CN106855410A - A kind of underground piping positioning measurement equipment based on inertial technology - Google Patents
A kind of underground piping positioning measurement equipment based on inertial technology Download PDFInfo
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- CN106855410A CN106855410A CN201510900476.5A CN201510900476A CN106855410A CN 106855410 A CN106855410 A CN 106855410A CN 201510900476 A CN201510900476 A CN 201510900476A CN 106855410 A CN106855410 A CN 106855410A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
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Abstract
The invention belongs to underground piping field of measuring technique, it is related to a kind of underground piping positioning measurement equipment based on inertial technology.Described equipment includes support wheel (1), measurement main body (2), inertia sensing assembly and electronic unit, support wheel (1) is installed in the two ends of measurement main body (2), cavity is provided with measurement main body (2), inertia sensing assembly and electronic unit are arranged in measurement main body (2)；Inertia sensing assembly includes gyro and accelerometer, and electronic unit includes the measurement data of power module, acquisition module and memory module, acquisition module Real-time Collection gyro and accelerometer, and the data of collection are transferred into memory module.Solve the constraint for having the conditions such as the managed footpath diameter of measuring method, tubing material, environment electromagnetics interference, the buried depth of pipe network, terrain and its features at present；Change original increase manpower, the measuring method of test number (TN)；The destruction to the original state of underground utilities is avoided, the accuracy rate of DATA REASONING is improve.
Description
Technical field
The invention belongs to underground piping field of measuring technique, it is related to a kind of ground based on inertial technology
Lower pipeline positioning measurement equipment.
Background technology
Underground utilities are more and more intensive, and many pipelines need to safeguard, diagnose and repair；In construction
During need to exchange pipeline accurate information between each pipeline department.The greatest problem for facing at present
It is that the underground pipe network that the past is completed is due to historical reasons, mismanagement, it is impossible to provide accurate
Pipeline position figure.The actual detection depth of conventional electromagnetic exploration instrument is subject to the very day of one's doom at present
System, it is difficult in the case where 10 meters of buried depth is following the burial place of accurate measurement underground utilities with
Depth.
Be a long felt need for new equipment in pipeline performance, management, equipment can not by landform,
The influence of the environment such as looks, depth, electromagnetism is fast and accurately generally investigated underground utilities and provided
Accurate pipeline position.
The content of the invention
The purpose of the present invention is：There is provided a kind of by landform, landforms, depth, electromagnetic environment
Influence, the equipment that fast and accurately underground utilities can be positioned.
The technical scheme is that：A kind of underground piping positioning measurement based on inertial technology sets
It is standby, it is characterized by：Described equipment includes support wheel 1, measurement main body 2, inertia sensitivity group
Part and electronic unit, support wheel 1 are arranged on the two ends of measurement main body 2, are set in measurement main body 2
Cavity is equipped with, inertia sensing assembly and electronic unit are arranged in measurement main body 2；
Inertia sensing assembly includes gyro and accelerometer, and electronic unit includes power module, adopts
The measurement data of collection module and memory module, acquisition module Real-time Collection gyro and accelerometer,
And the data of collection are transferred to memory module.
Improved as one kind of the technical program, described equipment also includes mileage gauge, mileage gauge
On support wheel 1, the survey of acquisition module Real-time Collection gyro, accelerometer and mileage gauge
Amount data.
Improved as one kind of the technical program, measurement main body 2 is cylindrical shape.Outside measurement main body
Type structure is cylindrical shape, is easy to processing, increased measurement master to greatest extent in narrow pipeline
Body inside cavity space, more easily arranging electronic part and the radiating beneficial to device.
Improved as one kind of the technical program, being provided with three in measurement main body 2 is mutually perpendicular to
Single shaft gyro.
Improved as one kind of the technical program, the gyro installed in measurement main body 2 is three axles one
The gyro of body.
Improved as one kind of the technical program, being provided with two in measurement main body 2 is mutually perpendicular to
Twin shaft gyro.
Improved as one kind of the technical program, measurement main body 2 is segmental structure, segmental structure
It is easy to place inertia sensing assembly and electronic building brick.
Improved as one kind of the technical program, described equipment is made up of stainless steel material.Survey
Amount main body is made up of stainless steel material, not only can be with proof strength, and in underground wet environment
In prevent corrosion.
Improved as one kind of the technical program, measurement main body 2 is sealing structure.Measurement main body
Each several part is design of Sealing Structure, can prevent moisture from entering measurement body interior, it is to avoid interior
The damage of portion's electric elements.
Beneficial effects of the present invention are：Solve at present have the managed footpath diameter of measuring method,
The constraint of the condition such as tubing material, environment electromagnetics interference, the buried depth of pipe network, terrain and its features；
Change original increase manpower, the measuring method of test number (TN)；Avoid original to underground utilities
The destruction of state, improves the accuracy rate of DATA REASONING.
Brief description of the drawings
Fig. 1 is structural representation of the invention.
In figure：1 is support wheel, and 2 is measurement main body.
Specific embodiment
The present invention is described in further detail below in conjunction with the accompanying drawings.
As shown in figure 1, equipment include support wheel 1, measurement main body 2, inertia sensing assembly and
Electronic unit, support wheel 1 is arranged on the two ends of measurement main body 2, and support wheel is a wheel group.
Wheel group includes spring rocking arm and roller, and multiple is arranged on one in the roller with distribution by rocking arm
Rise, spring is installed between roller.When measuring, support wheel by certain precompression with
Tube wall is contacted, it is ensured that equipment is at measuring the center of pipeline.By groups of springs
Pulling force and thrust, wheel group can be adjusted according to the difference of tested pipeline diameter, greatly expand
Measurement range.Meanwhile, mileage gauge is installed on support wheel, the number of turns of pulley rotation can be measured,
So as to measure the distance that instrument is moved through.Support wheel is not limited in said structure form,
Also dependent on the diameter of tested pipeline, from diameter and internal diameter of the pipeline identical roller, also can be real
Existing support wheel is fitted with pipeline, it is ensured that exercise the requirement of track.
Cavity is provided with measurement main body 2, inertia sensing assembly and electronic unit are arranged on measurement
In main body 2.Its structure is segment design, and it is quick easily to place inertia in segmental structure
Sense component and electronic building brick.Measurement main body be made up of stainless steel material, not only can with proof strength,
And prevent corrosion in the wet environment of underground.Measurement main body each several part is design of Sealing Structure,
Can prevent moisture from entering measurement body interior.Measurement main body appearance structure is cylindrical shape, is easy to
Processing, increased measurement body cavity inner space, more to greatest extent in narrow pipeline
It is easy to arranging electronic part and the radiating beneficial to device.
Inertia sensing assembly includes gyro and accelerometer, and electronic unit includes power module, adopts
The measurement data of collection module and memory module, acquisition module Real-time Collection gyro and accelerometer,
And the data of collection are transferred to memory module.Gyroscope is installed in per complete equipment, can be surveyed
Amount three is mutually perpendicular to axial angular speed；Gyro can be three single shaft gyros, or two
Twin shaft gyro, or a gyro for three-axis integrative；Acceleration is installed in per complete equipment
Meter, can measure three and be mutually perpendicular to axial acceleration；Can be three single-axis accelerometers,
It can also be an accelerometer for three-axis integrative.Electronic unit has the angular speed that will be collected
And acceleration analysis signal Real-time Collection, and store after respective handling to electronic unit storage
Function in device；Electronic unit is self-powered, can be needed for the normal work of supply system a few houres
Electricity, the need for meeting measurement.
The software processing part of the equipment is by general-purpose interface, such as USB, 232,422 etc., general
Cable connection to inertia measurement equipment data-interface, it is soft in underground piping measuring apparatus user terminal
Select to need the data of collection in part, data are downloaded in terminal device in case processing.Pipeline
Measuring apparatus user terminal software is set according to associated external information, and correlation properties are carried out to data
Calculate, reject the data exception point in data file.According to internal algorithm, datagram is formed
Accuse；Draw measured pipeline three-dimensional data curve.
Comprising the following steps that for duct survey is carried out using the equipment：
Step one, prepares in advance：
Using the self-adapting pipe detent mechanism of the equipment, by adjusting the pulling force of groups of springs or pushing away
Power adjusts the distance of wheel group in real time so that be adapted to tested pipeline internal diameter.
Inertial navigation measurement and positioning equipment is opened, into mode of operation.Surveyed using supplementary means such as GPS
Go out the GPS coordinate information of tested pipeline entrance and outlet.
Step 2, measurement process：
Underground piping inertia measurement location equipment enters tested pipeline, and cable is connected by bindiny mechanism
Connect position indicator, dragging position indicator is slided to outlet port in pipeline, then by position indicator tow back to
Entry position, measurement process terminates.
Step 3, data analysis：
By general-purpose interface, the data-interface of inertial measurement system is connected the cable to, in underground
Select to need the data of collection in pipe network measuring apparatus user terminal software, data are downloaded to terminal
In case treatment in equipment.Duct survey location equipment user terminal software sets according to associated external information
Put, data are carried out with the calculating of correlation properties, reject the data exception point in data file.Root
According to internal algorithm, data report is formed；Draw the three-dimensional data curve of measured pipeline.
Claims (9)
1. a kind of underground piping positioning measurement equipment based on inertial technology, it is characterized by：Institute
The equipment stated includes support wheel (1), measurement main body (2), inertia sensing assembly and electronic unit,
Support wheel (1) is provided with the two ends of measurement main body (2), measurement main body (2)
Cavity, inertia sensing assembly and electronic unit are arranged in measurement main body (2)；
Inertia sensing assembly includes gyro and accelerometer, and electronic unit includes power module, adopts
The measurement data of collection module and memory module, acquisition module Real-time Collection gyro and accelerometer,
And the data of collection are transferred to memory module.
2. a kind of underground piping positioning based on inertial technology according to claim 1 is surveyed
Amount equipment, it is characterized by：Described equipment also includes mileage gauge, and mileage gauge is arranged on support wheel
(1) on, the measurement data of acquisition module Real-time Collection gyro, accelerometer and mileage gauge.
3. a kind of underground piping positioning based on inertial technology according to claim 1 is surveyed
Amount equipment, it is characterized by：Measurement main body (2) is cylindrical shape.
4. a kind of underground piping positioning based on inertial technology according to claim 1 is surveyed
Amount equipment, it is characterized by：Three orthogonal single shaft tops are installed in measurement main body (2)
Spiral shell.
5. a kind of underground piping positioning based on inertial technology according to claim 1 is surveyed
Amount equipment, it is characterized by：The gyro installed in measurement main body (2) is the gyro of three-axis integrative.
6. a kind of underground piping positioning based on inertial technology according to claim 1 is surveyed
Amount equipment, it is characterized by：Two orthogonal twin shaft tops are installed in measurement main body (2)
Spiral shell.
7. a kind of underground piping positioning based on inertial technology according to claim 1 is surveyed
Amount equipment, it is characterized by：Measurement main body (2) is segmental structure.
8. a kind of underground piping positioning based on inertial technology according to claim 1 is surveyed
Amount equipment, it is characterized by：Described equipment is made up of stainless steel material.
9. a kind of underground piping positioning based on inertial technology according to claim 1 is surveyed
Amount equipment, it is characterized by：Measurement main body (2) is sealing structure.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510900476.5A CN106855410A (en) | 2015-12-08 | 2015-12-08 | A kind of underground piping positioning measurement equipment based on inertial technology |
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| CN201510900476.5A CN106855410A (en) | 2015-12-08 | 2015-12-08 | A kind of underground piping positioning measurement equipment based on inertial technology |
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| CN201510900476.5A Pending CN106855410A (en) | 2015-12-08 | 2015-12-08 | A kind of underground piping positioning measurement equipment based on inertial technology |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107576316A (en) * | 2017-09-30 | 2018-01-12 | 上海锦廷机电科技有限公司 | Reciprocating pipeline trajectory mapping method |
| CN108983310A (en) * | 2018-09-20 | 2018-12-11 | 广东电网有限责任公司 | Underground pipeline detection system and detection method |
| CN109115215A (en) * | 2018-10-29 | 2019-01-01 | 唐山市中宇科技发展有限公司 | The all-round train system of inertial navigation positioning measurement |
| CN109780370A (en) * | 2019-01-21 | 2019-05-21 | 深圳大学 | A kind of pipeline three-dimensional curve robot measurement and its implementation |
| CN112179339A (en) * | 2020-09-10 | 2021-01-05 | 深圳市博铭维智能科技有限公司 | Pipeline inertia mapping equipment |
| WO2022055524A1 (en) * | 2020-09-11 | 2022-03-17 | Saudi Arabian Oil Company | Pipeline profiler |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107576316A (en) * | 2017-09-30 | 2018-01-12 | 上海锦廷机电科技有限公司 | Reciprocating pipeline trajectory mapping method |
| CN108983310A (en) * | 2018-09-20 | 2018-12-11 | 广东电网有限责任公司 | Underground pipeline detection system and detection method |
| CN109115215A (en) * | 2018-10-29 | 2019-01-01 | 唐山市中宇科技发展有限公司 | The all-round train system of inertial navigation positioning measurement |
| CN109115215B (en) * | 2018-10-29 | 2023-09-15 | 唐山市中宇科技发展有限公司 | Universal wheel system for inertial navigation positioning measurement |
| CN109780370A (en) * | 2019-01-21 | 2019-05-21 | 深圳大学 | A kind of pipeline three-dimensional curve robot measurement and its implementation |
| CN109780370B (en) * | 2019-01-21 | 2020-05-26 | 深圳大学 | Pipeline three-dimensional curve measuring robot and implementation method thereof |
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| WO2022055524A1 (en) * | 2020-09-11 | 2022-03-17 | Saudi Arabian Oil Company | Pipeline profiler |
| US11859754B2 (en) | 2020-09-11 | 2024-01-02 | Saudi Arabian Oil Company | Pipeline profiler |
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Application publication date: 20170616 |