CN104237917A - Remote real-time tracking system and method for in-pipeline detector - Google Patents
Remote real-time tracking system and method for in-pipeline detector Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/50—Determining position whereby the position solution is constrained to lie upon a particular curve or surface, e.g. for locomotives on railway tracks
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Abstract
The invention discloses a remote real-time tracking system of a detector in a pipeline, which comprises: the device comprises a plurality of tracking devices, a Beidou system receiver and a remote monitoring terminal; the tracking device is arranged along the pipeline, the Beidou system receiver is used for receiving messages sent by the tracking device through a Beidou system satellite, the Beidou system receiver is connected with the remote monitoring terminal through wired or wireless communication, and the remote monitoring terminal is used for reading the messages received by the Beidou system receiver and tracking the detector in the pipeline. The invention also discloses a remote real-time tracking method for the in-pipeline detector. The invention can realize all-weather, all-area and high-precision tracking for the detection in the long oil and gas transmission pipeline.
Description
Technical field
The present invention is the long-range real-time tracking system of a kind of in-pipeline detector and method, relates to pigging and the detection field of oil and gas pipes system.
Background technology
Long-distance oil & gas pipeline due to manufacturing process, material, construct, bury the reasons such as environment, pumped (conveying) medium, operating conditions underground, the various abnormal and inefficacy of normal appearance, if find not in time and keep in repair, the leakage of oil/gas can be there is, environment and human life's property safety be formed and threatens.For reducing the generation of pipeline accident, oil and gas pipes enterprise often adopts all kinds of detecting and assessing way, the defect that analysis conduit exists.Wherein, pipeline detection (ILI) is exactly a kind of conventional detection method.Inner Examination Technology on Pipeline is carried on pipeline cleaner by various non-destructive detecting device, run, reach the object of testing pipes defect by the front and back pressure reduction of pumped (conveying) medium in pipeline.Owing to running under pipe interior shielding environment, internal detector (pig) can not in real time and extraneous communication, must by the tracking means on ground, on the one hand for following the tracks of in-pipeline detector, on the other hand, as the object of reference of pipeline feature location, Calibration pipe feature locations.
Current pig tracking means, after must fetching from field operation completing tracing task, could analyze whether tracking means effectively triggers, whether whether normal, the operation that works is wrong, can not in testing process real-time analysis unit state, can not Timeliness coverage lost efficacy device, cause actual tracking spacing to increase, reduce the precision of pipeline feature location.
And pig has the possibility of blocking, if can not Timeliness coverage, can cause the danger that pipeline builds the pressure, leaks, especially for high wax content oil pipeline, pig blocking can affect pipeline and normally run.Main solution is often locating on tracing positional at present, judges whether pig passes through, need the moment to observe tracking means signal by operating personnel according to pig is predetermined by the time.And long-distance oil & gas pipeline mostly is without signs of human habitation area by region, circumstance complication.This not only needs a large amount of manpowers, and harsh environments also cannot ensure personal safety.
On the other hand, when tracking means is under start is in running order, requirement can not be moved.And under field environment, inevitably there is the situations such as other staff's mobile device, tracking individuals move by mistake, like this,
The data of record can be mixed more than, useless signal, if can not get rid of in time, can cause serious Wrong localization.
In addition, tracking individuals needs some track records of hand filling, the information such as such as tracking means numbering, pile No., the reference information that data analyst utilizes these information to locate as pipeline feature.Inevitably there is the situation of personnel record's mistake in this, causes pipeline feature Wrong localization.
Beidou satellite navigation system (BeiDou Navigation Satellite System-" BDS ") is China's global positioning satellite of developing voluntarily and communication system.System is made up of vacant terminal, ground surface end and user side, round-the-clock, round-the-clock can provide high precision, highly reliable location, navigation, time service service for user in the world, and possess terminal bi-directional communication function.The characteristic of this round-the-clock, Global coverage, bi-directional communication, is that pig tracking means location and remote tracing manage, provides a reliable platform.
Summary of the invention
The object of this invention is to provide the long-range real-time tracking system of a kind of in-pipeline detector, realizing round-the-clock, region-wide, high-precision tracking to detecting in long-distance oil & gas pipeline.
Another object of the present invention is to the tracking providing above-mentioned tracker to realize.
The object of the invention is to be achieved through the following technical solutions:
The long-range real-time tracking system of a kind of in-pipeline detector, comprising: several tracking means, a dipper system receiver and a remote monitoring terminal; It is along the line that tracking means described in several is arranged on pipeline, the message that described dipper system receiver is sent by dipper system satellite for receiving described tracking means, described dipper system receiver is connected by wired or wireless communication with described remote monitoring terminal, the message that described remote monitoring terminal receives for reading described dipper system receiver, follows the tracks of in-pipeline detector;
Wherein, described tracking means comprises:
Tracking cell, for pipelines internal detector by signal, described by signal be in-pipeline detector by time magnetic field variation signal or the signal of transmitter that carries of in-pipeline detector;
Dipper system unit, for receiving the data of dipper system satellite, and send message by described dipper system satellite to described dipper system receiver, simultaneously to described tracking cell accurate time transmission, guarantee that the clock of all described tracking means and described in-pipeline detector keeps synchronous;
Process and storage unit, for gathering in-pipeline detector that described tracking cell detects by signal, by analog/digital conversion, be converted to digital signal, and press specified data structure and store, and stores the satellite data of described dipper system unit collection simultaneously.
Further, described tracker comprises:
Mobile PC equipment, described mobile PC equipment is connected by wired or wireless communication with described dipper system unit, for carrying out initial setting up to described dipper system unit.
Further, described remote monitoring terminal adopts GIS interface, the state of display and monitoring tracking means.
The long-range method for real time tracking of a kind of in-pipeline detector, comprises the steps:
Several tracking means are put by predetermined space along the line at pipeline;
In-service pipeline internal detector;
Tracking cell pipelines internal detector in described tracking means pass through signal;
Process in described tracking means and storage unit gather in-pipeline detector that described tracking cell detects by signal, by analog/digital conversion, are converted to digital signal, and press specified data structure and store;
The in-pipeline detector that described process and storage unit are gathered by dipper system satellite by the dipper system unit in described tracking means sends message by signal to the dipper system receiver of remote port;
Read by remote monitoring terminal the message that described dipper system receiver receives, monitor described tracking means position, and described in-pipeline detector pass through signal;
Process the data that described remote monitoring terminal obtains, resolve the accurate geographic coordinate of described tracking means, and the exact time that described in-pipeline detector passes through.
Further, describedly put several tracking means by predetermined space along the line at pipeline and comprise: put described tracking means every 1 ~ 2km along the line along pipeline; Near Pipelines country mapping trigpoint or other mapping known points put described tracking means, is convenient to pipeline mapping and national topomap accurate match.
Further, described before pipeline puts several tracking means by predetermined space along the line, also comprise the steps: to carry out initial setting up with mobile PC equipment to the dipper system unit of tracking means described in every platform.
Further, also comprised the steps: before in-service pipeline internal detector by tracking means described in several following the tracks of with the pipeline cleaner of sender unit, whether analysis conduit surrounding enviroment and buried depth of pipeline can affect the triggering of described tracking means, judge that whether described tracking means putting position is reasonable; If judge, described tracking means putting position is unreasonable, and the so timely putting position to described tracking means adjusts, and ensures the validity of every platform tracking means; If judge, described tracking means putting position is reasonable, and so bring into operation described in-pipeline detector.
Further, dipper system unit in described tracking means comprises to the message transmitting party formula in the dipper system receiver transmission message of remote port: send first, start shooting at described tracking means, and dipper system satellite-signal stable after, to the Article 1 message that described dipper system receiver sends, state is 0; Trigger and send, described tracking means is triggered, and signal storage becomes message to send sequence by the process in described tracking means and storage unit, and send message to described dipper system receiver successively, state is 1; Timed sending, before described tracking means triggers or after being sent completely, by setting-up time interval, continue to send message to described dipper system receiver, state is 0, and this type of message is for checking state and the position of tracking means.
Further, describedly read by remote monitoring terminal the message that described dipper system receiver receives, by signal, that monitors described in-pipeline detector specifically comprises the steps: that described in-pipeline detector initial rate is decided to be medium departures speed, namely set off metering rate, and arriving the time Estimate value of first tracking means is distance and the ratio of initial rate; By the impact of pipe friction, conduit fittings and physical features etc., actual time of arrival and estimated value slightly difference, sets a discrepancy threshold, exceedes this threshold value, illustrates to there is internal detector blocking possibility, should take emergency measures; According to the spacing of in-pipeline detector time of arrival and described tracking means, calculate in-pipeline detector speed, estimate next tracking means time of arrival, by that analogy, until described in-pipeline detector end of run with this.
The present invention has the following advantages and beneficial effect compared to existing technology:
1, utilize the characteristic such as the Global coverage of BDS satellite system, message communication, achieve the long-range real-time follow-up of in-pipeline detector, broken away from the dependence to other wireless communication resources, and signal by time/space constraint, integrated level is high;
2, before in-service pipeline internal detector, put tracking means in advance, when unmanned the intervention, automatic operation, long-range real time inspection in-pipeline detector by signal, follows the tracks of in-pipeline detector position, decreases the working time of tracking individuals in hazardous location and rugged surroundings, reduce human factor and surprisingly trigger probability, ensure that the reliability of tracking means;
3, Accurate Prediction in-pipeline detector is by the time, and whether timely decision-making in-pipeline detector blocking phenomenon occurs, and improves emergency response speed, reduces the Probability of accident.
Accompanying drawing explanation
The long-range real-time tracking system schematic diagram of a kind of in-pipeline detector that Fig. 1 provides for the embodiment of the present invention;
The theory diagram of the tracking means that Fig. 2 provides for the embodiment of the present invention;
The long-range method for real time tracking process flow diagram of a kind of in-pipeline detector that Fig. 3 provides for the embodiment of the present invention;
The in-pipeline detector that Fig. 4 provides for the embodiment of the present invention is by time estimation figure.
Embodiment
Below in conjunction with embodiment and accompanying drawing, the present invention is described in further detail, but embodiments of the present invention are not limited thereto.
Embodiment 1:
As shown in Figure 1 and Figure 2, the long-range real-time tracking system of a kind of in-pipeline detector, comprising: several tracking means, a dipper system receiver and a remote monitoring terminal; It is along the line that tracking means described in several is arranged on pipeline, the message that described dipper system receiver is sent by dipper system satellite for receiving described tracking means, described dipper system receiver is connected by wired or wireless communication with described remote monitoring terminal, the message that described remote monitoring terminal receives for reading described dipper system receiver, follows the tracks of in-pipeline detector;
Wherein, described tracking means has unique number, is solidificated in ROM, and ensure tracking means and numbering one_to_one corresponding, described tracking means specifically comprises:
Tracking cell, for pipelines internal detector by signal, described by signal be in-pipeline detector by time magnetic field variation signal or the signal of transmitter that carries of in-pipeline detector;
Dipper system unit, for receiving the data of dipper system satellite, and send message by described dipper system satellite to described dipper system receiver, simultaneously to described tracking cell accurate time transmission, guarantee that the clock of all described tracking means and described in-pipeline detector keeps synchronous;
Process and storage unit, for gathering in-pipeline detector that described tracking cell detects by signal, by analog/digital conversion, be converted to digital signal, and press specified data structure and store, and stores the satellite data of described dipper system unit collection simultaneously.
In the present embodiment, described tracker also comprises: mobile PC equipment, and described mobile PC equipment is connected by wired or wireless communication with described dipper system unit, for carrying out initial setting up to described dipper system unit.
In the present embodiment, described remote monitoring terminal adopts GIS interface, the state of display and monitoring tracking means.
Embodiment 2:
As shown in Figure 3, the present embodiment provides a kind of in-pipeline detector long-range method for real time tracking:
S101, puts several tracking means by predetermined space along the line at pipeline;
S102, in-service pipeline internal detector;
S103, the tracking cell pipelines internal detector in described tracking means pass through signal;
S104, the process in described tracking means and storage unit gather in-pipeline detector that described tracking cell detects by signal, by analog/digital conversion, are converted to digital signal, and press specified data structure and store;
S105, the in-pipeline detector that described process and storage unit are gathered by dipper system satellite by the dipper system unit in described tracking means sends message by signal to the dipper system receiver of remote port;
S106, reads by remote monitoring terminal the message that described dipper system receiver receives, monitors described tracking means position, and described in-pipeline detector pass through signal;
S107, processes the data that described remote monitoring terminal obtains, resolves the accurate geographic coordinate of described tracking means, and the exact time that described in-pipeline detector passes through.
In the present embodiment, described step S101 specifically comprises: put described tracking means every 1 ~ 2km along the line along pipeline; Near Pipelines country mapping trigpoint or other mapping known points put described tracking means, is convenient to pipeline mapping and national topomap accurate match.
In the present embodiment, before described step S101, also comprise the steps: to carry out initial setting up with mobile PC equipment to the dipper system unit of tracking means described in every platform, content is set and comprises dipper system receiver numbering described in remote port that message is sent to, and message timed sending time interval etc.
In the present embodiment, also comprised the steps: following the tracks of with the pipeline cleaner of sender unit before in-service pipeline internal detector, whether analysis conduit surrounding enviroment and buried depth of pipeline can affect the triggering of described tracking means, judge that whether described tracking means putting position is reasonable; If judge, described tracking means putting position is unreasonable, and the so timely putting position to described tracking means adjusts, and ensures the validity of every platform tracking means; If judge, described tracking means putting position is reasonable, and so bring into operation described in-pipeline detector.
Particularly, before in-service pipeline internal detector, all can run for several times pipeline cleaner, remove the foreign material in pipeline, and judge pipeline by performance, with anti-tamper in-pipeline detector; Environmental impact and buried depth of pipeline are excessively dark, tracking means all may be caused not trigger, before commencement of commercial operation in-pipeline detector, tracking means is put rational position, i.e. effective trigger position, guarantee that tracking means as much as possible can effectively trigger, ensure the accuracy that late time data process is located pipeline feature.
In the present embodiment, in described step S105, dipper system unit in described tracking means comprises to the message transmitting party formula in the dipper system receiver transmission message of remote port: send first, start shooting at described tracking means, and dipper system satellite-signal stable after, to the Article 1 message that described dipper system receiver sends, state is 0; Trigger and send, described tracking means is triggered, and signal storage becomes message to send sequence by the process in described tracking means and storage unit, and send message to described dipper system receiver successively, state is 1; Timed sending, before described tracking means triggers or after being sent completely, by setting-up time interval, continue to send message to described dipper system receiver, state is 0, and this type of message is for checking state and the position of tracking means.
In the present embodiment, in described step S105, the content of described transmission message comprises: tracking means is numbered, and the time, coordinate, state, signal, to guarantee accuracy and the consistance of recorded information.
In the present embodiment, in described step S106, describedly read by remote monitoring terminal the message that described dipper system receiver receives, by signal, that monitors described in-pipeline detector specifically comprises the steps: that in-pipeline detector initial rate is decided to be medium departures speed, namely set off metering rate, and arriving the time Estimate value of first tracking means is distance and the ratio of initial rate; By the impact of pipe friction, conduit fittings and physical features etc., actual time of arrival and estimated value are slightly different, set a discrepancy threshold, exceed this threshold value, illustrate to there is internal detector blocking possibility, should take emergency measures; According to the spacing of in-pipeline detector time of arrival and described tracking means, calculate in-pipeline detector speed, estimate next tracking means time of arrival, by that analogy, until described in-pipeline detector end of run with this.
In the present embodiment, in-pipeline detector is by time and rate estimation, and as shown in Figure 4, formula is as follows:
t
0＝0
T
1 estimates=S
1/ v
0
T
2 estimate=S
2/ v
2 estimate+ t
1 is real
Wherein, t
0for initial time, v
0for the velocity of medium of metering, S
1and S
2for the spacing between tracking means, t
1 estimatesfor the estimation triggered time at first tracking means place after setting off, t
1 is realfor the actual triggered time, due to the impact of tube wall resistance, conduit fittings and elevation, t
1 estimates<t
1 is real, v
1 estimatesfor passing through S
1the estimation speed of distance, is less than v
0, v
2 estimatefor passing through S
2the estimation speed of distance, t
2 estimatefor arriving the estimated time at next tracking means place, if exceed estimation by time certain time length, tracking means triggers not yet, can think that detecting device exists blocking possibility, should take emergency measures.
In sum, the present invention is used to carry out interior detection to a segment pipe, first field personnel carries out initial setting up to every platform tracking means, and operation can with the pipeline cleaner of sender unit before, by 1 ~ 2km interval directly over pipeline, and national trigonometric fixed point puts pig tracking means, tracking means sends message by regulation message transmitting party formula to remote port BDS receiver, and record the BDS satellite-signal received simultaneously, at remote port, whether effectively triggered by monitoring tracking means, judge putting position rationality, irrational position is suitably adjusted, until all tracking means all effectively trigger.Then, when running internal detector, by comparing the actual triggered time of tracking means and estimating the triggered time, may judge whether there is detecting device blocking, after end of run, aftertreatment is carried out to all data, obtains putting position coordinate and accurate internal detector accurately and pass through the time.
The present invention has the following advantages and beneficial effect:
1, utilize the characteristic such as the Global coverage of BDS satellite system, message communication, achieve the long-range real-time follow-up of in-pipeline detector, broken away from the dependence to other wireless communication resources, and signal by time/space constraint, integrated level is high;
2, before in-service pipeline internal detector, put tracking means in advance, when unmanned the intervention, automatic operation, long-range real time inspection in-pipeline detector by signal, follows the tracks of in-pipeline detector position, decreases the working time of tracking individuals in hazardous location and rugged surroundings, reduce human factor and surprisingly trigger probability, ensure that the reliability of tracking means;
3, Accurate Prediction in-pipeline detector is by the time, and whether timely decision-making in-pipeline detector blocking phenomenon occurs, and improves emergency response speed, reduces the Probability of accident.
Above-described embodiment is the present invention's preferably embodiment; but embodiments of the present invention are not restricted to the described embodiments; change, the modification made under other any does not deviate from Spirit Essence of the present invention and principle, substitute, combine, simplify; all should be the substitute mode of equivalence, be included within protection scope of the present invention.
Claims (9)
1. the long-range real-time tracking system of in-pipeline detector, is characterized in that, comprising: several tracking means, a dipper system receiver and a remote monitoring terminal; It is along the line that tracking means described in several is arranged on pipeline, the message that described dipper system receiver is sent by dipper system satellite for receiving described tracking means, described dipper system receiver is connected by wired or wireless communication with described remote monitoring terminal, the message that described remote monitoring terminal receives for reading described dipper system receiver, follows the tracks of in-pipeline detector;
Wherein, described tracking means comprises:
Tracking cell, for pipelines internal detector by signal, described by signal be in-pipeline detector by time magnetic field variation signal or the signal of transmitter that carries of in-pipeline detector;
Dipper system unit, for receiving the data of dipper system satellite, and send message by described dipper system satellite to described dipper system receiver, simultaneously to described tracking cell accurate time transmission, guarantee that the clock of all described tracking means and described in-pipeline detector keeps synchronous;
Process and storage unit, for gathering in-pipeline detector that described tracking cell detects by signal, by analog/digital conversion, be converted to digital signal, and press specified data structure and store, and stores the satellite data of described dipper system unit collection simultaneously.
2. the long-range real-time tracking system of in-pipeline detector according to claim 1, is characterized in that, described tracker comprises:
Mobile PC equipment, described mobile PC equipment is connected by wired or wireless communication with described dipper system unit, for carrying out initial setting up to described dipper system unit.
3. the long-range real-time tracking system of in-pipeline detector according to claim 1, is characterized in that, described remote monitoring terminal adopts GIS interface, the state of display and monitoring tracking means.
4. the long-range method for real time tracking of in-pipeline detector, is characterized in that, comprise the steps:
Several tracking means are put by predetermined space along the line at pipeline;
In-service pipeline internal detector;
Tracking cell pipelines internal detector in described tracking means pass through signal;
Process in described tracking means and storage unit gather in-pipeline detector that described tracking cell detects by signal, by analog/digital conversion, are converted to digital signal, and press specified data structure and store;
The in-pipeline detector that described process and storage unit are gathered by dipper system satellite by the dipper system unit in described tracking means sends message by signal to the dipper system receiver of remote port;
Read by remote monitoring terminal the message that described dipper system receiver receives, monitor described tracking means position, and described in-pipeline detector pass through signal;
Process the data that described remote monitoring terminal obtains, resolve the accurate geographic coordinate of described tracking means, and the exact time that described in-pipeline detector passes through.
5. the long-range method for real time tracking of in-pipeline detector according to claim 4, is characterized in that, describedly puts several tracking means by predetermined space along the line at pipeline and comprises: put described tracking means every 1 ~ 2km along the line along pipeline; Near Pipelines country mapping trigpoint or other mapping known points put described tracking means, is convenient to pipeline mapping and national topomap accurate match.
6. the long-range method for real time tracking of in-pipeline detector according to claim 4, it is characterized in that, described before pipeline puts several tracking means by predetermined space along the line, also comprise the steps: to carry out initial setting up with mobile PC equipment to the dipper system unit of tracking means described in every platform.
7. the long-range method for real time tracking of in-pipeline detector according to claim 4, it is characterized in that, also comprised the steps: before in-service pipeline internal detector by tracking means described in several following the tracks of with the pipeline cleaner of sender unit, whether analysis conduit surrounding enviroment and buried depth of pipeline can affect the triggering of described tracking means, judge that whether described tracking means putting position is reasonable; If judge, described tracking means putting position is unreasonable, and the so timely putting position to described tracking means adjusts, and ensures the validity of every platform tracking means; If judge, described tracking means putting position is reasonable, and so bring into operation described in-pipeline detector.
8. the long-range method for real time tracking of in-pipeline detector according to claim 4, it is characterized in that, dipper system unit in described tracking means comprises to the message transmitting party formula in the dipper system receiver transmission message of remote port: send first, start shooting at described tracking means, and dipper system satellite-signal stable after, to the Article 1 message that described dipper system receiver sends, state is 0; Trigger and send, described tracking means is triggered, and signal storage becomes message to send sequence by the process in described tracking means and storage unit, and send message to described dipper system receiver successively, state is 1; Timed sending, before described tracking means triggers or after being sent completely, by setting-up time interval, continue to send message to described dipper system receiver, state is 0, and this type of message is for checking state and the position of tracking means.
9. the long-range method for real time tracking of in-pipeline detector according to claim 4, it is characterized in that, describedly read by remote monitoring terminal the message that described dipper system receiver receives, by signal, that monitors described in-pipeline detector specifically comprises the steps: that described in-pipeline detector initial rate is set as pumped (conveying) medium departures speed, namely set off metering rate, and arriving the time Estimate value of first tracking means is distance and the ratio of initial rate; By the impact of pipe friction, conduit fittings and physical features etc., actual time of arrival and estimated value are slightly different, set a discrepancy threshold, exceed this threshold value, illustrate to there is internal detector blocking possibility, should take emergency measures; According to the spacing of in-pipeline detector time of arrival and described tracking means, calculate in-pipeline detector speed, estimate next tracking means time of arrival, by that analogy, until described in-pipeline detector end of run with this.
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| CN105674062A (en) * | 2015-12-30 | 2016-06-15 | 安徽海兴泰瑞智能科技有限公司 | Gas pipeline inspection system based on Beidou communication technique |
| CN107407933A (en) * | 2015-03-13 | 2017-11-28 | 株式会社日立产机系统 | pipe network diagnostic device |
| CN110220853A (en) * | 2019-04-29 | 2019-09-10 | 西安科技大学 | Laser spectrum telemetering early warning UAV system and localization method for pipe gallery |
| CN116774150A (en) * | 2022-12-06 | 2023-09-19 | 四川德源管道科技股份有限公司 | Tracking and positioning system suitable for detector and pipe cleaner in oil and gas pipeline |
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| CN105510930A (en) * | 2016-01-11 | 2016-04-20 | 盛隆石油管检测技术有限公司 | Ground marking system and method based on Beidou satellite |
| CN110220853A (en) * | 2019-04-29 | 2019-09-10 | 西安科技大学 | Laser spectrum telemetering early warning UAV system and localization method for pipe gallery |
| CN110220853B (en) * | 2019-04-29 | 2022-04-12 | 西安科技大学 | Laser spectrum telemetering and early warning unmanned aerial vehicle system for comprehensive pipe gallery and positioning method |
| CN116774150A (en) * | 2022-12-06 | 2023-09-19 | 四川德源管道科技股份有限公司 | Tracking and positioning system suitable for detector and pipe cleaner in oil and gas pipeline |
| CN116774150B (en) * | 2022-12-06 | 2024-07-26 | 四川德源管道科技股份有限公司 | Tracking and positioning system suitable for detector and pipe cleaner in oil and gas pipeline |
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