CN107014353A - A kind of shape measure system of underground long pipeline - Google Patents
A kind of shape measure system of underground long pipeline Download PDFInfo
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- CN107014353A CN107014353A CN201710095609.5A CN201710095609A CN107014353A CN 107014353 A CN107014353 A CN 107014353A CN 201710095609 A CN201710095609 A CN 201710095609A CN 107014353 A CN107014353 A CN 107014353A
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- long pipeline
- data
- measurement
- underground long
- shape measure
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C9/00—Measuring inclination, e.g. by clinometers, by levels
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- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
Abstract
The present invention relates to a kind of shape measure system of underground long pipeline, the shape measure to underground long pipeline is realized in the draw-gear motion for following the external world, including：Measurement apparatus, for continuously measuring the inclination data of underground long pipeline and being stored to inclination data；Mechanical hull, outside measurement apparatus, is connected for protection device and with extraneous draw-gear；Host computer, the inclination data for reading and handling measurement apparatus storage, the shape to underground long pipeline carries out visual presentation.Compared with prior art, the present invention has the advantages that detection is accurate, it is convenient to realize, displaying is directly perceived and saves cost.
Description
Technical field
The present invention relates to pipeline inspection technology field, more particularly, to a kind of shape measure system of underground long pipeline.
Background technology
With China's rapid development of economy, the construction in city is further perfect, and urban aerial pipeline gradually goes underground, respectively
Plant various kinds, crisscross pipeline and constitute the complicated pipe network system in underground.Pipeline species is further various, the species of pipeline
It will be also continuously increased with quantity, mainly having feedwater management road, drainage pipeline, power conduit at present, (including heating power, gas compression are empty
Gas, oxygen and acetylene pipeline), process pipe, electric power and communication cable etc..The complexity of underground environment, complicated underground
Pipeline brings many potential safety hazards for the construction and management of pipeline, and annual domestic city is triggered during construction activity
Underground utilities failure, cause huge economic loss, according to statistics, the direct economic loss that only underground utilities accident is caused daily
Up to 5,000,000,000 yuan, indirect loss is up to 40,000,000,000 yuan.
At present, implement the difference at position according to pipe detection, pipeline inspection technology can be divided into interior detection method, outer detection method
With real-time software, model inspection method etc., these detection methods are all that pipe damage degree is detected, also without complete set
Detection long tube road shape and inclination angle measuring method and device.Migration over time, many old pipeline shapes, buried depth are all sent out
Changing, new pipeline construction build pine destruction underground piping cause cut off the water, stop the supple of gas or steam, having a power failure and communication disruption Frequent Accidents, only
There are the shape and buried depth situation for accurately grasping pipeline, preferably the pipeline system in city could be managed and be planned.
Therefore how the shape and buried depth of pipeline are accurately measured, just becomes a urgent problem to be solved.
The content of the invention
The purpose of the present invention is to provide a kind of shape measure system of underground long pipeline regarding to the issue above.
The purpose of the present invention can be achieved through the following technical solutions：
A kind of shape measure system of underground long pipeline, for following the draw-gear motion in the external world to realize to underground long tube
The shape measure in road, including：
Measurement apparatus, for continuously measuring the inclination data of underground long pipeline and being stored to inclination data；
Mechanical hull, outside measurement apparatus, is connected for protection device and with extraneous draw-gear；
Host computer, the inclination data for reading and handling measurement apparatus storage, the shape progress to underground long pipeline can
Depending on changing displaying.
The measurement apparatus includes：
Obliquity sensor, measures for the inclination data to underground long pipeline, includes the measurement of dip angle of in-plane
With the measurement of dip angle of vertical direction；
Controller, for controlling obliquity sensor to require that frequency continuously works, and to the inclination angle of obliquity sensor measurement
Data are handled；
Memory, for the inclination data after storage control processing.
The quantity of the obliquity sensor is no less than 4.
The scope for requiring frequency is 0~10Hz.
The inclination data progress processing measured obliquity sensor includes medium filtering and calibrated for error.
Described calibrate for error individually is calibrated for error, to vertical direction including the measurement of dip angle data to in-plane
Measurement of dip angle data are individually calibrated for error and to the measurement of dip angle data and the measurement of dip angle to vertical direction of in-plane
Data carry out global error calibration.
It is described processing measurement apparatus storage inclination data be specially：
S1) under base area long pipeline two ends depth, to measurement apparatus store inclination data be integrated computing, obtain
Primary data curve；
S2 noise filtering) is carried out to primary data curve, smooth data and curves are obtained.
The noise filtering includes least square fitting and Kalman filtering.
The mechanical hull includes：
Aluminum alloy drum, one end open, for accommodating measurement apparatus；
Circuit installing plate, is fixed in aluminum alloy drum, for fixation measuring device；
End cap, is connected with aluminum alloy drum, the closing for realizing aluminum alloy drum；
Traction hook, respectively positioned at the two ends of aluminum alloy drum, for aluminum alloy drum to be connected with extraneous draw-gear
Connect.
Sealing ring is additionally provided between the end cap and aluminum alloy drum, the waterproof sealing for realizing aluminum alloy drum.
Compared with prior art, the invention has the advantages that：
(1) inclination data of underground long pipeline is continuously surveyed by the measurement apparatus being packaged in mechanical hull
Amount, host computer can carry out data processing according to the continuous inclination data collected, so as to draw the shape of underground long pipeline
And buried depth, because the data of collection are continuous, thus the result of measurement is also relatively more accurate, it is possible to achieve accurate measurement.
(2) data that memory is obtained to obliquity sensor measurement are stored, and carry out data by host computer again afterwards
Read, it is to avoid because underground piping tube wall is blocked up can not realize real-time data transfer, simultaneously because data storage is in depositing
In reservoir, it is easy to follow-up arrangement and collection to data.
(3) quantity of obliquity sensor is no less than 4, can be measured respectively in in-plane and vertical direction, from
And can realize from 3 mutually orthogonal directions to measure inclination angle, reduce the measurement error at inclination angle, increase the accuracy of measurement.
(4) inclination data is acquired with 0~10Hz frequency acquisition, it is ensured that the continuity of data acquisition, then protected
The continuity of data has been demonstrate,proved, so as to be more prone to handle data and analyzed, accurate analysis result has been obtained, improves survey
The accuracy of amount.
(5) after measurement apparatus is acquired by obliquity sensor to inclination data, the controller in measurement apparatus is first
Medium filtering first is carried out to inclination data and calibrated for error, the accuracy of inclination data is further improved.
(6) during calibrating for error, the inclination data first respectively to in-plane and vertical direction carries out school respectively
Standard, then piece calibration is carried out, the data so obtained more conform to actual conditions, and error is smaller, greatly improves the standard of measurement
True property.
(7) when host computer is handled inclination data, the two ends depth and inclination data of long pipeline first under base area
Initial data and curves are obtained, then denoising is carried out to curve, ensure to obtain the accuracy of result by after-treatment.
(8) mechanical hull is mainly the guarantor realized by aluminum alloy drum of the two ends provided with traction hook to measurement apparatus
Shield, this design structure is simple and can keep stability and reduce resistance, while the traction hook at two ends also causes measurement dress
Putting can both advance and can also retreat.
(9) sealing ring is additionally provided between end cap and aluminum alloy drum, it is possible to achieve the waterproof sealing of aluminum alloy drum, it is to avoid
The loss that internal circuit is caused due to water inlet.
Brief description of the drawings
Fig. 1 is the structural representation of the shape measure system of underground long pipeline；
Fig. 2 is the schematic diagram of measurement apparatus in the present embodiment；
Fig. 3 is the main program flow chart of single-chip microcomputer in the present embodiment；
Fig. 4 is the structure chart of mechanical hull in the present embodiment；
Wherein, 1 is obliquity sensor, and 2 be controller, and 3 be memory, and 4 be host computer, and 5 be mechanical hull, and 6 be SD card,
7 be single-chip microcomputer, and 8 be reset circuit, and 9 be power module, and 91 be exchange type power, and 92 be electric capacity of voltage regulation, and 10 be that serial ports/WIFI leads to
Believe module, 11 be aluminum alloy drum, 12 be front hanging, 13 be after hang, 14 be circuit installing plate, and 15 be end cap.
Embodiment
The present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings.The present embodiment is with technical solution of the present invention
Premised on implemented, give detailed embodiment and specific operating process, but protection scope of the present invention is not limited to
Following embodiments.
It is as shown in Figure 1 a kind of shape measure system of the underground long pipeline provided in the present embodiment, for following the external world
Draw-gear motion realize shape measure to underground long pipeline, including：Measurement apparatus, for continuously measuring underground long pipeline
Inclination data and inclination data is stored；Mechanical hull 5, outside measurement apparatus, for protection device simultaneously
It is connected with extraneous draw-gear；Host computer 4, the inclination data for reading and handling measurement apparatus storage, to underground long tube
The shape in road carries out visual presentation.
Wherein, measurement apparatus includes：Obliquity sensor 1, is measured for the inclination data to underground long pipeline, including
The measurement of dip angle of in-plane and the measurement of dip angle of vertical direction；Controller 2, for controlling obliquity sensor 1 to require frequency
Continuous work, and the inclination data of the measurement of obliquity sensor 1 is handled；Memory 3, after the processing of storage control 2
Inclination data.The quantity of obliquity sensor 1 is no less than 4.It is required that the scope of frequency is 0~10Hz.Obliquity sensor 1 is surveyed
The inclination data of amount, which carries out processing, to be included medium filtering and calibrates for error.Calibrate for error including the measurement of dip angle number to in-plane
Individually calibrated for error and to the inclination angle of in-plane according to individually being calibrated for error, to the measurement of dip angle data of vertical direction
Measurement data and the measurement of dip angle data progress global error calibration to vertical direction.Handle the inclination data of measurement apparatus storage
Specially：S1) under base area long pipeline two ends depth, to measurement apparatus store inclination data be integrated computing, obtain
Primary data curve；S2 noise filtering) is carried out to primary data curve, smooth data and curves are obtained.Noise filtering is included most
Small square law fitting and Kalman filtering.Mechanical hull 5 includes：Aluminum alloy drum 11, one end open, for accommodating measurement dress
Put；Circuit installing plate 14, is fixed in aluminum alloy drum 11, for fixation measuring device；End cap 15, connects with aluminum alloy drum 11
Connect, the closing for realizing aluminum alloy drum 11；Traction hook, respectively positioned at the two ends of aluminum alloy drum 11, for aluminium to be closed
Golden cylinder 11 is connected with extraneous draw-gear.Sealing ring is additionally provided between end cap 15 and aluminum alloy drum 11, for realizing aluminium
The waterproof sealing of alloy cylinder 11.
The shape measure system of underground long pipeline, measurement apparatus therein are finally realized according to above-mentioned principle the present embodiment
As shown in Fig. 2 it can be seen that the measurement apparatus in the system includes 4 obliquity sensors 1, SD card 6 and single-chip microcomputer 7.
Measurement apparatus is installed in mechanical hull 5, and 4 obliquity sensors 1 are arranged on the internal circuit installing plate of mechanical hull 5 about 14
Symmetrical position, single-chip microcomputer 7 is arranged on the circuit installing plate 14 inside mechanical hull 5, passes through four inclination angles of SPI mouthfuls of collections
The data of sensor 1, the frequency of collection is 1HZ, in the data Cun Chudao SD cards 6 after collection.Host computer 4 passes through logical with single-chip microcomputer 7
Letter, and data are handled, pipeline profile, inclination angle, depth are shown by visualization interface.In measurement apparatus except
Beyond obliquity sensor 1, SD card 6 and single-chip microcomputer 7, also reset circuit 8, power module 9 and serial ports/WIFI communication modules 10.
Power module 9 includes filtering for the 5V of exchange type power 91 to 3.3V linear voltage regulator chip AMS1117 and follow-up 7 0.1uF
Electric capacity of voltage regulation 92,3.3V voltage is provided for main control chip.Single-chip microcomputer 7 includes core processing unit and crystal oscillator peripheral circuit, main
The hardcore framework of modular operational outfit is controlled, can be with the data of continuous acquisition obliquity sensor 1, and it is stored to SD card 6
In, the information transfer that serial ports/WIFI communication modules 10 collect SD card 6 to host computer 4.
The main program flow chart of single-chip microcomputer 7 in the present embodiment is illustrated in figure 3, user clicks on outside start button, user
Executable opening program operation, it is simple and convenient.The main program has the following advantages：System resource occupancy is low；Stability is good；
Response time is fast.
The final structure of mechanical hull 5 is as shown in figure 4, the inside of mechanical hull 5 has including circuit installing plate 14, welded plate
And bottom plate, circuit installing plate 14 matches with measurement apparatus, and measurement apparatus is weldingly fixed on bottom plate by welded plate, realizes to surveying
Measure being completely fixed for device.The outside of mechanical hull 5 includes aluminum alloy drum 11, end cap 15, front hanging 12, hangs 13 afterwards, and outside is adopted
Designed with biaxial tension, cylindric design, airflow design, waterproofing design, biaxial tension design includes front hanging 12 and afterwards extension 13,
Can moving forward and backward with control machinery structure, cylindrical shape design and airflow design can keep stability and reduce resistance,
Waterproofing design uses sealing ring, can protect internal structure.
After measurement apparatus completes measurement, host computer 4 is communicated by serial ports/WIFI module with single-chip microcomputer 7, and acquisition is inclined
The data of angle transducer 1, by the data gathered in the long pipeline of underground and the processing of initialization data, being specially to sensor
The inclination data of collection is integrated computing, and is performed by host computer 4 after above-mentioned algorithm, you can draw the change of relative depth,
The final depth for calculating whole piece pipeline everywhere, is calculated finally by ratio, you can obtain the complete position of pipeline, final to obtain
Visualization interface displaying is carried out to pipeline profile, inclination angle, depth, and by data and curves.
Claims (10)
1. a kind of shape measure system of underground long pipeline, for following the draw-gear motion in the external world to realize to underground long pipeline
Shape measure, it is characterised in that including：
Measurement apparatus, for continuously measuring the inclination data of underground long pipeline and being stored to inclination data；
Mechanical hull, outside measurement apparatus, is connected for protection device and with extraneous draw-gear；
Host computer, the inclination data for reading and handling measurement apparatus storage, the shape to underground long pipeline is visualized
Displaying.
2. the shape measure system of underground long pipeline according to claim 1, it is characterised in that the measurement apparatus bag
Include：
Obliquity sensor, is measured for the inclination data to underground long pipeline, including in-plane measurement of dip angle and hang down
Nogata to measurement of dip angle；
Controller, for controlling obliquity sensor to require that frequency continuously works, and to the inclination data of obliquity sensor measurement
Handled；
Memory, for the inclination data after storage control processing.
3. the shape measure system of underground long pipeline according to claim 2, it is characterised in that the obliquity sensor
Quantity is no less than 4.
4. the shape measure system of underground long pipeline according to claim 2, it is characterised in that the model for requiring frequency
Enclose for 0~10Hz.
5. the shape measure system of underground long pipeline according to claim 2, it is characterised in that described to obliquity sensor
The inclination data of measurement, which carries out processing, to be included medium filtering and calibrates for error.
6. the shape measure system of underground long pipeline according to claim 5, it is characterised in that it is described calibrate for error including
Measurement of dip angle data to in-plane are individually calibrated for error, to the independent error of measurement of dip angle data progress of vertical direction
Calibration and the measurement of dip angle data to in-plane and the measurement of dip angle data to vertical direction carry out global error calibration.
7. the shape measure system of underground long pipeline according to claim 1, it is characterised in that the processing measurement apparatus
The inclination data of storage is specially：
S1) under base area long pipeline two ends depth, computing is integrated to the inclination data that measurement apparatus is stored, obtains initial
Data and curves；
S2 noise filtering) is carried out to primary data curve, smooth data and curves are obtained.
8. the shape measure system of underground long pipeline according to claim 7, it is characterised in that the noise filtering includes
Least square fitting and Kalman filtering.
9. the shape measure system of underground long pipeline according to claim 1, it is characterised in that the mechanical hull bag
Include：
Aluminum alloy drum, one end open, for accommodating measurement apparatus；
Circuit installing plate, is fixed in aluminum alloy drum, for fixation measuring device；
End cap, is connected with aluminum alloy drum, the closing for realizing aluminum alloy drum；
Traction hook, respectively positioned at the two ends of aluminum alloy drum, for aluminum alloy drum to be connected with extraneous draw-gear.
10. the shape measure system of underground long pipeline according to claim 9, it is characterised in that the end cap is closed with aluminium
Sealing ring is additionally provided between golden cylinder, the waterproof sealing for realizing aluminum alloy drum.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710095609.5A CN107014353B (en) | 2017-02-22 | 2017-02-22 | A kind of shape measure system of underground long pipeline |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710095609.5A CN107014353B (en) | 2017-02-22 | 2017-02-22 | A kind of shape measure system of underground long pipeline |
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| CN107014353A true CN107014353A (en) | 2017-08-04 |
| CN107014353B CN107014353B (en) | 2019-11-29 |
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| CN201710095609.5A Active CN107014353B (en) | 2017-02-22 | 2017-02-22 | A kind of shape measure system of underground long pipeline |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109557863A (en) * | 2019-01-04 | 2019-04-02 | 国网山西省电力公司检修分公司 | A kind of cable duct of substation monitoring device |
| CN117213447A (en) * | 2023-10-25 | 2023-12-12 | 西安上上电子科技有限公司 | Wireless measurement device and system for inclination angle of lifting ring of petroleum drilling machine or workover rig |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109557863A (en) * | 2019-01-04 | 2019-04-02 | 国网山西省电力公司检修分公司 | A kind of cable duct of substation monitoring device |
| CN117213447A (en) * | 2023-10-25 | 2023-12-12 | 西安上上电子科技有限公司 | Wireless measurement device and system for inclination angle of lifting ring of petroleum drilling machine or workover rig |
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| CN107014353B (en) | 2019-11-29 |
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