CN111060064B - Intelligent pipeline deformation detection system combining inertial navigation and triangulation positioning - Google Patents
Intelligent pipeline deformation detection system combining inertial navigation and triangulation positioning Download PDFInfo
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- CN111060064B CN111060064B CN201911266571.9A CN201911266571A CN111060064B CN 111060064 B CN111060064 B CN 111060064B CN 201911266571 A CN201911266571 A CN 201911266571A CN 111060064 B CN111060064 B CN 111060064B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/32—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring the deformation in a solid
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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
- G01C21/165—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 combined with non-inertial navigation instruments
Abstract
The invention discloses an intelligent pipeline deformation detection system combining inertial navigation and triangulation, which comprises a detector, a high-power signal generator and a data analysis processing computer, wherein the detector is connected with the high-power signal generator through a communication network; the detector comprises an IMU inertia measurement unit, a signal receiving module, a clock module and a signal acquisition module; a clock module and a signal sending module are arranged in the high-power signal generator, and the signal sending module sends clock module data in the high-power signal generator; and the data analysis processing computer reads the information stored by the detector after the detector finishes pipeline detection, and calculates the running track of the detector. The IMU inertial measurement unit comprises three-direction gyroscopes and three-direction accelerometers for collecting attitude information of the detector. The signal receiving module is matched with a signal sending module of the high-power signal generator to realize data transmission. The clock module is used for providing a time reference for the system. The problem of current equipment measuring accuracy easily receive external environment influence is solved.
Description
Technical Field
The invention relates to a pipeline detection technology, in particular to an intelligent pipeline deformation detection system combining inertial navigation and triangulation positioning.
Background
The pipelines can not be separated for transporting crude oil and ore pulp from west and east, China is vast, oil and gas pipelines are criss-cross and spread all over corners, and the pipelines play a very important role in national economic production, and have the defects of corrosion and deformation caused by the influence of long-term medium bearing, road construction, rivers, rainwater, temperature, construction and traveling crane. These defects can affect the service life of the pipeline, cause pipeline leakage and bring about great economic loss. The equipment for detecting the pipeline corrosion requires that the deformation amount of the pipeline is very small, if the equipment for detecting the pipeline corrosion is not used for detecting the pipeline deformation, the equipment can be clamped in the middle of the pipeline, and the work for detecting the deformation of the pipeline is indispensable.
Disclosure of Invention
The invention aims to provide an intelligent pipeline deformation detection system combining inertial navigation and triangulation, which is used for solving the problems that accumulated errors are generated in the inertial navigation process of an IMU (inertial measurement unit), GPS (global positioning system) signals do not exist in a pipeline, and the errors of the IMU inertial measurement unit cannot be corrected.
In order to achieve the purpose, the invention adopts the following technical scheme:
an intelligent pipeline deformation detection system combining inertial navigation and triangulation location comprises a detector, a high-power signal generator and a data analysis processing computer;
the detector comprises an IMU inertial measurement unit, a signal receiving module, a clock module and a signal acquisition module;
a clock module and a signal sending module are arranged in the high-power signal generator, and the signal sending module sends clock module data in the high-power signal generator;
and the data analysis processing computer reads the information stored by the detector after the detector finishes the pipeline detection, and calculates the running track of the detector.
Preferably, the IMU inertial measurement unit of the detector includes three-directional gyroscopes and three-directional accelerometers for acquiring attitude information of the detector.
Preferably, the signal receiving module of the detector is matched with the signal sending module of the high-power signal generator to realize data transmission.
Preferably, the clock module of the detector is used to provide a time reference for the system.
Preferably, the high-power signal generators are distributed along the pipeline in a plurality, so that the detector can receive communication instruction signals of three or more high-power signal generators at any position of the pipeline, and the positions of the high-power signal generators are known.
Preferably, the signal acquisition module of the detector receives data sent by the IMU inertial measurement unit, the signal receiving module and the clock module.
Preferably, the detection method of the detection system includes the following steps:
step 1: calibrating initial position information and clock information of the detector at an initial point of the detector;
step 2: in the motion process of the detector, the detector periodically receives communication instructions with time stamps sent by each high-power signal generator and records the communication instructions in the signal acquisition module in real time;
step 3: the gyroscope and acceleration information in three directions of the detector is detected in real time through an IMU inertial measurement unit of the detector, and is recorded in a signal acquisition module together with clock data;
step 4: and after the detector finishes the pipeline detection work, the detector is taken out from the pipeline, the data analysis and processing computer integrates the positioning data of the high-power signal generator and the data of the IMU inertia measurement unit, the data are integrated by using a Kalman filtering algorithm, and a detection conclusion and data of the detection system are output externally.
The invention has the following advantages:
after the design of the invention is adopted, the IMU inertial measurement unit is used for acquiring the attitude information of the detector in real time, the IMU inertial measurement unit has strong anti-interference capability, the high-power signal generator is used for providing positioning, the position information of the IMU inertial measurement unit is calibrated, and the combined navigation of inertial navigation and triangulation realizes high-precision detection of the pipeline, so that the product has higher practicability and creativity.
Drawings
Fig. 1 is a system composition diagram of an intelligent pipeline deformation detection system combining inertial navigation and triangulation positioning according to the present invention.
FIG. 2 is a system operation process diagram of an intelligent pipeline deformation detection system combining inertial navigation and triangulation positioning according to the present invention.
FIG. 3 is a schematic diagram of the operation process of the intelligent tubular apodization detection system combining inertial navigation with triangulation.
Detailed Description
The following description of the embodiments of the present invention is provided for illustrative purposes, and other advantages and effects of the present invention will become apparent to those skilled in the art from the present disclosure.
It should be understood that the structures, ratios, sizes, and the like shown in the drawings and described in the specification are only used for matching with the disclosure of the specification, so as to be understood and read by those skilled in the art, and are not used to limit the conditions under which the present invention can be implemented, so that the present invention has no technical significance, and any structural modification, ratio relationship change, or size adjustment should still fall within the scope of the present invention without affecting the efficacy and the achievable purpose of the present invention. In addition, the terms such as "upper", "lower", "left", "right" and "middle" used in the present specification are for clarity of description, and are not intended to limit the scope of the present invention, and changes or modifications of the relative relationship may be made without substantial changes in the technical contents.
Example 1
Referring to fig. 1, an intelligent pipeline deformation detection system combining inertial navigation and triangulation location comprises a detector, a high-power signal generator and a data analysis processing computer;
the detector comprises an IMU inertial measurement unit, a signal receiving module, a clock module and a signal acquisition module;
a clock module and a signal sending module are arranged in the high-power signal generator, and the signal sending module sends clock module data in the high-power signal generator;
and the data analysis processing computer reads the information stored by the detector after the detector finishes the pipeline detection, and calculates the running track of the detector.
In specific implementation, the IMU inertial measurement unit of the detector includes three-directional gyroscopes and three-directional accelerometers, and is used to acquire attitude information of the detector.
In specific implementation, the signal receiving module of the detector is matched with the signal sending module of the high-power signal generator, so that data transmission is realized.
In specific implementation, the clock module of the detector is used for providing a time reference for the system.
In specific implementation, the high-power signal generators are distributed along the pipeline in a plurality of numbers, so that the detector can receive communication instruction signals of three or more high-power signal generators at any position of the pipeline, and the positions of the high-power signal generators are known.
In specific implementation, the signal acquisition module of the detector receives data sent by the IMU inertia measurement unit, the signal receiving module and the clock module.
Referring to fig. 2 to fig. 3, in practice, the detection method of the detection system includes the following steps:
step 1: calibrating initial position information and clock information of a detector at an initial point of the detector;
step 2: in the motion process of the detector, the detector periodically receives communication instructions with time stamps sent by each high-power signal generator and records the communication instructions in the signal acquisition module in real time;
step 3: the gyroscope and acceleration information in three directions of the detector is detected in real time through an IMU inertial measurement unit of the detector, and is recorded in a signal acquisition module together with clock data;
step 4: and after the detector finishes the pipeline detection work, the detector is taken out from the pipeline, the data analysis and processing computer integrates the positioning data of the high-power signal generator and the data of the IMU inertia measurement unit, the data are integrated by using a Kalman filtering algorithm, and a detection conclusion and data of the detection system are output externally.
The IMU inertial measurement unit is used for acquiring the attitude information of the detector in real time, the IMU inertial measurement unit is positioned by using the high-power signal generator, the position information of the IMU inertial measurement unit is calibrated, and the combined navigation of the inertial navigation and the triangulation realizes the high-precision detection of the pipeline, so that the product has higher practicability and creativity.
Although the invention has been described in detail above with reference to a general description and specific examples, it will be apparent to one skilled in the art that modifications or improvements may be made thereto based on the invention. Accordingly, it is intended that all such modifications and alterations be included within the scope of this invention as defined in the appended claims.
Claims (5)
1. The utility model provides an intelligent pipeline deformation detecting system that inertial navigation combines triangulation location which characterized in that: the detection system comprises a detector, a high-power signal generator and a data analysis processing computer;
the detector comprises an IMU inertial measurement unit, a signal receiving module, a clock module and a signal acquisition module;
a clock module and a signal sending module are arranged in the high-power signal generator, and the signal sending module sends clock module data and coordinate positions in the high-power signal generator;
the signal receiving module of the detector is matched with the signal sending module of the high-power signal generator to realize data transmission; in the motion process of a signal receiving module of the detector, the detector periodically receives communication instructions with time stamps sent by each high-power signal generator and records the communication instructions in a signal acquisition module in real time;
the triangular positioning is that a plurality of high-power signal generators are distributed along the pipeline, so that the detector can receive communication instruction signals of three or more high-power signal generators at any position of the pipeline, and the positions of the high-power signal generators are known;
and the data analysis processing computer reads the information stored by the detector after the detector finishes the pipeline detection, and calculates the running track of the detector.
2. The intelligent pipeline deformation detection system based on inertial navigation and triangulation as claimed in claim 1, wherein: the IMU inertial measurement unit of the detector comprises three-direction gyroscopes and three-direction accelerometers, and is used for collecting attitude information of the detector.
3. The intelligent pipeline deformation detection system based on inertial navigation and triangulation as claimed in claim 1, wherein: the clock module of the detector is used for providing a time reference for the system.
4. The intelligent pipe-deformation detection system combining inertial navigation and triangulation according to claim 1, wherein: and a signal acquisition module of the detector receives data sent by the IMU inertia measurement unit, the signal receiving module and the clock module.
5. The intelligent pipeline deformation detection system based on inertial navigation and triangulation as claimed in claim 1, wherein: the detection method of the detection system comprises the following steps:
step 1: calibrating initial position information and clock information of the detector at an initial point of the detector;
step 2: in the motion process of the detector, the detector periodically receives communication instructions with time stamps sent by each high-power signal generator and records the communication instructions in the signal acquisition module in real time;
step 3: the gyroscope and acceleration information in three directions of the detector is detected in real time through an IMU inertial measurement unit of the detector, and is recorded in a signal acquisition module together with clock data;
step 4: and after the detector finishes the pipeline detection work, the detector is taken out from the pipeline, the data analysis and processing computer integrates the positioning data of the high-power signal generator and the data of the IMU inertia measurement unit, the data are integrated by using a Kalman filtering algorithm, and a detection conclusion and data of the detection system are output externally.
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| CN112016600A (en) * | 2020-08-14 | 2020-12-01 | 中国石油大学(北京) | Pipeline abnormity identification method, device and system |
| CN114279395A (en) * | 2021-12-28 | 2022-04-05 | 国家石油天然气管网集团有限公司 | Deformation detection method and system for pipeline |
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| CN109612427A (en) * | 2019-01-16 | 2019-04-12 | 兰州交通大学 | A kind of the unmanned plane highway bridge deformation detecting method and system of multi-sensor cooperation |
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