CN111912425A - Pipeline measurement system and method - Google Patents
Pipeline measurement system and method Download PDFInfo
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- CN111912425A CN111912425A CN202010792388.9A CN202010792388A CN111912425A CN 111912425 A CN111912425 A CN 111912425A CN 202010792388 A CN202010792388 A CN 202010792388A CN 111912425 A CN111912425 A CN 111912425A
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- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C22/00—Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers, using pedometers
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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
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Abstract
The invention relates to the field of pipeline detection, and provides a pipeline measuring system, which comprises: the system comprises an inertial navigation system, two sets of traveling devices, a mounting device and a milemeter; the mounting device is of a hollow structure, and the inertial navigation system is arranged in the mounting device; two sets of walking devices are respectively arranged at two ends of the mounting device, and each set of walking device comprises more than two walking wheels; the odometer is arranged on the travelling wheel and is connected with the inertial navigation system through an electrical interface. The invention carries out deep fusion on the inertial navigation system and the odometer, and obviously reduces the detection error of the pipeline measurement system.
Description
Technical Field
The invention relates to the field of pipeline detection, in particular to a pipeline measuring system and method.
Background
The underground pipeline is one of the most important infrastructures in cities, and the urban underground pipeline refers to various pipelines such as water supply, drainage, gas, heat, industry and the like, electric power and telecommunication cables, underground pipeline comprehensive pipe ditches and the like which are buried under urban planning roads in the range of urban planning areas. In recent years, the construction of underground pipeline geographic information systems of major cities and even large pipe network companies in China is promoted without any loss.
However, because the management of the underground pipelines has many unscientific characteristics and is influenced by a plurality of factors such as the selection of a detection method and the setting of parameters in the pipeline detection process, the phenomena of error, leakage and large deviation of underground pipeline geographic information data generally exist, and how to adopt an efficient and economic detection method to provide accurate underground pipeline position information is a problem to be solved urgently in the management of the urban underground pipeline system at present.
The current common pipeline detection method is in-pipeline detection, and the method does not need to dig up the whole section of pipeline, has the advantages of low cost, small pollution, convenient use and the like, and is a detection method which is popular internationally. Commonly used pipeline measurement systems are largely classified into two categories: a gyro type pipeline measuring system and an inertial navigation type pipeline measuring system.
The existing inertial navigation type pipeline measurement system mainly adopts a simple fusion scheme of an inertial navigation system, a mileometer and position calibration, and mainly has the following defects:
(1) by adopting a simple fusion technical scheme based on an inertial navigation system, a speedometer, position calibration and the like, the negative influence of initial alignment errors (azimuth angle, pitch angle, roll angle), gyro errors (zero offset, installation errors, scale factor errors and the like) and accelerometer errors (zero offset, installation errors, scale factor errors and the like) on the pipeline measurement precision is difficult to effectively overcome.
(2) When the working conditions (environment temperature, motion characteristics, vibration characteristics and the like) change greatly, the measurement accuracy and reliability of the pipeline are usually obviously reduced.
(3) The existing pipeline measurement system usually adopts a post-processing mode, that is, after the pipeline measurement operation is completed, the pipeline measurement result is output after data is derived from the system and processed, thereby causing the pipeline measurement efficiency to be low.
(4) Under complex pipeline measurement operating conditions, if only a single odometer is used, the accuracy is poor and failure is prone, thereby reducing the reliability of the pipeline measurement system.
(5) The existing pipeline measurement system adopts a simple initialization method, and is difficult to overcome alignment errors, gyro errors and acceleration errors, and has negative influence on the pipeline measurement precision.
(6) No special temperature compensation and system calibration method is adopted for the working conditions (environment temperature, motion characteristics and vibration characteristics) of pipeline measurement, and further improvement of pipeline measurement accuracy is limited. When the environmental temperature, the attitude change and the walking vibration change are large, the measurement precision and the reliability of the pipeline are obviously reduced.
Therefore, it is desirable to develop a pipeline measurement system that can improve the accuracy and reliability of pipeline measurement.
Disclosure of Invention
Aiming at a plurality of problems in the prior art, the invention provides a pipeline measuring system and a pipeline measuring method, which can obviously improve the pipeline measuring precision and reliability and can be used for underground or overground pipeline measurement.
According to a first aspect of the present invention, there is provided a pipeline measurement system comprising: the system comprises an inertial navigation system, two sets of traveling devices, a mounting device and a milemeter; wherein the content of the first and second substances,
the mounting device is of a hollow structure, and the inertial navigation system is arranged in the mounting device;
two sets of walking devices are respectively arranged at two ends of the mounting device, and each set of walking device comprises more than two walking wheels;
the odometer is arranged on the travelling wheel and is connected with the inertial navigation system through an electrical interface.
According to an example embodiment of the present invention, the pipeline measurement system further comprises a display control device electrically interfaced with the inertial navigation system for at least display and control of the system.
According to an exemplary embodiment of the invention, the pipeline measuring system further comprises a battery, which is arranged in the mounting device for powering the parts of the system.
According to an example embodiment of the present invention, the battery includes a lithium battery, a lead-acid battery, or a nickel-metal hydride battery.
According to an example embodiment of the present invention, the inertial navigation system is configured to measure at least attitude, velocity and three-dimensional position data of the mounting device and calculate geometric state and position information of the pipeline in conjunction with odometer data.
According to an example embodiment of the present invention, the inertial navigation system includes a gyroscope, an accelerometer, an inertial device circuit, a navigation computer, a temperature sensor, a power supply circuit, and a general purpose interface circuit; wherein the content of the first and second substances,
the gyroscope is used for measuring angular velocity data;
the accelerometer is used for measuring acceleration data;
the inertial device circuit is used for collecting the measurement data of the gyroscope and the accelerometer;
the navigation computer is at least used for completing inertial navigation calculation, odometer data calculation, temperature data calculation, various measurement models and error compensation model calculation;
the temperature sensor is used for measuring temperature data;
the power supply circuit is used for converting an external input power supply into various power supplies required by the interior of the system;
the universal interface circuit is used for connecting the odometer, the temperature sensor and the display control device.
According to an example embodiment of the present invention, a navigation computer includes a system error correction module, a navigation solution module, and an optimal estimation module,
the system error correction module is at least used for correcting system errors;
the navigation resolving module is used for completing attitude resolving, speed resolving and position resolving according to the measurement data of the gyroscope and the accelerometer;
the optimal estimation module is at least used for carrying out optimal estimation on the system error by the inertial navigation data, the temperature data and the odometer data.
According to an example embodiment of the present invention, the navigation computer further comprises a virtual sensor comprising one or more of a position calibration solution module, a gravity anomaly solution module, a pipeline constraint solution module, and a dynamics solution module;
the position calibration resolving module is used for calibrating the position by using the position data of the starting point and/or the end point so as to improve the precision of pipeline measurement;
the gravity anomaly resolving module is used for calculating gravity anomaly data and compensating errors between actual gravity and a gravity model adopted in the navigation resolving process;
the pipeline constraint calculating module is used for calculating a motion constraint model of the pipeline measurement system in the pipeline and compensating errors;
the dynamic calculation module is used for calculating a dynamic motion model of the pipeline measurement system and compensating errors.
According to an example embodiment of the present invention, the system error correction module is further configured to correct a gravity anomaly error.
According to an example embodiment of the present invention, the optimal estimation module is further configured to optimally estimate the system error from the data of the position calibration solution module, the data of the pipeline constraint solution module, and the data of the dynamics solution module.
According to an exemplary embodiment of the invention, the odometry data is used as input data of the dynamics calculation module, so that the pipeline measurement accuracy and reliability can be improved.
According to an example embodiment of the present invention, the navigation computer further includes a pipeline measurement module, and the pipeline measurement module is used for pipeline measurement model calculation and error compensation, and outputting pipeline measurement results in real time.
According to an example embodiment of the present invention, the navigation computer further comprises an error compensation module and a fault detection module;
the error compensation module is used for carrying out error compensation on the gyro data, the accelerometer data, the odometer data and the temperature data;
and the fault detection module is used for carrying out fault detection on the data output by the various error compensation modules.
The existing pipeline measurement system usually adopts a post-processing mode, that is, after the pipeline measurement operation is completed, data is derived from the system and then processed to output the pipeline measurement result. The pipeline measuring system of the invention integrates the pipeline measuring module, can output the pipeline measuring result in real time, and obviously improves the integration level, reliability and operating efficiency of the system.
According to an example embodiment of the present invention, the navigation computer further comprises a result output module and a data storage module;
the result output module is used for outputting various result data, including pipeline measurement data, inertial navigation data and various state data;
the data storage module is used for storing various data in real time, including pipeline measurement data, inertial navigation data, sensor data and various state data.
According to an exemplary embodiment of the invention, the mounting means is cylindrical.
According to an example embodiment of the present invention, the outer surface of the mounting device is provided with a power switch and a connector, the power switch is used for controlling the power supply of the system, and the connector is used for connecting the display control device and the battery charger.
When the pipeline measurement system enters the pipeline for measurement, the pipeline measurement system does not need to enter the pipeline together with the display control device, and the inertial navigation system can acquire and store various original data, result data and state data in real time.
According to an example embodiment of the present invention, the display control apparatus communicates with the inertial navigation system of the pipeline measurement system through a network, a serial port, a CAN interface, or a USB interface.
According to an example embodiment of the present invention, the serial port includes an RS232 interface, an RS422 interface, and an RS485 interface.
According to an exemplary embodiment of the present invention, the traveling device further includes a traveling wheel connecting rod and a connecting rod base, and the traveling wheel connecting rod fixes the traveling wheel on the connecting rod base.
According to an exemplary embodiment of the invention, when the number of the walking wheels of the walking device is more than 3, the walking device further comprises a limiting and pre-tightening device, wherein the limiting and pre-tightening device comprises a limiting shaft, a pre-tightening spring and a limiting nut and is used for providing pre-tightening force in a certain pipeline diameter range so that each walking wheel is tightly attached to the inner wall of the pipeline.
According to an example embodiment of the present invention, the mileage is two or more, and each of the odometers is provided on one of the road wheels for measuring the mileage and the speed of the pipeline measuring system.
According to an example embodiment of the present invention, data of two or more odometers is deeply fused with data of an inertial navigation system.
According to an example embodiment of the present invention, the odometer includes a photoelectric encoder, a magnetoelectric encoder, a resistance encoder, or a magnetic nail plus hall sensor. The existing pipeline measuring system usually adopts 1 odometer, and in order to improve the measuring precision and reliability, the invention adopts a multi-odometer scheme, adopts more than two odometers, and can obviously improve the measuring precision and reliability of the odometers.
According to a second aspect of the present invention, there is provided a pipeline measuring method comprising the steps of:
a: performing initial alignment on the inertial navigation system by adopting a double-position alignment method or a three-position alignment method;
b: calibrating and compensating the inertial navigation system;
c: collecting data of a gyroscope, an accelerometer, a speedometer and a temperature sensor;
d: performing navigation calculation on the data of the gyroscope and the accelerometer according to the data of the gravity anomaly calculation module, and performing optimal estimation on the result of the navigation calculation, the temperature data, the odometer data, the data of the position calibration calculation module, the data of the pipeline constraint calculation module and the data of the dynamics calculation module;
e: and D, resolving and error compensating the optimal estimation result of the step D to obtain a pipeline measurement result.
According to an example embodiment of the present invention, the dual position alignment method includes:
a11: inputting the longitude, latitude and altitude of the position of the pipeline measurement system into an inertial navigation system;
a12: horizontally placing the pipeline measuring system, and standing for a preset time;
a13: establishing coordinate axes OX axis, OY axis and OZ axis in 3-dimensional direction with the central point of the pipeline measuring system as an origin, wherein the OX axis and the OY axis are in the same horizontal plane, the OY axis is the advancing direction of the pipeline measuring system, the OZ axis is in the vertical direction, rotating the pipeline measuring system for 90-270 degrees around one of the rotation axes of the OX axis, the OY axis or the OZ axis, and standing for a preset time;
a14: and carrying out error compensation by using the initial alignment error and the inertial device error of the optimal estimation module.
According to an example embodiment of the present invention, the three-position aligning method includes:
a21: inputting the longitude, latitude and altitude of the position of the pipeline measurement system into an inertial navigation system;
a22: horizontally placing the pipeline measuring system, and standing for a preset time;
a23: establishing coordinate axes OX axis, OY axis and OZ axis in 3-dimensional direction with the central point of the pipeline measuring system as an origin, wherein the OX axis and the OY axis are in the same horizontal plane, the OY axis is the advancing direction of the pipeline measuring system, the OZ axis is in the vertical direction, rotating the pipeline measuring system for 90-270 degrees around one of the rotation axes of the OX axis, the OY axis or the OZ axis, and standing for a preset time;
a24: rotating the pipeline measurement system by 90 to 270 degrees around one of the OX axis, OY axis or OZ axis other than step a23, and resting for a predetermined time;
a25: and carrying out error compensation by using the initial alignment error and the inertial device error of the optimal estimation module.
According to an example embodiment of the present invention, the predetermined time is 10 to 1000 seconds.
According to an exemplary embodiment of the present invention, in the step B, the calibrating includes: according to the characteristics of the working conditions of pipeline measurement, the symmetry and nonlinearity of the scale factors of the gyroscope and the accelerometer are calibrated at high precision.
According to an exemplary embodiment of the present invention, in the step B, the compensation includes performing high-precision temperature compensation on zero offset, installation error and scale factor of the gyroscope and the accelerometer according to the characteristics of the pipeline measurement operation condition.
According to an exemplary embodiment of the present invention, in step D, a method of conical error compensation, sculling error compensation or scroll error compensation is used for navigation calculation.
According to an exemplary embodiment of the present invention, in step D, a kalman filter, an extended kalman filter, an unscented kalman filter, or a least square method is used to perform the optimal estimation.
According to an exemplary embodiment of the present invention, in step D, the optimal estimation adopts a single-stage or multi-stage optimal estimation structure.
The invention has the beneficial effects that:
the invention carries out deep fusion on the inertial navigation system and the odometer, obviously reduces the detection error of the pipeline measurement system, and is specifically explained by the following points:
(1) the invention carries out data depth fusion on the inertial navigation system and the physical sensor (milemeter), and adopts the optimal estimation method to effectively estimate and compensate the attitude error of the inertial navigation system and the error of the inertial devices (a gyroscope and an accelerometer), thereby effectively overcoming the negative effects of the initial alignment error, the gyroscope error and the accelerometer error on the pipeline measurement precision and obviously improving the pipeline measurement precision and reliability.
(2) On the basis of the physical sensors such as a gyroscope, an accelerometer, a speedometer and a temperature sensor, the invention combines position calibration, pipeline constraint, dynamics and gravity anomaly models which are used as virtual sensors, and carries out deep fusion on one or more models in the models which are used as the virtual sensors and an inertial navigation system, thereby obviously improving the precision and the reliability of pipeline measurement.
(3) The pipeline measuring module is integrated in the pipeline measuring system, so that the pipeline measuring result can be output in real time, and the integration level, reliability and operating efficiency of the pipeline measuring system are obviously improved.
(4) The invention adopts a plurality of odometers, can effectively solve the problem of failure of a single mileage and can improve the accuracy and reliability of mileage measurement.
(5) Compared with a unit position alignment method for carrying out initial alignment when the system is static at one position for a period of time, the method provided by the invention can obviously reduce the initial alignment error of the inertial navigation system, and can effectively estimate the zero offset of the gyroscope and the zero offset of the accelerometer, thereby obviously improving the measurement accuracy and reliability of the pipeline.
(6) The invention provides a high-precision temperature compensation method for pipeline measurement working conditions, which is used for carrying out high-precision temperature compensation on zero offset, installation errors and scale factors of a gyroscope and an accelerometer in a temperature range and a variable temperature rate range under typical inertia measurement working conditions, and obviously improving the pipeline measurement precision and reliability under the condition of environmental temperature change.
(7) The invention provides a high-precision system calibration method for pipeline measurement working conditions, which is used for carrying out high-precision calibration on the symmetry and nonlinearity of scale factors of a gyroscope and an accelerometer in the range of motion characteristics and vibration characteristics under typical pipeline measurement working conditions, and obviously improving the pipeline measurement precision and reliability when the motion characteristics and the vibration characteristics change greatly.
Drawings
Fig. 1 is a connection diagram of modules of a pipeline measurement system.
FIG. 2 is a perspective view of a first embodiment pipeline measurement system.
FIG. 3 is a positional relationship diagram of the modules of the first embodiment pipeline measurement system.
FIG. 4 is a relational diagram of modules within a navigation computer.
Fig. 5 is a perspective view of the first embodiment walking device.
Fig. 6 is a front view of the first embodiment walking device.
Fig. 7 is a right side view of the first embodiment walking device.
FIG. 8 is a diagram of the pipeline measurement system in relation to the coordinate system at initial alignment of the first embodiment.
Fig. 9 is a perspective view of a second embodiment walking device.
Fig. 10 is a front view of the second embodiment walking device.
Fig. 11 is a right side view of the second embodiment walking device.
Fig. 12 is a perspective view of a third embodiment walking device.
Fig. 13 is a front view of the traveling apparatus of the third embodiment.
The system comprises an inertial navigation system 1, a traveling device 2, a traveling wheel 21, a traveling wheel connecting rod 22, a connecting rod base 23, a limiting shaft 241, a mounting device 3, a display control device 4, a mileometer 5 and a battery 6.
Detailed Description
Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art. The drawings are merely schematic illustrations of the invention and are not necessarily drawn to scale.
Furthermore, the described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to provide a thorough understanding of embodiments of the invention. One skilled in the relevant art will recognize, however, that the invention may be practiced without one or more of the specific details, or with other methods, components, steps, and so forth. In other instances, well-known structures, methods, implementations, or operations are not shown or described in detail to avoid obscuring aspects of the invention.
According to a first embodiment of the present invention, there is provided a pipeline measuring system, as shown in fig. 1 to 3, comprising: the device comprises an inertial navigation system 1, two sets of traveling devices 2, a mounting device 3, a display control device 4, a mileometer 5 and a battery 6. The mounting device 3 is cylindrical, the inertial navigation system 1 and the battery 6 are loaded in the mounting device, the traveling devices 2 are respectively arranged at two ends (the head part and the tail part) of the mounting device 3, each set of traveling device 2 comprises 3 traveling wheels 21, and each traveling wheel 21 is provided with one odometer 5.
The inertial navigation system 1 is used at least for measuring attitude, velocity and position data of the installation device and calculating geometrical state and position information of the pipeline in conjunction with data of the odometer 5. The inertial navigation system 1 includes: the system comprises a gyroscope, an accelerometer, an inertial device circuit, a navigation computer, a temperature sensor, a power supply circuit and a general interface circuit; wherein the content of the first and second substances,
the gyroscope is used for measuring angular velocity data;
the accelerometer is used for measuring acceleration data;
the inertial device circuit is used for collecting the measurement data of the gyroscope and the accelerometer;
the navigation computer is at least used for completing inertial navigation calculation, odometer data calculation, temperature data calculation, various measurement models and error compensation model calculation;
the temperature sensor is used for measuring temperature data;
the power supply circuit is used for converting an external input power supply into various power supplies required by the interior of the system;
the universal interface circuit is used for connecting the odometer, the temperature sensor and the display control device.
As shown in fig. 4, the navigation computer includes a position calibration calculation module, a gravity anomaly calculation module, a pipeline constraint calculation module, a dynamics calculation module, a system error correction module, a navigation calculation module, an optimal estimation module, a pipeline measurement module, an error compensation module, a fault detection module, a result output module, and a data storage module;
the position calibration resolving module is used for calibrating the position by using the position data of the starting point and/or the end point so as to improve the precision of pipeline measurement;
the gravity anomaly resolving module is used for calculating gravity anomaly data and compensating errors between actual gravity and a gravity model adopted in the navigation resolving process;
the pipeline constraint calculating module is used for calculating a motion constraint model of the pipeline measurement system in the pipeline and compensating errors;
the dynamics calculation module takes the odometer data as the input data of the dynamics calculation module, and is used for calculation of a dynamics motion model and error compensation of the pipeline measurement system, so that the accuracy and the reliability of pipeline measurement can be improved.
The navigation resolving module is used for completing attitude resolving, speed resolving and position resolving.
The system error correction module is used for correcting the system error and the gravity anomaly error.
And the optimal estimation module is used for performing optimal estimation on the system error by using the inertial navigation data, the temperature data and the odometer data.
The pipeline measurement module is used for pipeline measurement model calculation and error compensation. The pipeline measuring module can output the pipeline measuring result in real time, and the integration level, the reliability and the operation efficiency of the system are obviously improved.
The error compensation module is used for carrying out error compensation on the gyro data, the accelerometer data, the odometer data and the temperature data.
And the fault detection module is used for carrying out fault detection on the data output by the various error compensation modules.
The result output module is used for outputting various result data, including pipeline measurement data, inertial navigation data and various state data.
The data storage module is used for storing various data in real time, including pipeline measurement data, inertial navigation data, sensor data and various state data.
As shown in fig. 5-7, the traveling device 2 further includes three sets of traveling wheel connecting rods 22, two connecting rod bases 23 and a set of limiting and pre-tightening device, the traveling wheel connecting rods 22 fix the traveling wheels 21 on the connecting rod bases 23, and the limiting and pre-tightening device includes a limiting shaft 241, a limiting nut and one or more pre-tightening springs, and is used for providing pre-tightening force within a certain diameter range of the pipeline to enable each traveling wheel 21 to be tightly attached to the inner wall of the pipeline. The connecting rod base 23 positioned on the left side in fig. 6 is a bottom connecting rod base and is fixedly connected with the limiting shaft 241 and the mounting device 3; the other link base 23 on the right side is a top link base and can relatively move along the axial direction of the limiting shaft 241. The limiting nut limits the moving range of the top connecting rod base, and when the top connecting rod base is far away from the bottom connecting rod base, the three travelling wheels 21 are close to the limiting shaft 241; when the top connecting rod base is close to the bottom connecting rod base, the three walking wheels 21 are far away from the limiting shaft 241, so that the walking wheels 21 adapt to the diameter of the inner wall of the pipeline. The pre-tightening spring enables the travelling wheel 21 to generate pre-tightening force for clinging to the inner wall of the pipeline.
The outer surface of the mounting device 3 is provided with a power switch and a connector, the power switch is used for controlling the power supply of the system, and the connector is used for connecting the display control device and the battery charger.
The display control device 4 is at least used for displaying and controlling the system, when the pipeline measuring system enters the pipeline for measurement, the display control device 4 does not need to enter the pipeline together, and the inertial navigation system 1 can collect and store various kinds of raw data, result data and state data in real time. The display control device 4 communicates with the inertial navigation system 1 of the pipeline measurement system through a network, a serial port, a CAN interface or a USB interface. The serial port comprises an RS232 interface, an RS422 interface and an RS485 interface.
The odometer 5 is used for measuring the mileage and the speed of the pipeline measuring system, and the odometer 5 comprises a photoelectric encoder, a magnetoelectric encoder, a resistance encoder or a magnetic nail and Hall sensor. The existing pipeline measurement system usually adopts 1 odometer, in order to improve the measurement accuracy and reliability, the implementation mode adopts a multi-odometer scheme, adopts more than two odometers, can obviously improve the accuracy and reliability of the mileage measurement, and can effectively solve the problem of failure of a single odometer. In addition, the odometry data are used as input data of the dynamics calculation module, so that the pipeline measurement precision and reliability can be improved.
The battery 6 is used for supplying power to all parts of the system and comprises a lithium battery, a lead-acid battery or a nickel-hydrogen battery.
The pipeline measurement system is adopted for pipeline measurement, and comprises the following steps:
a: performing initial alignment on the inertial navigation system by adopting a double-position alignment method or a three-position alignment method;
b: according to the characteristics of the pipeline measurement working conditions, the symmetry and nonlinearity of the scale factors of the gyroscope and the accelerometer are calibrated, and the zero offset, the installation error and the scale factors of the gyroscope and the accelerometer are subjected to temperature compensation;
c: collecting data of a gyroscope, an accelerometer, a speedometer and a temperature sensor;
d: performing navigation calculation on the data of the gyroscope and the accelerometer by adopting a method of cone error compensation, paddle error compensation or scroll error compensation according to the data of the gravity anomaly calculation module, and performing optimal estimation on the result of the navigation calculation, temperature data, odometer data, data of the position calibration calculation module, data of the pipeline constraint calculation module and data of the dynamics calculation module by adopting a Kalman filtering method, an extended Kalman filtering method, an unscented Kalman filtering method or a least square method, wherein the optimal estimation adopts a single-stage or multi-stage optimal estimation structure;
e: and D, resolving and error compensating the optimal estimation result of the step D to obtain a pipeline measurement result.
The double-position alignment method comprises the following steps:
a11: inputting the longitude, latitude and altitude of the position of the pipeline measurement system into an inertial navigation system;
a12: placing the pipeline measuring system horizontally and standing for 10 to 1000 seconds;
a13: as shown in fig. 8, with the central point of the pipeline measurement system as the origin, coordinate axes of 3-dimensional directions, i.e., an OX axis, an OY axis, and an OZ axis, are established, the OX axis and the OY axis are in the same horizontal plane, the OY axis is the advancing direction of the pipeline measurement system (i.e., pointing to the head of the pipeline measurement system), the OZ axis is the vertical direction, and the pipeline measurement system is rotated by 90 to 270 degrees around one of the rotation axes of the OX axis, the OY axis, or the OZ axis and is stationary for 10 to 1000 seconds;
a14: and carrying out error compensation by using the initial alignment error and the inertial device error of the optimal estimation module.
The three-position alignment method comprises the following steps:
a21: inputting the longitude, latitude and altitude of the position of the pipeline measurement system into an inertial navigation system;
a22: placing the pipeline measuring system horizontally and standing for 10 to 1000 seconds;
a23: as shown in fig. 8, with the central point of the pipeline measurement system as the origin, coordinate axes of 3-dimensional directions, i.e., an OX axis, an OY axis, and an OZ axis, are established, the OX axis and the OY axis are in the same horizontal plane, the OY axis is the advancing direction of the pipeline measurement system (i.e., pointing to the head of the pipeline measurement system), the OZ axis is the vertical direction, and the pipeline measurement system is rotated by 90 to 270 degrees around one of the rotation axes of the OX axis, the OY axis, or the OZ axis and is stationary for 10 to 1000 seconds;
a24: rotating the pipeline measurement system 90 to 270 degrees around one of the OX axis, OY axis or OZ axis other than step a23, and resting for 10 to 1000 seconds;
a25: and carrying out error compensation by using the initial alignment error and the inertial device error of the optimal estimation module.
According to a second embodiment of the present invention, the present invention provides a pipeline measuring system, which is substantially the same as the pipeline measuring system of the first embodiment, except that each set of traveling device 2 includes four traveling wheels 21, four sets of traveling wheel connecting rods 22, two connecting rod bases 23 and a set of limiting and pre-tightening devices, as shown in fig. 9 to 11. The walking wheel connecting rod 22 fixes the walking wheels 21 on the connecting rod base 23, and the limiting pre-tightening device comprises a limiting shaft 241, a limiting nut and one or more pre-tightening springs and is used for providing pre-tightening force in a certain pipeline diameter range to enable each walking wheel 21 to be tightly attached to the inner wall of the pipeline. The connecting rod base 23 positioned on the left side in fig. 10 is a bottom connecting rod base and is fixedly connected with the limiting shaft 241 and the mounting device 3; the other link base 23 on the right side is a top link base and can relatively move along the axial direction of the limiting shaft 241. The limiting nut limits the moving range of the top connecting rod base, and when the top connecting rod base is far away from the bottom connecting rod base, the four traveling wheels 21 are close to the limiting shaft 241; when the top connecting rod base is close to the bottom connecting rod base, the four walking wheels 21 are far away from the limiting shaft 241, so that the walking wheels 21 adapt to the diameter of the inner wall of the pipeline. The pre-tightening spring enables the travelling wheel 21 to generate pre-tightening force for clinging to the inner wall of the pipeline.
According to a third embodiment of the present invention, the present invention provides a pipeline measuring system, and the pipeline measuring system of the second embodiment is substantially the same as the pipeline measuring system of the first embodiment, except that, as shown in fig. 12 to 13, each set of walking device 2 comprises two walking wheels 21, two walking wheel connecting rods 22 and a connecting rod base 23, and each walking wheel 21 is tightly attached to the inner wall of the pipeline by the gravity of the pipeline measuring system of the walking device 2.
The preferred embodiments of the invention disclosed above are intended to be illustrative only. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise embodiments disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention. The invention is limited only by the claims and their full scope and equivalents.
Claims (10)
1. A line measurement system, comprising: the system comprises an inertial navigation system, two sets of traveling devices, a mounting device and a milemeter; wherein the content of the first and second substances,
the mounting device is of a hollow structure, and the inertial navigation system is arranged in the mounting device;
two sets of walking devices are respectively arranged at two ends of the mounting device, and each set of walking device comprises more than two walking wheels;
the odometer is arranged on the travelling wheel and is connected with the inertial navigation system through an electrical interface.
2. The pipeline measurement system of claim 1, wherein the inertial navigation system is configured to measure at least attitude, velocity, and three-dimensional position data of the installation device and to calculate the geometric state and position information of the pipeline in conjunction with odometer data and a depth fusion method.
3. The pipeline measurement system of claim 2, wherein the inertial navigation system comprises a navigation computer, the navigation computer comprising a system error correction module, a navigation solution module, and an optimal estimation module,
the system error correction module is at least used for correcting system errors;
the navigation resolving module is used for completing attitude resolving, speed resolving and position resolving according to the measurement data of the gyroscope and the accelerometer;
the optimal estimation module is at least used for carrying out optimal estimation on the system error by the inertial navigation data, the temperature data and the odometer data.
4. The pipeline measurement system of claim 3, wherein the navigation computer further comprises virtual sensors including one or more of a position calibration solution module, a gravity anomaly solution module, a pipe constraint solution module, and a dynamics solution module;
the position calibration calculation module is used for calibrating the position by using the position data of the starting point and/or the end point;
the gravity anomaly calculation module is used for calculating gravity anomaly data and compensating errors between actual gravity and a gravity model adopted in a navigation calculation process;
the pipeline constraint calculating module is used for calculating a motion constraint model of the pipeline measurement system in the pipeline and compensating errors;
the dynamic calculation module is used for calculating a dynamic motion model of the pipeline measurement system and compensating errors.
5. The pipeline measurement system of claim 4, wherein the navigation computer further comprises a pipeline measurement module for pipeline measurement model solution and error compensation, outputting pipeline measurements in real time.
6. The pipeline measurement system of claim 1, wherein the odometer is two or more, and data from the two or more odometers is deeply fused with data from an inertial navigation system.
7. A method of pipeline measurement, comprising the steps of:
a: performing initial alignment on the inertial navigation system by adopting a double-position alignment method or a three-position alignment method;
b: calibrating and compensating the inertial navigation system;
c: collecting data of a gyroscope, an accelerometer, a speedometer and a temperature sensor;
d: performing navigation calculation on the gyro data and the accelerometer data according to the data of the gravity anomaly calculation module, and performing optimal estimation on the navigation calculation result, the temperature data, the odometer data, the data of the position calibration calculation module, the data of the pipeline constraint calculation module and the data of the dynamics calculation module;
e: and D, resolving and error compensating the optimal estimation result of the step D to obtain a pipeline measurement result.
8. The pipeline measurement method of claim 7, wherein the dual position alignment method comprises:
a11: inputting the longitude, latitude and altitude of the position of the pipeline measurement system into an inertial navigation system;
a12: horizontally placing the pipeline measuring system, and standing for a preset time;
a13: establishing coordinate axes OX axis, OY axis and OZ axis in 3-dimensional direction by taking the central point of the pipeline measuring system as an origin, wherein the OX axis and the OY axis are in the same horizontal plane, the OY axis is the advancing direction of the pipeline measuring system, the OZ axis is the vertical direction, rotating the pipeline measuring system for 90-270 degrees around one of the OX axis, the OY axis or the OZ axis, and standing for a preset time;
a14: performing error compensation by using the initial alignment error and the inertial device error of the optimal estimation module;
the three-position alignment method comprises the following steps:
a21: inputting the longitude, latitude and altitude of the position of the pipeline measurement system into an inertial navigation system;
a22: horizontally placing the pipeline measuring system, and standing for a preset time;
a23: establishing coordinate axes OX axis, OY axis and OZ axis in 3-dimensional direction with the central point of the pipeline measuring system as an origin, wherein the OX axis and the OY axis are in the same horizontal plane, the OY axis is the advancing direction of the pipeline measuring system, the OZ axis is in the vertical direction, rotating the pipeline measuring system for 90-270 degrees around the OX axis, the OY axis or the OZ axis, and standing for a preset time;
a24: rotating the pipeline measurement system by 90 to 270 degrees around one of the OX axis, OY axis or OZ axis other than step a23, and resting for a predetermined time;
a25: and carrying out error compensation by using the initial alignment error and the inertial device error of the optimal estimation module.
9. The pipeline measuring method according to claim 7, wherein in the step B, the calibrating method comprises: and calibrating the symmetry and nonlinearity of the scale factors of the gyroscope and the accelerometer according to the characteristics of the pipeline measurement working conditions.
10. The pipeline measuring method according to claim 7, wherein in the step B, the compensating method comprises: and according to the characteristics of the working conditions of the pipeline measurement operation, temperature compensation is carried out on zero offset, installation errors and scale factors of the gyroscope and the accelerometer.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113790332A (en) * | 2021-09-14 | 2021-12-14 | 广东零偏科技有限公司 | Bidirectional mileage wheel train and pipeline detector |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113790332A (en) * | 2021-09-14 | 2021-12-14 | 广东零偏科技有限公司 | Bidirectional mileage wheel train and pipeline detector |
| CN113790332B (en) * | 2021-09-14 | 2023-02-17 | 广东零偏科技有限公司 | Bidirectional mileage wheel train and pipeline detector |
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