CN104019326A - Positioning system, device and method of pipeline cleaning device - Google Patents
Positioning system, device and method of pipeline cleaning device Download PDFInfo
- Publication number
- CN104019326A CN104019326A CN201410258885.5A CN201410258885A CN104019326A CN 104019326 A CN104019326 A CN 104019326A CN 201410258885 A CN201410258885 A CN 201410258885A CN 104019326 A CN104019326 A CN 104019326A
- Authority
- CN
- China
- Prior art keywords
- kinds
- frequency
- electromagnetic signals
- receiving
- signal
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- 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
-
- 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
- F16L2101/12—Cleaning
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention provides a positioning system, device and method of a pipeline cleaning device. The system comprises a transmitter, a plurality of receivers and a positioner, wherein the transmitter is fixed on the pipeline cleaning device and used for transmitting at least two electromagnetic signals with the same amplitude and different frequencies, the receivers are arranged along an oil gas pipeline and used for detecting the electromagnetic signals with the same amplitude and the different frequencies and sending the position information of the receivers to the positioner when detecting the electromagnetic signals, the electromagnetic signals are sent by the transmitter, the positioner is used for receiving the position information of the receivers and determining the position of the pipeline cleaning device according to the position information. Whether the pipeline cleaning device is detected or not is judged by transmitting and detecting the electromagnetic signals, a large amount of electromagnetic interference existing in the testing environment can be effectively removed, the false alarm rate is greatly reduced, the positioning accuracy rate of the pipeline cleaning device is obviously improved, and better service is provided for the pipe cleaning operation of the oil gas pipeline.
Description
Technical field
The present invention relates to oil and gas pipes field of engineering technology, particularly, relate to a kind of pipeline cleaner navigation system, device and method.
Background technique
Oil-gas pipeline, in work progress, inevitably will enter the construction such as sandstone, earth foreign material.Pipeline also tends to accumulate certain mud, condensed liquid and corrosion products after going into operation, and these things will affect conveying products quality, stop up oil and gas pipes, reduce pipeline transfer efficiency, corroded pipeline inwall and obstruction instrumentation, the serious consequence that even can bring fed sheet of a media to reveal.Therefore pipeline, before operation or after operation certain hour, must carry out pigging.
For pigging operation, after wiper enters into pipeline, need the position of real-time tracing wiper in each moment.Especially in the time there is card ball accident in wiper, need to determine timely and accurately that wiper blocking puts residing position, to take measures as early as possible, avoid larger loss.
A kind of monitoring method of commonly using both at home and abroad is at present that a low-frequency magnetic impulse ejection device is installed on wiper, and the electromagnetic signal of a fixed frequency of transmitting, utilizes receiving machine to gather this signal on the ground, carries out track and localization with this.Because pipeline test site exists a large amount of electromagnetic interference, cause the above-mentioned method that only relies on a certain single-frequency electromagnetic signal to detect very easily to cause wrong report, have a strong impact on the field popularization application of wiper intelligent-tracking navigation system.
In addition, at present adopt in addition joint-detection acoustic signals and electromagnetic signal to carry out the method for location pipe cleaner, for example, in the patent scheme that application number is 201010191780.4, adopt acoustical vibration sensor to detect the sound vibration signal that wiper and pipe friction and shock produce simultaneously, and adopt magnetic field induction coil to detect the electromagnetic signal that electromagnetic signal source that wiper carries produces, with this location pipe cleaner.But in fact exist a large amount of interference acoustic signals (as on-the-spot car sound, equipment sound along the line etc.) in pipeline test site, and there is a large amount of uncertainties in the sound vibration signal that wiper and pipe friction and shock produce, make collection and detect this acoustic signals very difficult, degree of accuracy is very low, poor practicability, and this method need to arrange two cover sensors (acoustical vibration sensor and magnetic field induction coil), equipment complexity, cost is high, is unfavorable for applying.
Summary of the invention
The main purpose of the embodiment of the present invention is to provide a kind of pipeline cleaner navigation system, device and method, only detect single-frequency electromagnetic signal to solve existing pipeline cleaner location technology, or easily the lead to errors problem of location of joint-detection acoustic signals and electromagnetic signal.
To achieve these goals, the invention provides a kind of pipeline cleaner navigation system, comprising:
Transmitter, is fixed on pipeline cleaner, for launching the identical and at least two kinds of electromagnetic signals that frequency is different of amplitude;
Multiple receiving machines, are arranged at oil and gas pipes and go up along the line, and the amplitude that sends for detection of described transmitter is identical and at least two kinds of electromagnetic signals that frequency is different, and in the position information to localization machine transmitter-receiver self when at least two kinds of electromagnetic signals described in detecting;
Localization machine, for receiving the position information of described receiving machine self, and is defined as the position of described pipeline cleaner.
Accordingly, the present invention also provides a kind of pipeline cleaner positioning device, comprising:
Transmitter, is fixed on pipeline cleaner, for launching the identical and at least two kinds of electromagnetic signals that frequency is different of amplitude.
Accordingly, the present invention also provides a kind of pipeline cleaner positioning device, comprising:
Multiple receiving machines, be arranged at oil and gas pipes along the line on, the amplitude that sends for detection of the transmitter being fixed on pipeline cleaner is identical and at least two kinds of electromagnetic signals that frequency is different, and in the position information to localization machine transmitter-receiver self when at least two kinds of electromagnetic signals described in detecting;
Localization machine, for receiving the position information of described receiving machine self, and is defined as the position of described pipeline cleaner.
Accordingly, the present invention also provides a kind of pipeline cleaner localization method, comprising:
Identical and at least two kinds of electromagnetic signals that frequency is different of transmitter on pipeline cleaner transmitting amplitude are fixed in utilization;
At least two kinds of electromagnetic signals described in the multiple receiving machines that utilize oil and gas pipes above to arrange along the line detect;
The position that is described pipeline cleaner by the location positioning of the receiving machine of at least two kinds of electromagnetic signals described in detecting.
By means of technique scheme, the present invention is by being fixed on the different multiple electromagnetic signal of transmitter transmitting amplitude same frequency on pipeline cleaner, and the receiving machine that utilizes oil and gas pipes above to arrange along the line detects the multiple electromagnetic signal of transmitter transmitting, the position that is pipeline cleaner by the location positioning of receiving machine that these electromagnetic signals detected again, than prior art, the present invention judges whether to detect pipeline cleaner by launching and detecting multiple electromagnetic signal, can effectively get rid of a large amount of electromagnetic interference that exist in test environment, greatly reduce rate of false alarm, improve significantly the accurate positioning rate of pipeline cleaner, only need to detect electromagnetic signal, assay device structures is simple, cost is low, be beneficial to and apply, for the pigging operation of oil and gas pipes provides better service.
Brief description of the drawings
In order to be illustrated more clearly in the embodiment of the present invention or technological scheme of the prior art, below the accompanying drawing of required use during embodiment is described is briefly described, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, do not paying under the prerequisite of creative work, can also obtain according to these accompanying drawings other accompanying drawing.
Fig. 1 is pipeline cleaner navigation system schematic diagram provided by the invention;
Fig. 2 is transmitter architecture schematic diagram provided by the invention;
Fig. 3 is receiver structure schematic diagram provided by the invention;
Fig. 4 is a kind of position information process device structural representation provided by the invention;
Fig. 5 is another kind of position information process device structural representation provided by the invention;
Fig. 6 is localization machine structural representation provided by the invention;
Fig. 7 is pipeline cleaner localization method schematic flow sheet provided by the invention;
Fig. 8 is the idiographic flow schematic diagram of step S2 in Fig. 7 provided by the invention;
Fig. 9 is the transmitter architecture schematic diagram that the specific embodiment of the invention provides;
Figure 10 is the receiver structure schematic diagram that the specific embodiment of the invention provides;
Figure 11 is the active high-pass filtering amplification circuit of the second order schematic diagram that the specific embodiment of the invention provides;
Figure 12 is the second order active low-pass filter amplification circuit schematic diagram that the specific embodiment of the invention provides;
Figure 13 is the analog to digital conversion circuit schematic diagram that the specific embodiment of the invention provides;
Figure 14 is time domain waveform and the FFT spectrogram thereof of the two-frequency signal that provides of the specific embodiment of the invention;
Figure 15 is that the SIM908 module that the specific embodiment of the invention provides is located to gps satellite system request, and receiver location information is uploaded to the schematic diagram of localization machine.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technological scheme in the embodiment of the present invention is clearly and completely described, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment who obtains under creative work prerequisite, belong to the scope of protection of the invention.
The present invention is directed to existing pipeline cleaner location technology receives weak output signal and disturbs many features, a kind of pipeline cleaner navigation system, apparatus and method based on double frequency excitation are designed, can effectively get rid of the noise interference of test environment, detect real-time and accurately the electromagnetic signal of transmitting, realize the location of pipeline cleaner is followed the tracks of.
The invention provides a kind of pipeline cleaner navigation system, as shown in Figure 1, this system comprises:
Transmitter 1, is fixed on pipeline cleaner, for launching the identical and at least two kinds of electromagnetic signals that frequency is different of amplitude;
Multiple receiving machines 2, are arranged at oil and gas pipes and go up along the line, and the amplitude that sends for detection of transmitter 1 is identical and at least two kinds of electromagnetic signals that frequency is different, and in the time at least two kinds of electromagnetic signals being detected to the position information of localization machine 3 transmitter-receivers 2 self;
Localization machine 3, for receiving the position information of receiving machine 2 self, and is defined as the position of pipeline cleaner.
Pipeline cleaner navigation system shown in Fig. 1, its working principle is as follows: when the pipeline cleaner that carries transmitter carries out pigging operation in oil and gas pipes inside, transmitter transmitting amplitude is identical and at least two kinds of electromagnetic signals that frequency is different, these electromagnetic signals; Simultaneously, be arranged at these electromagnetic signals that oil and gas pipes multiple receiving machines along the line detect transmitter transmitting, these electromagnetic signals detected if be carved with a certain receiving machine when a certain, illustrate that pipeline cleaner has advanced near of this receiving machine position, the current location that can be pipeline cleaner by the location positioning of this receiving machine; This position information is uploaded to localization machine, has realized the location of pipeline cleaner, along with the movement of pipeline cleaner in oil and gas pipes, by the localization machine current location of targeted duct wiper in real time.
Than the existing wiper location technology of only launching and detecting the electromagnetic signal of single-frequency, the present invention judges whether to detect pipeline cleaner by launching and detecting multiple electromagnetic signal, thereby can effectively get rid of a large amount of electromagnetic interference that exist in test environment, greatly reduce rate of false alarm; Than the wiper location technology of existing joint-detection acoustic signals and electromagnetic signal, the present invention does not need to detect acoustic signals, only needs to detect electromagnetic signal, degree of accuracy is high, the equipment of a set of detection electromagnetic signal only need be set, simple in equipment, cost is low, is beneficial to and applies.
For ensureing the normal work of pipeline cleaner, preferably, in the pipeline cleaner navigation system shown in Fig. 1, transmitter can be fixed on the afterbody of pipeline cleaner.
In the present invention, between receiving machine and localization machine, can be connected by wired or wireless communication mode, the present invention does not do concrete restriction to this.
In a kind of preferred embodiment, as shown in Figure 2, transmitter specifically comprises:
Countdown circuit 11, for controlling the frequency of the electromagnetic signal that transmitting coil 12 launches;
Transmitting coil 12, for launching the identical and at least two kinds of electromagnetic signals that frequency is different of amplitude under the control at described countdown circuit 11.
Concrete, the frequency that the countdown circuit 11 in Fig. 2 opens, cuts out by controlling transmitting coil 12, realizes the object of launching electromagnetic signal with different frequencies.
It should be noted that, in the time that enforcement is of the present invention, the electromagnetic signal kind number of transmitter transmitting can be set according to actual conditions, for example, in the time that actual conditions are had relatively high expectations to locating accuracy, the electromagnetic signal kind number that transmitter transmitting can be set is more, to get rid of preferably other electromagnetic interference in environment, improve positioning accurate accuracy, and in the time that actual conditions are had relatively high expectations to location efficiency, the electromagnetic signal kind number that transmitter transmitting can be set is less, to reduce the difficulty of signal transmitting, detection and signal processing, improves locating speed.The present invention does not do concrete restriction to the electromagnetic signal kind number of transmitter transmitting; following explanation is only specific embodiments of the invention; the protection domain being not intended to limit the present invention; within the spirit and principles in the present invention all, transmitter is launched within other any species number object electromagnetic signal all should be included in protection scope of the present invention.
Consider transmitting and detect the convenience of electromagnetic signal, and reducing the difficulty of later stage signal processing, improving location efficiency, in a kind of preferred embodiment, two kinds of electromagnetic signals that transmitting coil can frequency be different specifically for transmitting amplitude is identical.
Implement time of the present invention, the frequency range of transmitter institute transmission of electromagnetic signals should be according to actual test environment and test request setting, for example, if the electromagnetic signal frequency of transmitting is too high, electromagnetic signal, larger along decay in pipe transmmision process, increases the difficulty of receiving machine testing signal; If the electromagnetic signal frequency of transmitting is too low, the detection speed of electromagnetic signal does not catch up with the gait of march of pipeline cleaner, and the error of positioning result can be larger; In addition, also should avoid selecting the frequency of other interference electromagnetic signals in test site as far as possible; Therefore, when actual enforcement is of the present invention, the electromagnetic signal frequency that transmitter is launched need be rationally set.
In a kind of preferred embodiment, in order to take into account attenuation degree, the degree of accuracy of positioning result and the disturbed condition of test site of electromagnetic signal, the calibration of the electromagnetic signal of transmitting coil transmitting is arranged between 20Hz～30Hz.
The present invention does not do concrete restriction to the concrete structure of transmitter; be that the transmitter concrete structure shown in Fig. 2 is only specific embodiments of the invention; the protection domain being not intended to limit the present invention; within the spirit and principles in the present invention all, transmitter adopts within other forms of concrete structure all should be included in protection scope of the present invention.
In a kind of preferred embodiment, the transmitter shown in Fig. 2 can also comprise power supply 13.
In concrete enforcement, the work electricity consumption of transmitter can be taken from pipeline cleaner, also can a self-contained power supply powers for its countdown circuit and transmitting coil.
In a kind of preferred embodiment, as shown in Figure 3, receiving machine specifically comprises:
Receiving coil 21, for receiving field signal, and is converted to analog electric signal by field signal;
Pre-amplification circuit 22, connects described receiving coil 21, the analog electric signal of exporting for amplifying described receiving coil 21;
Filter amplification circuit 23, connects described pre-amplification circuit 22, carries out filtering and again amplifies for the analog electric signal after described pre-amplification circuit 22 is amplified;
Analog to digital conversion circuit 24, connects described filter amplification circuit 23, is converted to digital signal for the analog electric signal by described filter amplification circuit 23 filtering and after again amplifying;
DSP digital signal processor 25, connects analog-digital conversion circuit as described 24, processes for described digital signal being carried out to FFT (FastFourier Transformation, fft), obtains the frequency spectrum of described digital signal; And utilize spectrum peak search algorithm to detect described frequency spectrum; When detect in described frequency spectrum exist described at least two kinds of each frequencies that electromagnetic signal is corresponding, and when signal amplitude corresponding to each frequency described in described frequency spectrum meets being related to of setting, at least two kinds of electromagnetic signals described in definite detecting, and enable position message handler 26;
Position information process device 26, for sending the position information of this receiving machine self to described localization machine.
Concrete, in the receiving machine shown in Fig. 3, receiving coil is used for receiving the various field signals at test environment scene, and converts analog electric signal to; Because signal exists decay in transmitting procedure, the analog electric signal that receiving coil converts field signal to is fainter, and include various undesired signals in the field signal that receiving coil receives, carry out signal processing for the ease of follow-up DSP digital signal processor, pre-amplification circuit and filter amplification circuit are set between receiving coil and analog to digital conversion circuit, analog electric signal is amplified with filtering and carries out analog-to-digital conversion process afterwards again; Analog to digital conversion circuit is for converting analog electric signal again to the digital signal of time domain; DSP digital signal processor is used for adopting FFT that digital signal is converted to frequency domain by time domain, obtain the frequency spectrum of digital signal, recycling spectrum peak search algorithm detects in this frequency spectrum, whether to contain various frequencies corresponding to electromagnetic signal that transmitter is launched, as contain, further, the signal amplitude that detects these frequency places whether equal and opposite in direction (if meet the relation of setting, be considered as equal and opposite in direction), the multiple electromagnetic signal that amplitude equates, frequency is different that transmitter is launched detected, now, DSP digital signal processor enable position message handler; Position information process device sends to localization machine by the position information of receiving machine self after starting.
Wherein, the instrument amplifier of pre-amplification circuit preferred low-noise, highi degree of accuracy, low power consumption; Preferably, also can after this instrument amplifier, set up follower circuit, to isolate the interference between front late-class circuit.
The electromagnetic signal calibration of launching in view of transmitter in the present invention is arranged between 20Hz～30Hz, therefore, can after pre-amplification circuit, adopt respectively the undesired signal outside high-pass filtering amplification circuit and lower pass-filter amplification circuit filtering 20Hz～30Hz two ends, to improve the analog electric signal signal to noise ratio inputing in analog-digital converter.
Especially consider in the analog electric signal of receiving coil output the terrestrial magnetic field signal that contains low frequency, approaches direct current, can after pre-amplification circuit, first adopt high-pass filtering amplification circuit filtering terrestrial magnetic field DC component.
In the time that transmitter sends the identical and two kinds of electromagnetic signals that frequency is different of amplitude, DSP digital signal processor in Fig. 3 specifically for: utilize frequency spectrum described in spectrum peak search algorithm search, the peak-peak and frequency corresponding to second largest peak value that judge described frequency spectrum are respectively two frequencies corresponding to described two kinds of electromagnetic signals, and when two signal amplitudes corresponding to frequency meet following formula described in described frequency spectrum, determine and described two kinds of electromagnetic signals detected:
Wherein, V
1, V
2be respectively two signal amplitudes that frequency is corresponding described in described frequency spectrum, i.e. peak-peak and signal amplitude corresponding to second largest peak value in described frequency spectrum.
That is to say, the signal amplitude that meets above-mentioned formula is considered as equal and opposite in direction.
In receiving machine shown in Fig. 3, position information process device is for sending the position information of this receiving machine self to localization machine.Wherein, the position information of receiving machine self can pre-determine and be stored in position information process device, can be also in real time receiving machine to be positioned to acquisition.
In a kind of preferred embodiment, as shown in Figure 4, position information process implement body comprises:
Storage chip 261, for storing the position information of predetermined receiving machine self;
Transmit port 262, sends to described localization machine for the position information of receiving machine self that described storage chip 261 is stored.
When concrete enforcement is of the present invention, can be after receiving machine be completed along oil and gas pipes setting, the position of each receiving machine is positioned, and position information is stored in this receiving machine in position message handler (storage chip), then when this receiving machine detects after the multiple electromagnetic signal of transmitter transmitting, enable position message handler, the receiver location information of storing in storage chip is sent to localization machine by its transmit port.
In another kind of preferred embodiment, as shown in Figure 5, position information process implement body comprises:
Locating module 263 in real time, for obtaining the position information of receiving machine self by GPS (Global Positioning System, global positioning system);
Transmit port 264, sends to described localization machine for the position information of receiving machine self that described real-time locating module 243 is obtained.
When concrete enforcement is of the present invention, can pre-determine the self-position of receiving machine, but in the time that receiving machine detects the multiple electromagnetic signal of transmitter transmitting, enable position message handler, its real-time locating module positions this receiving machine by GPS, and the receiver location information that its transmit port obtains real-time locating module sends to localization machine.
In receiving machine shown in Fig. 3, localization machine, specifically for the receiver location to the multiple electromagnetic signal of transmitter transmitting according to current detection, is determined the position at the current place of pipeline cleaner, and then location and the running orbit of pipeline cleaner be provided for user.Localization machine can be shown to user with the form of Word message by the position of pipeline cleaner; Preferably, localization machine also can be shown to more directly perceived, the vivid location of user and running orbit in conjunction with the form of geographic pattern.
In a kind of preferred embodiment, as shown in Figure 6, localization machine specifically comprises:
Server 31, for receiving the position information of described receiving machine self, and is defined as the position of described pipeline cleaner; And, generate geographic pattern according to the position information of described receiving machine self;
Display screen 32, for showing the position of described pipeline cleaner of described geographic pattern and/or written form.
When concrete enforcement is of the present invention, localization machine, except generating geographic pattern by the image processing program of server inside, also can complete by applications the making of geographic pattern.
The geographic pattern showing by localization machine and/or word, user can real-time tracing and location just in the pipeline cleaner position of operation, understanding pigging operation progress to user provides convenience.
In another kind of preferred embodiment, as shown in Figure 6, user can also pass through mobile terminal 33 access services devices 31, obtains the pipeline cleaner position information of geographic pattern or written form, in order to position and the running orbit of real-time tracing pipeline cleaner more easily.
The present invention also provides a kind of pipeline cleaner localization method, and as shown in Figure 7, the method comprises:
Step S1, utilizes and is fixed on the identical and at least two kinds of electromagnetic signals that frequency is different of transmitter on pipeline cleaner transmitting amplitude;
Step S2, at least two kinds of electromagnetic signals described in the multiple receiving machines that utilize oil and gas pipes above to arrange along the line detect;
Step S3, the position that is described pipeline cleaner by the location positioning of the receiving machine of at least two kinds of electromagnetic signals described in detecting.
In a kind of preferred embodiment, as shown in Figure 8, step S2 specifically comprises:
Step S21, utilizes the oil and gas pipes upper multiple receiving machines reception field signals that arrange along the line;
Step S22, is converted to digital signal by described field signal;
Step S23, carries out FFT processing to described digital signal, obtains the frequency spectrum of described digital signal;
Step S24, utilizes spectrum peak search algorithm to detect described frequency spectrum;
Step S25, when detect in described frequency spectrum exist described at least two kinds of each frequencies that electromagnetic signal is corresponding, and signal amplitude corresponding to each frequency described in described frequency spectrum be while meeting being related to of setting, determine detect described at least two kinds of electromagnetic signals.
In a kind of preferred embodiment, transmitter transmitting amplitude is identical and two kinds of electromagnetic signals that frequency is different; Step S24～S25 is specially:
Described receiving machine utilizes frequency spectrum described in spectrum peak search algorithm search, when the peak-peak and frequency corresponding to second largest peak value that judge described frequency spectrum are respectively two frequencies corresponding to described two kinds of electromagnetic signals, and when two signal amplitudes corresponding to frequency meet following formula described in described frequency spectrum, determine and described two kinds of electromagnetic signals detected:
Wherein, V
1, V
2be respectively described two signal amplitudes that frequency is corresponding.
In a kind of preferred embodiment, described step S3 is specially:
Pre-determine the oil and gas pipes position of the upper multiple receiving machines that arrange along the line, when described in arbitrary receiving machine detects when at least two kinds of electromagnetic signals, the position that is described pipeline cleaner by the location positioning of predetermined this receiving machine; Or,
By global position system GPS, the receiving machine of at least two kinds of electromagnetic signals described in detecting is located in real time, and position location is defined as to the position of described pipeline cleaner.
In a kind of preferred embodiment, the method shown in Fig. 7 also comprises: step S4, offers user by the position of described pipeline cleaner with the form of geographic pattern and/or Word message.
Invention thought based on identical realizes pipeline cleaner localization method shown in Fig. 7 with the pipeline cleaner navigation system shown in Fig. 1, and its embodiment can, with reference to the aforementioned introduction to pipeline cleaner navigation system, repeat no more herein.
The embodiment of the present invention judges whether to detect pipeline cleaner by launching and detecting multiple electromagnetic signal, can effectively get rid of a large amount of electromagnetic interference that exist in test environment, greatly reduce rate of false alarm, improve significantly the accurate positioning rate of pipeline cleaner, for the pigging operation of oil and gas pipes provides better service.
Below by a specific embodiment, pipeline cleaner navigation system provided by the invention is described.
The pipeline cleaner navigation system that the present embodiment provides comprises following constituent element:
1. transmitter
Transmitter architecture as shown in Figure 9, is mainly made up of countdown circuit, transmitting coil and power supply.The core of countdown circuit is Cortex-M3 single-chip microcomputer.The frequency opening and closing by Cortex-M3 Single-chip Controlling transmitting coil repeat circuit, to realize the object of the electromagnetic signal of launching different frequency.Two kinds of electromagnetic signals that in this embodiment, transmitter transmitting amplitude is identical, frequency is respectively 20Hz and 30Hz.Power supply is respectively countdown circuit and transmitting coil provides power supply.
2. receiving machine
Receiver structure as shown in figure 10, is mainly made up of receiving coil, pre-amplification circuit, filter amplification circuit, analog to digital conversion circuit, DSP digital signal processor and position information process device.Field signal is converted into analog electric signal by receiving coil; Pre-amplification circuit and wave filter amplification circuit, by amplification, filtering, are converted to by the faint analog electric signal of receiving coil output the analog electric signal that analog to digital conversion circuit can be measured; Analog electric signal is converted into digital signal by analog to digital conversion circuit; Whether DSP digital signal processor is carried out FFT processing to the digital signal collecting and is obtained corresponding frequency spectrum, then be two frequencies of transmitter transmitting by frequency corresponding to peak-peak and minimum peak in this frequency spectrum of spectrum peak search algorithm search; If so, continue to judge the vibration amplitude V at these two Frequency point places in this frequency spectrum
1and V
2whether meet relation
if so, judge two kinds of electromagnetic signals that transmitter transmitting detected, determine and pipeline cleaner detected, and enable position message handler; Position information process device positions this receiving machine to gps satellite system request, is transmitted to localization machine after receiving the receiver location information that gps satellite system returns.
In the present embodiment, pre-amplification circuit is selected the instrument amplifier AD620 of low noise, highi degree of accuracy, low power consumption, analog electric signal to receiving coil output amplifies, and for isolating the interference of front late-class circuit, adds one-level follower circuit after instrument amplifier AD620.
In analog electric signal due to receiving coil output, contain the terrestrial magnetic field signal that approaches direct current, therefore need to be in pre-amplification circuit back, first adopt the active high-pass filtering amplification circuit filtering of the positive feedback type second order terrestrial magnetic field DC component of band gain as shown in figure 11; And then adopt as shown in figure 12 by level Four second order positive feedback type lower pass-filter amplification circuit eight rank Butterworth LPF in series, interference more than filtering 30Hz and noise, improve signal to noise ratio.
Analog to digital conversion circuit as shown in figure 13, is selected 24 AD chip AD7712 of highi degree of accuracy, converts the analog electric signal after amplification filtering to digital signal, sends DSP digital signal processor to by SDATA pin.
DSP digital signal processor is selected 32 float-point DSP TMS320F28335 of TI company.Dsp chip goes to do FFT processing after direct current to the digital signal collecting, and searches for peak-peak and the second largest peak value of frequency spectrum, and judges two frequencies of the whether corresponding transmitter transmitting of frequency at peak-peak and second largest peak value place.If so, then judge the vibration amplitude V at these two Frequency point places in frequency spectrum
1and V
2whether meet
if so, be judged to be to detect pipeline cleaner.What Figure 14 showed is time domain waveform and the FFT spectrogram thereof of the two-frequency signal (20Hz and 30Hz) of collection.
Position information process device is taking the SIM908 module of integrated GPS navigation technology as core, after starting, SIM908 module positions this receiving machine to gps satellite system request, after receiving the receiver location information (longitude and latitude) that gps satellite system returns, be uploaded to localization machine, Figure 15 is that in the present embodiment, SIM908 module is located to gps satellite system request, and receiver location information is uploaded to the diagram of localization machine.
3. localization machine
As shown in figure 15, localization machine is made up of server and display screen.After server receives the receiver location information that position information process device uploads, be defined as the position of pipeline cleaner, generate geographic pattern by calling internal image processor or external application (as Google API) again, finally shown by display screen.In the present embodiment, user can pass through mobile terminal accessing server, in order to position and the running orbit of real-time tracing pipeline cleaner more easily.
Above-described specific embodiment; object of the present invention, technological scheme and beneficial effect are further described; institute is understood that; the foregoing is only specific embodiments of the invention; the protection domain being not intended to limit the present invention; within the spirit and principles in the present invention all, any amendment of making, be equal to replacement, improvement etc., within all should being included in protection scope of the present invention.
Those skilled in the art can also recognize the various illustrative components, blocks (illustrative logical block) that the embodiment of the present invention is listed, unit, and step can pass through electronic hardware, computer software, or both combinations realize.For the clear replaceability (interchangeability) of showing hardware and software, above-mentioned various illustrative components (illustrative components), unit and step have been described their function generally.Such function is to realize by hardware or software the designing requirement of depending on specific application and whole system.Those skilled in the art can, for every kind of specific application, can make in all sorts of ways and realize described function, but this realization should not be understood to exceed the scope of embodiment of the present invention protection.
Various illustrative logical block described in the embodiment of the present invention, or unit, or device can pass through general processor, DSP digital signal processor, specific integrated circuit (ASIC), field programmable gate array or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or the design of above-mentioned any combination realizes or operates described function.General processor can be microprocessor, and alternatively, this general processor can be also any traditional processor, controller, microcontroller or state machine.Processor also can be realized by the combination of computing device, for example DSP digital signal processor and microprocessor, and multi-microprocessor, a Digital Signal Processor Core of one or more microprocessor associating, or any other similarly configures and realizes.
Method described in the embodiment of the present invention or the step of algorithm can directly embed hardware, the software module of processor execution or the two combination.Software module can be stored in the storage medium of other arbitrary form in RAM storage, flash memory, ROM storage, eprom memory, eeprom memory, register, hard disk, moveable magnetic disc, CD-ROM or related domain.Exemplarily, storage medium can be connected with processor, with make processor can be from storage medium reading information, and can deposit write information to storage medium.Alternatively, storage medium can also be integrated in processor.Processor and storage medium can be arranged in ASIC, and ASIC can be arranged in user terminal.Alternatively, processor and storage medium also can be arranged in the different parts in user terminal.
In one or more exemplary designs, the described above-mentioned functions of the embodiment of the present invention can realize in hardware, software, firmware or this three's combination in any.If realized in software, these functions can be stored on the medium of computer-readable, or are transmitted on the medium of computer-readable with one or more instructions or code form.Computer-readable medium comprises computer storage medium and is convenient to make to allow computer program transfer to other local telecommunication media from a place.Storage medium can be the useable medium that any general or special computer can access.For example, such computer readable media can include but not limited to RAM, ROM, EEPROM, CD-ROM or other optical disc storage, disk storage or other magnetic storage device, or other any medium that can be read by general or special computer or general or special processor for carrying or storage the program-code of form with instruction or data structure and other.In addition, any connection can be suitably defined as computer-readable medium, for example,, if software is by a concentric cable, fiber optic cables, twisted-pair feeder, Digital Subscriber Line (DSL) or being also comprised in defined computer-readable medium with wireless way for transmittings such as such as infrared, wireless and microwaves from a web-site, server or other remote resource.Described video disc (disk) and disk (disc) comprise Zip disk, radium-shine dish, CD, DVD, floppy disk and Blu-ray Disc, and disk is conventionally with magnetic duplication data, and video disc carries out optical reproduction data with laser conventionally.Above-mentioned combination also can be included in computer-readable medium.
Claims (20)
1. a pipeline cleaner navigation system, is characterized in that, comprising:
Transmitter, is fixed on pipeline cleaner, for launching the identical and at least two kinds of electromagnetic signals that frequency is different of amplitude;
Multiple receiving machines, are arranged at oil and gas pipes and go up along the line, and the amplitude that sends for detection of described transmitter is identical and at least two kinds of electromagnetic signals that frequency is different, and in the position information to localization machine transmitter-receiver self when at least two kinds of electromagnetic signals described in detecting;
Localization machine, for receiving the position information of described receiving machine self, and is defined as the position of described pipeline cleaner.
2. a pipeline cleaner positioning device, is characterized in that, comprising:
Transmitter, is fixed on pipeline cleaner, for launching the identical and at least two kinds of electromagnetic signals that frequency is different of amplitude.
3. device according to claim 2, is characterized in that, described transmitter specifically comprises:
Countdown circuit, for controlling the frequency of electromagnetic signal of transmitting coil transmitting;
Transmitting coil, for launching the identical and at least two kinds of electromagnetic signals that frequency is different of amplitude under the control of described countdown circuit.
4. device according to claim 3, is characterized in that, described transmitter also comprises:
Power supply, is used to described countdown circuit and described transmitting coil that power supply is provided.
5. device according to claim 3, is characterized in that, described transmitting coil two kinds of electromagnetic signals that frequency is different specifically for transmitting amplitude is identical.
6. according to the arbitrary described device of claim 3-5, it is characterized in that, the frequency of described at least two kinds of electromagnetic signals of described transmitting coil transmitting is between 20Hz～30Hz.
7. a pipeline cleaner positioning device, is characterized in that, comprising:
Multiple receiving machines, be arranged at oil and gas pipes along the line on, the amplitude that sends for detection of the transmitter being fixed on pipeline cleaner is identical and at least two kinds of electromagnetic signals that frequency is different, and in the position information to localization machine transmitter-receiver self when at least two kinds of electromagnetic signals described in detecting;
Localization machine, for receiving the position information of described receiving machine self, and is defined as the position of described pipeline cleaner.
8. device according to claim 7, is characterized in that, described receiving machine specifically comprises:
Receiving coil, for receiving field signal, and is converted to analog electric signal by field signal;
Pre-amplification circuit, connects described receiving coil, for amplifying the analog electric signal of described receiving coil output;
Filter amplification circuit, connects described pre-amplification circuit, carries out filtering and again amplifies for the analog electric signal after described pre-amplification circuit is amplified;
Analog to digital conversion circuit, connects described filter amplification circuit, is converted to digital signal for the analog electric signal by described filter amplification circuit filtering and after again amplifying;
DSP digital signal processor, connects analog-digital conversion circuit as described, for described digital signal being carried out to fft FFT processing, obtains the frequency spectrum of described digital signal; And utilize spectrum peak search algorithm to detect described frequency spectrum; When detect in described frequency spectrum exist described at least two kinds of each frequencies that electromagnetic signal is corresponding, and when signal amplitude corresponding to each frequency described in described frequency spectrum meets being related to of setting, at least two kinds of electromagnetic signals described in definite detecting, and enable position message handler;
Position information process device, for sending the position information of this receiving machine self to described localization machine.
9. device according to claim 8, it is characterized in that, in the time that described transmitter sends the identical and two kinds of electromagnetic signals that frequency is different of amplitude, described DSP digital signal processor specifically for: utilize frequency spectrum described in spectrum peak search algorithm search, the peak-peak and frequency corresponding to second largest peak value that judge described frequency spectrum are respectively two frequencies corresponding to described two kinds of electromagnetic signals, and when two signal amplitudes corresponding to frequency meet following formula described in described frequency spectrum, determine and described two kinds of electromagnetic signals detected:
Wherein, V
1, V
2be respectively described two signal amplitudes that frequency is corresponding.
10. device according to claim 8, is characterized in that, described position information process implement body comprises:
Storage chip, for storing the position information of predetermined receiving machine self;
Transmit port, for sending to described localization machine by the position information of the receiving machine of described memory chip stores self.
11. devices according to claim 8, is characterized in that, described position information process implement body comprises:
Locating module in real time, for obtaining the position information of receiving machine self by global position system GPS;
Transmit port, sends to described localization machine for the position information of receiving machine self that described real-time locating module is obtained.
12. devices according to claim 7, is characterized in that, described localization machine specifically comprises:
Server, for receiving the position information of described receiving machine self, and is defined as the position of described pipeline cleaner; And, generate geographic pattern according to the position information of described receiving machine self;
Display screen, for showing the position of described pipeline cleaner of described geographic pattern and/or written form.
13. devices according to claim 12, is characterized in that, described localization machine also comprises:
Mobile terminal, by accessing described server, obtains the position of described pipeline cleaner.
14. 1 kinds of pipeline cleaner localization methods, is characterized in that, comprising:
Identical and at least two kinds of electromagnetic signals that frequency is different of transmitter on pipeline cleaner transmitting amplitude are fixed in utilization;
At least two kinds of electromagnetic signals described in the multiple receiving machines that utilize oil and gas pipes above to arrange along the line detect;
The position that is described pipeline cleaner by the location positioning of the receiving machine of at least two kinds of electromagnetic signals described in detecting.
15. methods according to claim 14, is characterized in that, at least two kinds of electromagnetic signals described in the described multiple receiving machines that utilize oil and gas pipes upper setting along the line detect, are specially:
Utilize the oil and gas pipes upper multiple receiving machines reception field signals that arrange along the line;
Described field signal is converted to digital signal;
Described digital signal is carried out to fft FFT processing, obtain the frequency spectrum of described digital signal;
Utilize spectrum peak search algorithm to detect described frequency spectrum;
When detect in described frequency spectrum exist described at least two kinds of each frequencies that electromagnetic signal is corresponding, and signal amplitude corresponding to each frequency described in described frequency spectrum be while meeting being related to of setting, determine detect described at least two kinds of electromagnetic signals.
16. methods according to claim 15, is characterized in that, described transmitter transmitting amplitude is identical and two kinds of electromagnetic signals that frequency is different; Described receiving machine utilizes frequency spectrum described in spectrum peak search algorithm search, when the peak-peak and frequency corresponding to second largest peak value that judge described frequency spectrum are respectively two frequencies corresponding to described two kinds of electromagnetic signals, and when two signal amplitudes corresponding to frequency meet following formula described in described frequency spectrum, determine and described two kinds of electromagnetic signals detected:
Wherein, V
1, V
2be respectively two signal amplitudes that frequency is corresponding described in described frequency spectrum.
17. methods according to claim 14, is characterized in that, the described position that is described pipeline cleaner by the location positioning of the receiving machine of at least two kinds of electromagnetic signals described in detecting, is specially:
Pre-determine the oil and gas pipes position of the upper multiple receiving machines that arrange along the line, when described in arbitrary receiving machine detects when at least two kinds of electromagnetic signals, the position that is described pipeline cleaner by the location positioning of predetermined this receiving machine.
18. methods according to claim 14, is characterized in that, the described position that is described pipeline cleaner by the location positioning of the receiving machine of at least two kinds of electromagnetic signals described in detecting, is specially:
By global position system GPS, the receiving machine of at least two kinds of electromagnetic signals described in detecting is located in real time, and position location is defined as to the position of described pipeline cleaner.
19. methods according to claim 14, is characterized in that, described method also comprises: the position of described pipeline cleaner is offered to user with the form of geographic pattern and/or Word message.
20. according to the arbitrary described method of claim 14-19, it is characterized in that, the frequency of described at least two kinds of electromagnetic signals is between 20Hz～30Hz.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410258885.5A CN104019326B (en) | 2014-06-11 | 2014-06-11 | A kind of pipeline cleaner navigation system, device and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410258885.5A CN104019326B (en) | 2014-06-11 | 2014-06-11 | A kind of pipeline cleaner navigation system, device and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104019326A true CN104019326A (en) | 2014-09-03 |
| CN104019326B CN104019326B (en) | 2016-03-30 |
Family
ID=51436228
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410258885.5A Expired - Fee Related CN104019326B (en) | 2014-06-11 | 2014-06-11 | A kind of pipeline cleaner navigation system, device and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104019326B (en) |
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104297596A (en) * | 2014-10-17 | 2015-01-21 | 中国石油天然气股份有限公司 | Magnetic field transmitter signal strength detecting device for tracking and positioning tube cleaner |
| CN104923536A (en) * | 2015-05-22 | 2015-09-23 | 沈阳永业实业有限公司 | Communication positioning device and method applied to pipe cleaner inside benthal oil pipeline |
| CN105785452A (en) * | 2016-04-22 | 2016-07-20 | 贾琼雷 | Oil and gas pipeline device positioning composite sensor |
| CN106931277A (en) * | 2015-12-31 | 2017-07-07 | 中国石油天然气股份有限公司 | Wiper alignment system |
| CN107314787A (en) * | 2016-04-26 | 2017-11-03 | 北京电子科技职业学院 | A kind of oil-gas pipeline detection device orientation management system based on mobile phone A PP |
| JP2018044555A (en) * | 2016-09-12 | 2018-03-22 | 株式会社大林組 | Transfer device and position specification method |
| CN109406631A (en) * | 2018-11-28 | 2019-03-01 | 交通运输部公路科学研究所 | A kind of parallel steel wire draws hoist cable detection device and method |
| CN110873290A (en) * | 2018-09-04 | 2020-03-10 | 中国石油化工股份有限公司 | Sequential conveying mixed oil control tracking method and system |
| CN111136000A (en) * | 2020-01-17 | 2020-05-12 | 西安探管者探测技术有限公司 | Gas compression vibrator |
| CN111810768A (en) * | 2020-06-29 | 2020-10-23 | 武汉理工光科股份有限公司 | Method and device for monitoring running state of pipe cleaner based on distributed optical fiber sensing |
| 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 |
| CN112728294A (en) * | 2020-12-28 | 2021-04-30 | 佛山科学技术学院 | Monitoring device, positioning method and positioning system of pipe cleaner and storage medium |
| CN112797321A (en) * | 2020-12-25 | 2021-05-14 | 哈尔滨市建源市政工程规划设计有限责任公司 | Novel pipeline connectivity checking method |
| CN113586841A (en) * | 2021-08-03 | 2021-11-02 | 天津精仪精测科技有限公司 | Traction recovery method of in-pipeline detector with payment function |
| CN113775853A (en) * | 2021-09-28 | 2021-12-10 | 长庆实业集团有限公司 | Oil outlet pipeline plugging point positioning device |
| US20220003352A1 (en) * | 2018-11-08 | 2022-01-06 | Quest Integrity Group, Llc | System and method to detect an inline tool in a pipe |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US2601248A (en) * | 1948-12-30 | 1952-06-24 | Standard Oil Co | Pipe line cleaner and locator |
| US20110161038A1 (en) * | 2009-12-29 | 2011-06-30 | Jeff Sutherland | System and Method for Calibration of Mounted Acoustic Monitoring System with Mapping Unit |
| CN202018515U (en) * | 2011-03-10 | 2011-10-26 | 中国石油天然气集团公司 | Novel pipeline-cleaner tracking and positioning instrument |
| CN102269825A (en) * | 2010-06-04 | 2011-12-07 | 中国石油天然气股份有限公司 | Online tracking and locating system of pipeline cleaner |
| CN102269828A (en) * | 2010-11-01 | 2011-12-07 | 中南大学肝胆肠外科研究中心 | Preparation method of nano-optical anti-fog film |
| CN202284703U (en) * | 2011-11-01 | 2012-06-27 | 河南中拓石油工程技术股份有限公司 | Accurate positioning equipment for pipeline inspection gauge (PIG) |
| CN203299373U (en) * | 2013-06-09 | 2013-11-20 | 江苏师范大学 | Wireless electromagnet self-adaptive tube cleaner and positioning system thereof |
-
2014
- 2014-06-11 CN CN201410258885.5A patent/CN104019326B/en not_active Expired - Fee Related
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US2601248A (en) * | 1948-12-30 | 1952-06-24 | Standard Oil Co | Pipe line cleaner and locator |
| US20110161038A1 (en) * | 2009-12-29 | 2011-06-30 | Jeff Sutherland | System and Method for Calibration of Mounted Acoustic Monitoring System with Mapping Unit |
| CN102269825A (en) * | 2010-06-04 | 2011-12-07 | 中国石油天然气股份有限公司 | Online tracking and locating system of pipeline cleaner |
| CN102269828A (en) * | 2010-11-01 | 2011-12-07 | 中南大学肝胆肠外科研究中心 | Preparation method of nano-optical anti-fog film |
| CN202018515U (en) * | 2011-03-10 | 2011-10-26 | 中国石油天然气集团公司 | Novel pipeline-cleaner tracking and positioning instrument |
| CN202284703U (en) * | 2011-11-01 | 2012-06-27 | 河南中拓石油工程技术股份有限公司 | Accurate positioning equipment for pipeline inspection gauge (PIG) |
| CN203299373U (en) * | 2013-06-09 | 2013-11-20 | 江苏师范大学 | Wireless electromagnet self-adaptive tube cleaner and positioning system thereof |
Non-Patent Citations (1)
| Title |
|---|
| 李辉: "电子清管器发射机系统的改进研究", 《中国测试》, vol. 35, no. 2, 31 March 2009 (2009-03-31) * |
Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104297596A (en) * | 2014-10-17 | 2015-01-21 | 中国石油天然气股份有限公司 | Magnetic field transmitter signal strength detecting device for tracking and positioning tube cleaner |
| CN104923536A (en) * | 2015-05-22 | 2015-09-23 | 沈阳永业实业有限公司 | Communication positioning device and method applied to pipe cleaner inside benthal oil pipeline |
| CN106931277A (en) * | 2015-12-31 | 2017-07-07 | 中国石油天然气股份有限公司 | Wiper alignment system |
| CN105785452A (en) * | 2016-04-22 | 2016-07-20 | 贾琼雷 | Oil and gas pipeline device positioning composite sensor |
| CN107314787A (en) * | 2016-04-26 | 2017-11-03 | 北京电子科技职业学院 | A kind of oil-gas pipeline detection device orientation management system based on mobile phone A PP |
| JP2018044555A (en) * | 2016-09-12 | 2018-03-22 | 株式会社大林組 | Transfer device and position specification method |
| CN110873290A (en) * | 2018-09-04 | 2020-03-10 | 中国石油化工股份有限公司 | Sequential conveying mixed oil control tracking method and system |
| US20220003352A1 (en) * | 2018-11-08 | 2022-01-06 | Quest Integrity Group, Llc | System and method to detect an inline tool in a pipe |
| CN109406631A (en) * | 2018-11-28 | 2019-03-01 | 交通运输部公路科学研究所 | A kind of parallel steel wire draws hoist cable detection device and method |
| CN109406631B (en) * | 2018-11-28 | 2024-05-24 | 交通运输部公路科学研究所 | Parallel steel wire pulling sling detection device and method |
| CN111136000A (en) * | 2020-01-17 | 2020-05-12 | 西安探管者探测技术有限公司 | Gas compression vibrator |
| CN111136000B (en) * | 2020-01-17 | 2024-03-19 | 西安探管者探测技术有限公司 | Gas compression vibrator |
| CN111810768A (en) * | 2020-06-29 | 2020-10-23 | 武汉理工光科股份有限公司 | Method and device for monitoring running state of pipe cleaner based on distributed optical fiber sensing |
| CN111810768B (en) * | 2020-06-29 | 2021-11-09 | 武汉理工光科股份有限公司 | Method and device for monitoring running state of pipe cleaner based on distributed optical fiber sensing |
| 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 |
| CN112797321B (en) * | 2020-12-25 | 2022-07-01 | 哈尔滨市建源市政工程规划设计有限责任公司 | Novel pipeline connectivity checking method |
| CN112797321A (en) * | 2020-12-25 | 2021-05-14 | 哈尔滨市建源市政工程规划设计有限责任公司 | Novel pipeline connectivity checking method |
| CN112728294A (en) * | 2020-12-28 | 2021-04-30 | 佛山科学技术学院 | Monitoring device, positioning method and positioning system of pipe cleaner and storage medium |
| CN113586841A (en) * | 2021-08-03 | 2021-11-02 | 天津精仪精测科技有限公司 | Traction recovery method of in-pipeline detector with payment function |
| CN113775853A (en) * | 2021-09-28 | 2021-12-10 | 长庆实业集团有限公司 | Oil outlet pipeline plugging point positioning device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104019326B (en) | 2016-03-30 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104019326B (en) | A kind of pipeline cleaner navigation system, device and method | |
| Khulief et al. | Acoustic detection of leaks in water pipelines using measurements inside pipe | |
| Hamilton et al. | Leak detection: technology and implementation | |
| US9413571B2 (en) | System and method for time reversal data communications on pipes using guided elastic waves | |
| US20120285221A1 (en) | Acoustic probe for leak detection in water pipelines | |
| CN106224784B (en) | The ultrasonic nondestructive testing device of defect of pipeline | |
| Pal et al. | Detecting & locating leaks in water distribution polyethylene pipes | |
| CN106352243A (en) | Gas transmission pipeline leakage detection system based on acoustic method | |
| CN103154721A (en) | Apparatus and method for noninvasive particle detection using Doppler spectroscopy | |
| US20130199272A1 (en) | In-pipe mobile cross-correlation-based system for leak detection | |
| CN103672415B (en) | Based on the gas pipe leakage detection of non-intervention type sensor and navigation system and method | |
| CN105652263B (en) | It is anti-during a kind of non-free field of underwater sound projector sound source level to focus on measuring method | |
| CN102879714B (en) | Partial discharge of transformer detection and location method | |
| CN107850576A (en) | The determination of pipe scale in fuid distribution system | |
| CN110469782B (en) | Pipeline leakage positioning device based on self-adaptive filter | |
| CN105805563A (en) | Endoscopic pipe leakage and blockage ultrasonic detection device and method based on channel association | |
| CN104654026A (en) | Oil and gas pipeline leakage acoustic emission inside detection system and method | |
| CN202018515U (en) | Novel pipeline-cleaner tracking and positioning instrument | |
| CN202040551U (en) | Data front processing apparatus for detection of pipeline leakage or obstruction | |
| CN100392359C (en) | Ultrasonic signal processing method and applications thereof | |
| CN102735314A (en) | High-precision externally-mounted type ultrasonic liquid meter | |
| CN105759256B (en) | A kind of underwater sound projector sends response time reversion and focuses on measuring method | |
| Wu et al. | Novel signal denoising approach for acoustic leak detection | |
| CN107888372B (en) | Underwater sonar communication system based on chaotic oscillator array element | |
| CN113514199B (en) | Method for detecting and locating fluid leakage |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160330 Termination date: 20170611 |