulse signal of very low frequency power electromagnetic pulse signal projector 3 emissions in the metallic conduit 1, and be transferred to the 2nd AD modular converter 5-5;
The 2nd AD modular converter 5-5 is used for the analog signals that receives second integrated filter 5-4 output is converted to digital quantity signal, is input to the second embedded microcontroller 5-6 by the I/O port;
The second embedded microcontroller 5-6, be used to the second integrated filter 5-4 to provide to become the digital signal of 50 times or 100 times, and detect software by signal threshold value and judge that the digital quantity signal that receives the 2nd AD modular converter 5-5 output is whether effectively and by I/O port outputs level signals with emission signal frequency;
GPS communication module 5-7 is used to receive the level signal that the second embedded microcontroller 5-6 exports, and receives the high level signal of second embedded microcontroller 5-6 output, transmits to communications satellite 7; Receive the low level signal of second embedded microcontroller 5-6 output, do not transmit.Other composition is identical with embodiment one.By theoretical analysis and experimental verification, when the relative position of very low frequency power electromagnetic pulse signal projector 3 and signal identification and GPS communication module 5 changed, detected signal amplitude was bimodal variation tendency with the position, sees Fig. 5.When very low frequency power electromagnetic pulse signal projector 3 overlaps with the relative position of GPS communication module 5 with signal identification, the signal amplitude minimum, this also is that signal threshold value detects the foundation that software is judged, when the electromagnetic signal that receives when signal identification and GPS communication module 5 presents as shown in Figure 5 Changing Pattern, illustrate that the mobile vehicle 2 in the metallic conduit 1 passes through this base station location.The propagation distance of very low frequency power electromagnetic pulse signal is far, thereby signal identification can be found mobile vehicle 2 in advance with GPS communication module 5, the time that effectively detects signal is long, improved the accuracy of mobile vehicle 2, avoided the generation of the wrong report incident that causes because of the aperiodicity noise by information monitoring.Other composition is identical with embodiment one.The model of the second operational amplifier 5-3 is TI-OP07; The model of the second integrated filter 5-4 is MF10; The model of the 2nd AD modular converter 5-5 is TLC2543; The model of the second embedded microcontroller 5-6 is ARM2119; The model of GPS communication module 5-7 is SiemensXT55.
Principle of work: very low frequency power electromagnetic pulse signal projector 3 interconnects with the mobile vehicle 2 of operation in metallic conduit 1, very low frequency power electromagnetic pulse signal projector 3 sends very low frequency power electromagnetic pulse signal, penetrating metal tube wall and the multiphase medium layer with strong through characteristic.When mobile vehicle 2 passes through a certain base station location, effectively detect transmitting of characteristic frequency by the signal identification that is installed in inside of base station with GPS communication module 5, because each GPS communication module all has unique communication id, can accurately determine the pipeline section that mobile vehicle 2 is moving by GPS communications satellite 7, when mobile vehicle 2 operation is broken down or pick-up unit when finding wall defects, communications satellite 7 provides mobile vehicle the 2 current pipeline sections that moving, and mobile vehicle 2 is parked in certain position in the pipeline section.The staff is by portable antenna array 1 system 4, send the exact position that the very low frequency power electromagnetic pulse signal with strong through characteristic is demarcated mobile vehicle in the pipeline section according to the very low frequency power electromagnetic pulse signal projector 3 that receives, realize accurate spike location.
Claims (3)
1. mobile carrier omnidistance labelling positioning device within metallic pipe, it comprises mobile vehicle (2), it also comprises following a few part:
Very low frequency power electromagnetic pulse signal projector (3), it is installed on the mobile vehicle (2) of operation in the metallic conduit (1), is used to launch the very low frequency power electromagnetic pulse signal;
Portable antenna array 1 system (4), it is installed on the mobile loading attachment (4-1), be used to receive the very low frequency power electromagnetic pulse signal of very low frequency power electromagnetic pulse signal projector (3) emission, accurately locate the position of mobile vehicle (2) in metallic conduit (1) by the software systems of computing machine (4-2);
Signal identification and GPS communication module (5), it is installed in each base stations detected in underground or the water, be used to receive the very low frequency power electromagnetic pulse signal of very low frequency power electromagnetic pulse signal projector (3) emission, and determine mobile vehicle (2) whether passing through and signal is sent to communications satellite (7) with respect to base stations detected by signal Recognition Algorithm;
Portable antenna array 1 system (4) adopts based on bus-structured collecting and distributing five antenna array systems of CAN;
It is characterized in that portable antenna array 1 system (4) comprises following components:
Mobile loading attachment (4-1) is used to load portable antenna array 1 system (4);
Computing machine (4-2) is used to receive the digital quantity voltage signal of CAN bus interface card (4-3) transmission, and the two dimensional surface position by the interior mobile vehicle (2) of spike positioning software computer tube;
CAN bus interface card (4-3) is used to receive the digital quantity voltage signal that five antenna arrays (4-4) transmit, and signal is transferred to computing machine (4-2);
Five antenna arrays (4-4) are used to receive the very low frequency power electromagnetic pulse signal of very low frequency power electromagnetic pulse signal projector (3) emission in the metallic conduit (1), and electromagnetic signal is converted to the digital quantity voltage signal are transferred to CAN bus interface card (4-3);
Ups power (4-5) is used to portable antenna array 1 system (4) that electric energy is provided;
Switching Power Supply (4-6) is used to five antenna arrays (4-4) that electric energy is provided.
2. mobile carrier omnidistance labelling positioning device within metallic pipe according to claim 1 is characterized in that five antenna arrays (4-4) comprise five antenna elements (4-9) that independent structure identical function is identical, and antenna element (4-9) comprises following components:
First receiving antenna (4-9-1), be used to receive the very low frequency power electromagnetic pulse signal of very low frequency power electromagnetic pulse signal projector (3) emission in the metallic conduit (1), and convert magnetic signal to voltage signal and be transferred to first operational amplifier (4-9-3);
It is that antenna element (4-9) provides electric energy that voltage transformation module (4-9-2), the high value DC voltage that is used for that Switching Power Supply (4-6) is provided convert Low Level Direct Current voltage to;
First operational amplifier (4-9-3) is used to receive the voltage signal of first receiving antenna (4-9-1) output, and carries out being transferred to first integrated filter (4-9-4) after amplitude amplification and the low-pass filtering;
First integrated filter (4-9-4), be used for utilizing the digital pulse signal that becomes 50 times or 100 times with emission signal frequency that the voltage signal of first operational amplifier (4-9-3) output and first embedded microcontroller (4-9-6) provide bandpass filtering to identify the very low frequency power electromagnetic pulse signal of very low frequency power electromagnetic pulse signal projector (3) emission in the metallic conduit (1), and be transferred to an AD modular converter (4-9-5);
The one AD modular converter (4-9-5) is used for the analog signals that receives first integrated filter (4-9-4) output is converted to digital quantity signal, outputs to first embedded microcontroller (4-9-6) by the I/O port;
First embedded microcontroller (4-9-6), be used to first integrated filter (4-9-4) to provide to become the digital signal of 50 times or 100 times, and the digital quantity signal of an AD modular converter (4-9-5) input is transferred to CAN controller (4-9-7) with emission signal frequency;
CAN controller (4-9-7) is used for the voltage magnitude signal of first embedded microcontroller (4-9-6) input is arrived CAN bus interface card (4-3) by the CAN bus transfer.
3. mobile carrier omnidistance labelling positioning device within metallic pipe according to claim 1 is characterized in that mobile loading attachment (4-1) adopts vehicle or boats and ships.
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| CN2008100641965A CN101251588B (en) | 2008-03-28 | 2008-03-28 | Mobile carrier omnidistance labelling positioning device within metallic pipe |
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| CN2008100641965A CN101251588B (en) | 2008-03-28 | 2008-03-28 | Mobile carrier omnidistance labelling positioning device within metallic pipe |
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| CN101251588B true CN101251588B (en) | 2011-05-11 |
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Cited By (2)
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| US9535039B2 (en) | 2014-04-30 | 2017-01-03 | Control Devices, Inc. | Acoustic transmitter and method for underwater pipeline inspection gauges |
| CN108869894A (en) * | 2018-09-30 | 2018-11-23 | 康泰塑胶科技集团有限公司 | A kind of intelligent gas pipeline |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103727351B (en) * | 2013-12-10 | 2016-01-27 | 大连大科科技咨询有限公司 | Pipeline crawl trolley |
| CN109488836B (en) * | 2018-11-21 | 2020-11-27 | 南通理工学院 | Automatic flaw detection, carbon planing and welding robot for inner wall of pipeline |
| CN110146004B (en) * | 2019-06-13 | 2021-03-30 | 北京科技大学 | Detection apparatus for utilize tombarthite permanent magnet material to detect steel pipe |
| CN112325053A (en) * | 2020-11-19 | 2021-02-05 | 六安富华智能信息科技有限公司 | Positioning method of pipeline robot |
| CN114167451A (en) * | 2021-10-23 | 2022-03-11 | 上海惟堪建筑工程技术有限公司 | System and method for long-distance detection of non-metal pipeline |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| US9535039B2 (en) | 2014-04-30 | 2017-01-03 | Control Devices, Inc. | Acoustic transmitter and method for underwater pipeline inspection gauges |
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