CN113358746A - Small-diameter pipeline defect positioning method based on artificial fish swarm algorithm - Google Patents
Small-diameter pipeline defect positioning method based on artificial fish swarm algorithm Download PDFInfo
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Abstract
The invention relates to a pipeline surveying and mapping technology, and discloses a small-diameter pipeline defect positioning method based on an artificial fish swarm algorithm, which comprises the following steps: the pipeline detection device comprises a shell, a data storage unit, a data processing unit, a strapdown inertia measurement unit and a power module are arranged in the shell, a tracking module, a pipeline defect detection sensor and a mileage gauge are arranged outside the shell, and the mileage gauge is located on the outermost side of the shell and clings to the inner side wall of the pipeline. The invention can improve the detection precision without adding any extra hardware cost, the detection of the pipeline connector is realized without installing other sensors in the pipeline measuring device, and the detected signal is the reutilization of the data of the inertial sensor for detecting and positioning the pipeline.
Description
Technical Field
The invention relates to the technical field of pipeline surveying and mapping, in particular to a small-diameter pipeline defect positioning method based on an artificial fish swarm algorithm.
Background
As a large number of early laid pipelines have reached or exceeded their service lives, environmental pollution and economic losses due to pipeline leakage are very serious, and even the security threat posed by pipeline explosion is immeasurable. Thus, the pipe can be measured by the pipe measuring device. The pipeline measuring device is the most effective tool for realizing pipeline defect detection and defect positioning in the pipeline and becomes the first choice for periodic detection of various pipelines. In addition, natural factors such as debris flow, mountain landslide and the like can also cause pipeline deformation, effective measurement on the coordinates of the detected pipeline can be realized by adopting the pipeline measuring device, the displacement or deformation of the pipeline is analyzed, good help can be provided for the prediction of potential risks of the pipeline, and the occurrence of risks such as leakage or explosion of various pipelines is prevented.
An inertia-assisted small-diameter pipeline positioning system comprising an inertia sensor is a core component for realizing pipeline defect positioning and pipeline deformation detection. However, the precision of the MEMS strapdown inertial measurement unit (i.e., the MEMS strapdown inertial sensor) used by the inertia-assisted small-diameter pipeline positioning system is generally low, and the positioning error and the azimuth angle error of the inertia-assisted small-diameter pipeline positioning system gradually accumulate and diverge seriously with the increase of the distance of the detected pipeline. Under the normal condition, the mileometers arranged around the pipeline measuring device and the non-integrity constraint of the motion of the mileometers in the pipeline can provide continuous three-dimensional speed error correction for an inertia-assisted small-diameter pipeline positioning system. Meanwhile, the earth surface marks with known positions at certain intervals along the detected pipeline can provide discrete three-dimensional position error correction for the inertia-assisted small-diameter pipeline positioning system. However, an inertial-assisted positioning system including a small-sized, low-precision MEMS strapdown inertial measurement unit has a large divergence of azimuth errors, and requires correction of azimuth errors in addition to correction of velocity and position errors. The traditional azimuth angle detection sensor is influenced by the inner diameter of the pipeline, the environment in the pipeline and the like in the small-diameter pipeline to cause large errors, and an inertia auxiliary small-diameter pipeline positioning system is difficult to provide enough positioning precision information for pipeline excavation and maintenance. In the pipeline mapping and defect positioning device based on the MEMS inertial measurement unit and the pipeline mapping and positioning method thereof, the orientation of the pipeline is measured by adopting the magnetometer, but the magnetometer running in the steel pipeline is shielded by the material of the pipeline, so that the azimuth angle of the pipeline is difficult to be accurately measured according to the magnetometer principle. Therefore, it is difficult to design and implement the pipeline inspection in practice.
Disclosure of Invention
Aiming at the basic characteristic that a laid pipeline is formed by connecting straight pipeline sections through pipeline connectors (including bent pipelines, annular welding seams, flanges and the like), the pipeline connector detection method based on the artificial fish swarm algorithm is adopted to obtain the detection result of the pipeline connectors, and the detection result of the pipeline connectors is used for correcting the attitude angle divergence error of the pipeline positioning system according to the characteristic that the pipeline measurement device has the unchanged attitude angle (azimuth angle and pitch angle) in the straight pipeline, so that the positioning and orientation precision of the pipeline detection positioning system is improved, and the problem is solved.
In order to solve the technical problems, the invention adopts the following technical scheme:
a small-diameter pipeline defect positioning method based on an artificial fish swarm algorithm comprises the following steps:
step 6, taking the state quantity and the covariance matrix in the step 5 as observed quantities, and estimating and compensating the state quantity with errors of the inertial sensor and the strapdown inertial navigation system in the step 5 again by adopting a data smoothing processing technology in a reverse mode, so as to obtain the coordinate information of the measured pipeline with high precision;
and 7, performing time synchronization operation on the coordinate information after the smoothing treatment and an analysis result of the detection data of the pipeline measuring device to obtain the relation between the pipeline defect and the position.
As optimization, the pipeline detection device comprises a shell, a data storage unit, a data processing unit, a strapdown inertial measurement unit and a power supply module are arranged inside the shell, a tracking module, a pipeline defect detection sensor and a mileage gauge are arranged outside the shell, and the mileage gauge is positioned at the outermost side of the shell and clings to the inner side wall of the pipeline;
the strapdown inertial measurement unit comprises a three-axis gyroscope and a three-axis accelerometer, and the three-axis gyroscope and the three-axis accelerometer respectively measure the rotation angular velocity and the linear acceleration of the movement of the pipeline measurement device in the pipeline;
the mileage gauge measures the axial speed of the pipeline measuring device when the pipeline measuring device moves in a pipeline;
the tracking module is positioned on one side of the shell in the axial direction and used for recording the time and the position of the magnetic mark passing through the earth surface and is connected with earth surface tracking equipment so as to monitor the position of the pipeline measuring device in real time;
the pipeline defect detection sensor is used for detecting the defects in the detected pipeline;
the data processing unit is used for acquiring information of the pipeline defect detection sensor, the tracking module, the mileage recorder and the strapdown inertial measurement unit;
the data storage unit is used for storing the information acquired by the data processing unit;
the power module is used for providing power for the pipeline detection device.
As optimization, in step 1, the detection data includes rotation angular velocity, linear acceleration, axial velocity of the pipeline measuring device, time and position of passing through the surface magnetic marker, and type of pipeline defect.
As an optimization, the initial state in step 2 includes an initial velocity, an initial attitude angle, and an initial position of the pipe measuring device.
As optimization, in step 3, the calculation of the time period of the pipeline connector respectively includes calculation of the position of the bent pipeline and calculation of the positions of the annular welding line and the flange, and the second attitude angle is the attitude angle of the bent pipeline;
the calculation of the position of the bent pipeline comprises the following steps:
s3.1, taking the square sum of the output angular velocities of the three-axis gyroscope in a static state as an angular velocity threshold;
s3.2, if the measured value of the angular velocity of any axis of the three-axis gyroscope is larger than the angular velocity threshold value, judging that the pipeline measuring device passes through a bent pipeline section and calculating a second attitude angle, and if not, judging that the pipeline measuring device passes through a straight pipeline section;
the calculation of the positions of the circular welding line and the flange comprises the following steps:
s3.3, modeling the measuring signals of the triaxial accelerometer by adopting a novel artificial fish swarm algorithm, extracting frequency domain signals corresponding to the modeling signals or the measuring signals, and obtaining a time-frequency characteristic curve of the modeling signals or the measuring signals;
and S3.4, if the amplitude of the time-frequency characteristic curve is larger than a preset acceleration threshold value, judging that the whole pipeline measuring device passes through an annular welding seam/flange, otherwise, the whole pipeline measuring device passes through a straight pipeline section, wherein the acceleration threshold value can be obtained by a method of carrying out mean value or variance on the initial acceleration.
As an optimization, in step 4, the external data includes an axial speed measured by a odometer, a zero speed provided by non-integrity constraints of the pipe measuring device in the transverse and longitudinal directions in the pipe, a discrete position provided by the surface magnetic marker, and a second attitude angle, and the error value includes: obtaining a speed error by making a difference between a first speed calculated by a strapdown inertial navigation algorithm and an axial speed measured by the mileage gauge and a zero speed provided by non-integrity constraints of a pipeline measuring device in the transverse direction and the longitudinal direction of the pipeline; the first position calculated by the strapdown inertial navigation algorithm is subtracted from the discrete position recorded by the tracking module through the earth surface magnetic marker to obtain a position error; and the attitude angle error is obtained by the difference between the first attitude angle calculated by the strapdown inertial navigation algorithm and the second attitude angle of the pipeline connector.
As an optimization, in step 7, the detection data time-synchronized with the coordinate information includes the defect inside the pipe under test detected by the pipe defect sensor.
And as optimization, the method also comprises a step 8 of producing a pipeline detection and maintenance report according to the relationship between the pipeline defects and the positions and by combining with other relevant information of pipeline maintenance, and guiding the field pipeline defect excavation and maintenance.
As an optimization, the pipeline detection device further comprises a sealing ring and a supporting wheel, wherein the sealing ring is located at the joint of the shell, the supporting wheel is located between the shell and the pipeline, and the supporting wheel is abutted to the pipeline.
Preferably, the shell is cylindrical or torpedo-like.
The invention has the beneficial effects that:
1. the method for positioning the defects of the small-diameter pipeline based on the artificial fish swarm algorithm can provide convenience for the excavation and maintenance of the laid pipeline, the pipeline which is buried underground or underwater throughout the year is connected by welding or screws, and the connection part and nearby soil and chemical substances in water are easy to corrode or even break, so that the pipeline connector becomes a high-risk area for pipeline leakage. In addition, the pipeline detection sensor carried on the pipeline measuring device can effectively detect the corrosion and the rupture conditions of the straight pipeline and the pipeline connector, and the combination of the two can enhance the defect detection reliability of the pipeline connector and the like.
2. The small-diameter pipeline defect positioning method based on the artificial fish swarm algorithm does not depend on any extra sensor, and only adopts the inertia sensor equipped in the inertia auxiliary pipeline detection positioning system, so that no extra additional cost is generated from the perspective of system hardware.
3. The small-diameter pipeline defect positioning method based on the artificial fish swarm algorithm can improve detection and positioning accuracy without increasing any extra hardware cost, other sensors are not required to be installed in a pipeline measuring device for realizing pipeline connector detection, and detected signals are the reutilization of inertial sensor data for pipeline detection and positioning. In addition, the pipeline defect maintenance in the pipeline detection is carried out after the pipeline detection is finished, and the pipeline detection is not required to be carried out in real time, so that the analysis of the pipeline detection data, the pipeline connector detection and the calculation of the pipeline geographic coordinate by the pipeline positioning system are carried out in an off-line mode, and the influence on the existing pipeline detection and evaluation system is avoided.
Drawings
Fig. 1 is a schematic structural diagram of a pipeline detection device of a small-diameter pipeline defect positioning method based on an artificial fish school algorithm.
Fig. 2 is a schematic diagram of an artificial fish school algorithm detection pipeline connector of the small-diameter pipeline defect positioning method based on the artificial fish school algorithm.
Fig. 3 is a system flow chart of a small-diameter pipeline defect positioning method based on an artificial fish school algorithm according to the present invention.
The sequence numbers in the figures illustrate:
1. a tracking module; 2. a mileage instrument; 3. a pipeline defect detection sensor; 4. a plastic seal ring; 5. a support wheel; A. a data storage unit; B. a data processing unit; C. an MEMS strapdown inertial measurement unit; D. and a power supply module.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings. In the description of the present invention, it is to be understood that the orientation or positional relationship indicated by the orientation words such as "upper, lower" and "top, bottom" etc. are usually based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplicity of description, and in the case of not making a reverse description, these orientation words do not indicate and imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore, should not be interpreted as limiting the scope of the present invention; the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.
As shown in fig. 1, the invention relates to a method for positioning defects of a small-diameter pipeline based on an artificial fish swarm algorithm, wherein a used pipeline measuring device comprises a detachable shell, and the shell is cylindrical or similar to a torpedo shape in order to facilitate the operation of the pipeline measuring device in a measured pipeline. The pipeline defect detection device comprises a shell, a data storage unit, a data processing unit, a strapdown inertia measurement unit and a power module, wherein the data storage unit, the data processing unit, the strapdown inertia measurement unit and the power module are arranged inside the shell, a tracking module, a pipeline defect detection sensor, a mileage gauge, a sealing ring and a supporting wheel are arranged outside the shell, the sealing ring is located at the joint of the shell, the supporting wheel is located between the shell and a pipeline, the supporting wheel is abutted against the pipeline, and the mileage gauge is located on the outermost side of the shell and is tightly attached to the inner side wall of the pipeline;
the strapdown inertial measurement unit comprises a three-axis gyroscope and a three-axis accelerometer, and the three-axis gyroscope and the three-axis accelerometer respectively measure the rotation angular velocity and the linear acceleration of the movement of the pipeline measurement device in the pipeline;
the mileage gauge measures the axial speed of the pipeline measuring device when the pipeline measuring device moves in a pipeline;
the tracking module is positioned on one side of the shell in the axial direction, specifically, the tracking module is arranged at the tail of the shell and used for recording the time and the position of the magnetic mark passing through the earth surface and is connected with earth surface tracking equipment to monitor the position of the pipeline measuring device in real time, and specifically, the tracking module and the earth surface tracking equipment can adopt electromagnetic wave transmitting and receiving equipment, so that signals cannot be shielded to influence the receiving and sending of the signals because the pipeline detecting device is below the earth surface;
the pipeline defect detection sensor is used for detecting the defects in the detected pipeline; the pipeline defect detection sensor may employ an ultrasonic sensor or a magnetic flux leakage detection sensor depending on the type of defect (corrosion, crack, dent, etc.) and the type of transported substance (gas, liquid, etc.) of the pipeline to be detected.
The data processing unit is used for acquiring information of the pipeline defect detection sensor, the tracking module, the mileage recorder and the strapdown inertial measurement unit;
the data storage unit is used for storing the information acquired by the data processing unit;
the power module is used for providing power for the pipeline detection device.
As shown in fig. 3, a method for locating a small-diameter pipeline defect based on an artificial fish swarm algorithm includes the following steps:
As shown in fig. 2, step 3, calculating the rotation angular velocity and the linear acceleration by an artificial fish school algorithm to obtain a detection result of the pipeline connector, so as to obtain a time point when the pipeline detection device passes through the pipeline connector and a second attitude angle; specifically, the time period passing through the pipeline connector respectively comprises a time period passing through the position of the bent pipeline and a time period passing through the positions of the annular welding line and the flange, and the second attitude angle is the attitude angle of the bent pipeline; that is, the inspection data and the pipe defect location data are downloaded and saved from the data storage unit of the pipe measuring apparatus. The pipeline defect positioning data is the comprehensive data of the pipeline defects detected by the pipeline defect detection sensor and the time and the position recorded by the tracking module and the ground surface tracking equipment. Next, carrying out modeling processing on measurement data of an accelerometer in the pipeline measurement device in a novel artificial fish swarm algorithm, extracting a frequency domain signal corresponding to a modeling or measurement signal, obtaining a time-frequency characteristic curve of the modeling or measurement signal, and judging a time period corresponding to the bent pipeline by adopting an angular velocity threshold method; meanwhile, the corresponding time period of the circular welding line or the flange and the like is judged by adopting an acceleration threshold value method, and finally, the bent pipeline section detected by the three-axis gyroscope measuring value is combined with the pipe connectors of the circular welding line, the flange and the like detected by the three-axis accelerometer measuring value, so that the corresponding relation between the pipe connectors in the whole detected pipeline and the time can be obtained.
The calculation of the position of the bent pipeline comprises the following steps:
s3.1, taking the square sum of the output angular velocities of the three-axis gyroscope in a static state as an angular velocity threshold;
s3.2, if the measured value of the angular velocity of any axis of the three-axis gyroscope is larger than the angular velocity threshold value, judging that the pipeline measuring device passes through a bent pipeline section and calculating a second attitude angle, and if not, judging that the pipeline measuring device passes through a straight pipeline section; the size of the attitude angle can be obtained from the rotation angular velocity, and is not described in detail herein for the prior art.
The calculation of the positions of the circular welding line and the flange comprises the following steps:
s3.3, modeling the measuring signals of the triaxial accelerometer by adopting a novel artificial fish swarm algorithm, extracting frequency domain signals corresponding to the modeling signals or the measuring signals, and obtaining a time-frequency characteristic curve of the modeling signals or the measuring signals;
and S3.4, if the amplitude of the time-frequency characteristic curve is larger than a preset acceleration threshold value, judging that the pipeline measuring device passes through an annular welding seam/flange, otherwise, judging that the pipeline measuring device passes through a straight pipeline section, wherein the acceleration threshold value can be obtained by a method of carrying out mean value or variance on the initial acceleration.
However, because the strapdown inertial navigation algorithm is an integral algorithm, the positioning and orientation errors of the strapdown inertial navigation system are not only related to the errors of the inertial sensor, but also become larger along with the increase of the detection distance of the pipeline. Therefore, inertial sensor errors and inertial navigation system output errors need to be estimated and corrected. And estimating the inertial sensor error and the output error of the inertial navigation system by adopting a Kalman filtering estimation technology. The method comprises the steps of detecting a pipeline connector result by adopting an artificial fish swarm algorithm, providing attitude angle error estimation and correction for an inertia auxiliary positioning system on a straight pipeline section, meanwhile, combining three-dimensional speed error estimation and correction provided by a mileometer and non-integrity constraint in a pipeline by a pipeline measuring device, and discrete three-dimensional position error estimation and correction provided by a surface magnetic marker. Finally, according to the non-real-time characteristics of pipeline detection positioning and maintenance, the error estimation compensation of the inertial sensor and the error compensation of the inertial navigation system are further realized by adopting an off-line data smoothing processing technology, and the problem that the small-size inertial navigation system is difficult to position and orient in the defect of the small-diameter pipeline is solved.
The method comprises the following specific steps:
step 6, taking the state quantity and the covariance matrix in the step 5 as observed quantities, and estimating and compensating the state quantity with errors of the inertial sensor and the strapdown inertial navigation system in the step 5 again by adopting a data smoothing processing technology in a reverse mode, so as to obtain the coordinate information of the measured pipeline with high precision;
and 7, performing time synchronization operation on the coordinate information after the smoothing treatment and an analysis result of the detection data of the pipeline measuring device to obtain the relation between the pipeline defect and the position. Specifically, the detection data time-synchronously operated with the coordinate information includes a defect inside the pipe under test detected by the pipe defect sensor.
In this embodiment, the method further includes step 8 of producing a pipeline inspection and maintenance report according to the relationship between the pipeline defect and the position and by combining with the relevant information of other pipeline maintenance, and guiding the on-site pipeline defect excavation and maintenance.
Finally, it should be noted that: various modifications and alterations of this invention may be made by those skilled in the art without departing from the spirit and scope of this invention. Thus, it is intended that the present invention cover the modifications and variations of this invention provided they come within the scope of the appended claims and their equivalents.
Claims (10)
1. A small-diameter pipeline defect positioning method based on an artificial fish swarm algorithm is characterized by comprising the following steps:
step 1, acquiring detection data of a detected pipeline through a pipeline measuring device;
step 2, acquiring a rotation angular velocity and a linear acceleration from the detection data, and meanwhile, calculating the detection data through a strapdown inertial navigation algorithm and known initial position information by combining the initial state of the pipeline measuring device to obtain a first velocity, a first attitude angle and first position information of the pipeline measuring device;
step 3, calculating the rotation angular velocity and the linear acceleration through an artificial fish school algorithm to obtain a detection result of the pipeline connector, so as to obtain a time period when the pipeline detection device passes through the pipeline connector and a second attitude angle;
step 4, comparing the first speed, the first attitude angle and the first position information obtained in the step 2 with external data to obtain an error value;
step 5, taking the error value as an observed value, estimating and correcting by adopting a Kalman filtering technology, taking the observed value as a real value to estimate and compensate the state quantity with errors of the currently solved inertial sensor and the strapdown inertial navigation system, and simultaneously storing the solved state quantity and a corresponding covariance matrix;
step 6, taking the state quantity and the covariance matrix in the step 5 as observed quantities, and estimating and compensating the state quantity with errors of the inertial sensor and the strapdown inertial navigation system in the step 5 again by adopting a data smoothing processing technology in a reverse mode, so as to obtain the coordinate information of the measured pipeline with high precision;
and 7, performing time synchronization operation on the coordinate information after the smoothing treatment and an analysis result of the detection data of the pipeline measuring device to obtain the relation between the pipeline defect and the position.
2. The method for positioning the defects of the small-diameter pipeline based on the artificial fish swarm algorithm according to claim 1, wherein the pipeline detection device comprises a shell, a data storage unit, a data processing unit, a strapdown inertial measurement unit and a power supply module are arranged inside the shell, a tracking module, a pipeline defect detection sensor and a mileage gauge are arranged outside the shell, and the mileage gauge is positioned on the outermost side of the shell and is tightly attached to the inner side wall of the pipeline;
the strapdown inertial measurement unit comprises a three-axis gyroscope and a three-axis accelerometer, and the three-axis gyroscope and the three-axis accelerometer respectively measure the rotation angular velocity and the linear acceleration of the movement of the pipeline measurement device in the pipeline;
the mileage gauge measures the axial speed of the pipeline measuring device when the pipeline measuring device moves in a pipeline;
the tracking module is positioned on one side of the shell in the axial direction and used for recording the time and the position of the magnetic mark passing through the earth surface and is connected with earth surface tracking equipment so as to monitor the position of the pipeline measuring device in real time;
the pipeline defect detection sensor is used for detecting the defects in the detected pipeline;
the data processing unit is used for acquiring information of the pipeline defect detection sensor, the tracking module, the mileage recorder and the strapdown inertial measurement unit;
the data storage unit is used for storing the information acquired by the data processing unit;
the power module is used for providing power for the pipeline detection device.
3. The method as claimed in claim 2, wherein in step 1, the detection data includes rotational angular velocity, linear acceleration, axial velocity of the pipeline measuring device, time and position of passing the surface magnetic marker, and type of pipeline defect.
4. A method for locating defects of small-diameter pipelines based on an artificial fish swarm algorithm according to claim 1 or 2, wherein the initial state in step 2 comprises an initial speed, an initial attitude angle and an initial position of the pipeline measuring device.
5. The method as claimed in claim 4, wherein in step 3, the time period for passing through the pipe connector includes a time period for passing through a bent pipe position and a time period for passing through a circumferential weld and a flange position, respectively, and the second attitude angle is an attitude angle of the bent pipe;
the calculation of the position of the bent pipeline comprises the following steps:
s3.1, taking the square sum of the output angular velocities of the three-axis gyroscope in a static state as an angular velocity threshold;
s3.2, if the measured value of the angular velocity of any axis of the three-axis gyroscope is larger than the angular velocity threshold value, judging that the pipeline measuring device passes through a bent pipeline section and calculating a second attitude angle, and if not, judging that the pipeline measuring device passes through a straight pipeline section;
the calculation of the positions of the circular welding line and the flange comprises the following steps:
s3.3, modeling the measuring signals of the triaxial accelerometer by adopting a novel artificial fish swarm algorithm, extracting frequency domain signals corresponding to the modeling signals or the measuring signals, and obtaining a time-frequency characteristic curve of the modeling signals or the measuring signals;
and S3.4, if the amplitude of the time-frequency characteristic curve is larger than a preset acceleration threshold value, judging that the whole pipeline measuring device passes through an annular welding seam/flange, otherwise, the whole pipeline measuring device passes through a straight pipeline section, wherein the acceleration threshold value can be obtained by a method of carrying out mean value or variance on the initial acceleration.
6. The method as claimed in claim 1, wherein in step 4, the external data includes axial speed measured by a odometer, zero speed provided by non-integrity constraints of the pipeline measuring device in the transverse and longitudinal directions of the pipeline, discrete position provided by the surface magnetic marker, and second attitude angle, and the error value includes: obtaining a speed error by making a difference between a first speed calculated by a strapdown inertial navigation algorithm and an axial speed measured by the mileage gauge and a zero speed provided by non-integrity constraints of a pipeline measuring device in the transverse direction and the longitudinal direction of the pipeline; the first position calculated by the strapdown inertial navigation algorithm is subtracted from the discrete position recorded by the tracking module through the earth surface magnetic marker to obtain a position error; and the attitude angle error is obtained by the difference between the first attitude angle calculated by the strapdown inertial navigation algorithm and the second attitude angle of the pipeline connector.
7. A method as claimed in claim 2, wherein in step 7, the detection data synchronized with the coordinate information in time includes the internal defect of the pipeline detected by the pipeline defect sensor.
8. The method for locating the defect of the small-diameter pipeline based on the artificial fish swarm algorithm as claimed in claim 1, further comprising the step 8 of generating a pipeline inspection and maintenance report according to the relationship between the pipeline defect and the position and by combining with other related information of pipeline maintenance, and guiding the on-site pipeline defect excavation and maintenance.
9. The method as claimed in claim 2, wherein the pipeline inspection device further comprises a sealing ring and a supporting wheel, the sealing ring is located at the joint of the housing, the supporting wheel is located between the housing and the pipeline, and the supporting wheel abuts against the pipeline.
10. The method of claim 2, wherein the housing is cylindrical or torpedo-like.
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