CN114062491A - Ultra-low-altitude flaw detection system for field pipeline of unmanned aerial vehicle - Google Patents
Ultra-low-altitude flaw detection system for field pipeline of unmanned aerial vehicle Download PDFInfo
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Abstract
The invention relates to an unmanned aerial vehicle field pipeline ultra-low altitude flaw detection system, which comprises a pipeline flaw detection system, an unmanned aerial vehicle communication system and a ground control system, wherein the pipeline flaw detection system comprises a tracking sensor, pipeline flaw detection equipment, first marking equipment and a first GPS (global positioning system) positioner; the unmanned aerial vehicle communication system comprises an unmanned aerial vehicle, a second GPS positioner and a second marking device; the ground control system issues the driving instructions of the unmanned aerial vehicle and the pipeline flaw detection equipment based on the positioning information of the positioning pipeline flaw detection equipment and the unmanned aerial vehicle, acquires and processes pipeline flaw detection data acquired by the pipeline flaw detection equipment, judges a weld defect part, stores the positioning information of the weld defect part, and issues spraying marking instructions of the first marking equipment and the second marking equipment. The invention utilizes the mode of combining the unmanned aerial vehicle communication system and the pipeline flaw detection system in the pipeline to carry out accurate positioning flaw detection on the pipeline, thereby greatly improving the working efficiency, timeliness, safety and accuracy of field pipeline flaw detection.
Description
Technical Field
The invention belongs to the technical field of pipeline flaw detection, and particularly relates to an unmanned aerial vehicle field pipeline ultra-low altitude flaw detection system.
Background
Pipeline transportation is used as an efficient special transportation means, and plays an increasingly important role in the fields of petroleum and natural gas transportation and the like. Most long-distance pipelines are in the field and are influenced by environments such as climate, altitude, topography and the like, pipeline weld seam flaw detection is difficult, potential safety hazards are high, working efficiency is low, and the detection results are judged by artificial subjective consciousness and the like.
The invention aims to improve the working efficiency of wild pipeline detection, reduce potential safety hazard and detection cost, and reduces artificial subjective judgment through objective evaluation of output data of automatic detection equipment, thereby achieving the accuracy of nondestructive inspection detection report.
Disclosure of Invention
The invention aims to solve the problems and provide an unmanned aerial vehicle field pipeline ultra-low altitude flaw detection system.
The invention realizes the purpose through the following technical scheme:
an unmanned aerial vehicle field pipeline ultra-low altitude flaw detection system comprises:
the pipeline flaw detection system comprises pipeline flaw detection equipment, first marking equipment and a first GPS (global positioning system) positioner, wherein the pipeline flaw detection equipment crawls in a pipeline and detects pipeline weld defects based on weld position information positioned by a tracking sensor;
the unmanned aerial vehicle communication system comprises an unmanned aerial vehicle, a second GPS positioner and second marking equipment, wherein the second GPS positioner is arranged on the unmanned aerial vehicle and is used for positioning the unmanned aerial vehicle, and the second marking equipment is used for spraying and marking the position of the defect of the welding seam outside the pipeline;
the ground control system issues the driving instructions of the unmanned aerial vehicle and the pipeline flaw detection equipment based on the positioning information of the positioning pipeline flaw detection equipment and the unmanned aerial vehicle, acquires and processes pipeline flaw detection data acquired by the pipeline flaw detection equipment, judges a weld defect part, stores the positioning information of the weld defect part, and issues spraying marking instructions of the first marking equipment and the second marking equipment.
As a further optimization scheme of the invention, the pipeline flaw detection system and the unmanned aerial vehicle communication system as well as the unmanned aerial vehicle communication system and the ground control system are connected through wireless communication modules.
As a further optimization scheme of the invention, an intelligent controller is installed in the unmanned aerial vehicle, the pipeline flaw detection system sends acquired pipeline flaw detection data to the intelligent controller through a wireless communication module, and the intelligent controller sends the pipeline flaw detection data to a ground control system through the wireless communication module.
As a further optimization scheme of the invention, the pipeline flaw detection equipment comprises a pipeline crawler and an ultrasonic flaw detector arranged on the pipeline crawler, the ground control system sends a crawling instruction to the intelligent controller through the wireless communication module, the intelligent controller transmits the crawling instruction to the pipeline crawler, and the ultrasonic flaw detector sends acquired pipeline flaw detection data to the intelligent controller through the wireless communication module and then sends the acquired pipeline flaw detection data to the ground control system through the intelligent controller.
As a further optimization scheme of the invention, the first GPS positioner sends the positioning information of the pipeline flaw detection equipment at the position of the weld defect to the intelligent controller through the wireless communication module, and the positioning information is used for the close-range tracking of the unmanned aerial vehicle and the positioning of the spraying position of the second marking equipment.
As a further optimization scheme of the invention, a flight controller is installed in the unmanned aerial vehicle, the flight controller and the second GPS positioner are both connected with a ground control system through an intelligent controller and a wireless communication module, the ground control system sends a flight instruction and a crawling instruction to the intelligent controller through the wireless communication module based on stored pipeline distribution data and the position information of the unmanned aerial vehicle sent by the second GPS positioner, and the intelligent controller respectively transmits the flight instruction and the crawling instruction to the flight controller and the pipeline crawler.
As a further optimization scheme of the unmanned aerial vehicle, the unmanned aerial vehicle is further provided with a camera, the camera is used for collecting ground image information and sending the ground image information to the intelligent controller, the intelligent controller sends the ground image information to the ground control system, and the ground image is identified by the image identification module integrated in the ground control system, so that the unmanned aerial vehicle flies without obstacles, and the second marking equipment is controlled to spray and mark the ground.
As a further optimization scheme of the invention, the unmanned aerial vehicle is provided with an altitude sensor, and the altitude sensor is used for detecting the altitude of the flying of the unmanned aerial vehicle, so that the unmanned aerial vehicle can take off, land or fly at ultra-low altitude in a complex terrain environment.
As a further optimization scheme of the invention, the ground control system comprises a control platform and a ground flaw detection data analyzer;
the control platform is used for receiving pipeline flaw detection data, unmanned aerial vehicle positioning information, pipeline flaw detection equipment positioning information and ground image information which are sent by a pipeline flaw detection system and an unmanned aerial vehicle communication system, and controlling the unmanned aerial vehicle and the pipeline flaw detection equipment to run based on the unmanned aerial vehicle positioning information, the pipeline flaw detection equipment positioning information and the ground image information;
the ground flaw detection data analyzer is used for acquiring pipeline flaw detection data, analyzing and processing the pipeline flaw detection data, judging the defect position and defect attribute of a welding seam, and automatically generating a detection report.
As a further optimization scheme of the invention, the first marking device and the second marking device respectively comprise a pigment tank storing pigment, a spraying pipe connected with the pigment tank, a pressure pump arranged on the spraying pipe, and a nozzle arranged at one end of the spraying pipe.
The invention has the beneficial effects that:
1) the invention utilizes the mode of combining the unmanned aerial vehicle communication system and the pipeline flaw detection system in the pipeline to carry out accurate positioning flaw detection on the pipeline, can carry out nondestructive flaw detection on the pipeline in the field without carrying out field open-air operation by a large amount of manpower, and can normally carry out nondestructive detection work in places which are inconvenient for field operation, such as extreme weather, e.g. overheating of high-temperature pipelines and freezing of high-cold pipelines, and smooth surfaces, thereby greatly improving the working efficiency and timeliness of field pipeline flaw detection, greatly improving the safety, flexibility and convenience of the field nondestructive flaw detection work, greatly reducing the labor cost, and reducing the influence of human factors so as to greatly improve the accuracy of a detection report;
2) according to the invention, the unmanned aerial vehicle communication system is used for tracking the pipeline flaw detection equipment, and the flaw detection information is sent to the ground control system, so that the problems that the pipeline flaw detection equipment is easy to track and fail, the position of a pipeline defect is not accurately positioned and the like due to weak field signals can be avoided, and the pigment marking is carried out on the inside and the outside of the pipeline with the defect by combining two marking devices, so that the accurate and rapid searching and maintenance are realized.
Drawings
FIG. 1 is a system topology of the present invention.
FIG. 2 is a schematic structural view of the pipe inspection system of the present invention.
Fig. 3 is a schematic structural diagram of the communication system of the unmanned aerial vehicle of the present invention.
FIG. 4 is a block diagram of the pipeline inspection system of the present invention.
Fig. 5 is a block diagram of the communication system of the drone of the present invention.
Fig. 6 is a block diagram of the ground control system of the present invention.
In the figure: 1. a pipeline inspection system; 11. a tracking sensor; 12. pipeline flaw detection equipment; 121. a pipeline crawler; 122. an ultrasonic flaw detector; 13. a first marking device; 14. a first GPS locator; 2. an unmanned aerial vehicle communication system; 21. an unmanned aerial vehicle; 22. a second GPS locator; 23. marking equipment No. two; 24. an intelligent controller; 25. a flight controller; 26. a camera; 27. an altitude sensor; 3. a ground control system; 31. a manipulation platform; 32. a ground flaw detection data analyzer; 4. a wireless communication module.
Detailed Description
The present application will now be described in further detail with reference to the drawings, it should be noted that the following detailed description is given for illustrative purposes only and is not to be construed as limiting the scope of the present application, as those skilled in the art will be able to make numerous insubstantial modifications and adaptations to the present application based on the above disclosure.
In the description of the present invention, it is to be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention; in the description of the present invention, the meaning of "plurality" or "a plurality" is two or more unless otherwise specified.
Example 1
As shown in fig. 1-6, an unmanned aerial vehicle field pipeline ultra-low altitude flaw detection system comprises:
the pipeline flaw detection system 1 comprises pipeline flaw detection equipment 12 which crawls in a pipeline and detects the pipeline weld defects based on the weld position information positioned by a tracking sensor 11, first marking equipment 13 which is arranged on the pipeline flaw detection equipment 12 and is used for spraying and marking the weld defect parts, and a first GPS positioner 14 which is used for positioning the pipeline flaw detection equipment 12;
the unmanned aerial vehicle communication system 2 comprises an unmanned aerial vehicle 21, a second GPS positioner 22 which is arranged on the unmanned aerial vehicle 21 and used for positioning the unmanned aerial vehicle 21, and a second marking device 23 which is used for spraying and marking the position of the defect of the welding seam outside the pipeline;
the ground control system 3 issues driving instructions of the unmanned aerial vehicle 21 and the pipeline flaw detection device 12 based on the positioning information of the positioning pipeline flaw detection device 12 and the unmanned aerial vehicle 21, acquires and processes pipeline flaw detection data acquired by the pipeline flaw detection device 12, judges a weld defect part, stores the positioning information of the weld defect part, issues spraying marking instructions of the first marking device 13 and the second marking device 23, and the first marking device 13 and the second marking device 23 respectively spray and mark the weld defect part and the corresponding ground.
Pipeline flaw detection system 1 and unmanned aerial vehicle communication system 2 all are connected through wireless communication module 4 with ground control system 3. Install intelligent control ware 24 in the unmanned aerial vehicle 21, pipeline flaw detection system 1 sends the pipeline flaw detection data of gathering to intelligent control ware 24 through wireless communication module 4, intelligent control ware 24 is detected a flaw data transmission with the pipeline and is sent to ground control system 3 through wireless communication module 4.
The first GPS positioner 14 sends the positioning information of the pipeline flaw detection equipment 12 at the position of the weld defect to the intelligent controller 24 through the wireless communication module 4, and is used for the close-range tracking of the unmanned aerial vehicle 21 and the positioning of the spraying position of the second marking equipment 23.
Install flight control ware 25 in the unmanned aerial vehicle 21, flight control ware 25 and No. two GPS locator 22 all are connected with ground control system 3 through intelligent control ware 24 and wireless communication module 4, and ground control system 3 sends flight instruction and instruction of crawling to intelligent control ware 24 through wireless communication module 4 based on the pipeline distribution data of storage, the positional information of unmanned aerial vehicle 21 that No. two GPS locator 22 sent, intelligent control ware 24 transmits flight instruction and instruction of crawling to flight control ware 25 and pipeline crawler 121 respectively.
Still install camera 26 on the unmanned aerial vehicle 21, camera 26 is used for gathering ground image information and sends ground image information to intelligent control ware 24, and intelligent control ware 24 sends ground image information to ground control system 3, by integrated image recognition module discernment ground image in the ground control system 3 for unmanned aerial vehicle 21 accessible flight to control No. two marking device 23 and carry out the spraying mark to ground.
The unmanned aerial vehicle 21 is provided with an altitude sensor 27, and the altitude sensor 27 is used for detecting the altitude of the flight of the unmanned aerial vehicle 21, so that the unmanned aerial vehicle 21 can take off, land or fly at ultra-low altitude in a complex terrain environment.
The ground control system 3 comprises a control platform 31 and a ground flaw detection data analyzer 32; the control platform 31 is used for receiving pipeline flaw detection data, unmanned aerial vehicle 21 positioning information, pipeline flaw detection equipment 12 positioning information and ground image information sent by the pipeline flaw detection system 1 and the unmanned aerial vehicle communication system 2, and controlling the unmanned aerial vehicle 21 and the pipeline flaw detection equipment 12 to run based on the unmanned aerial vehicle 21 positioning information, the pipeline flaw detection equipment 12 positioning information and the ground image information; the ground flaw detection data analyzer 32 is configured to obtain pipeline flaw detection data, analyze and process the pipeline flaw detection data, determine a weld defect position and a defect attribute, and automatically generate a detection report.
It should be noted that, when performing pipeline inspection, the pipeline crawler 121 carries the ultrasonic inspection apparatus 122, the tracking sensor 11, the first GPS locator 14, and the first marking device 13 to crawl in the pipeline, and the unmanned aerial vehicle 21 flies outside the pipeline under the automatic control of the flight controller 25, and the first GPS locator 14 sends the positioning information of the pipeline inspection device 12 to the intelligent controller 24 through the wireless communication module 4, and the intelligent controller 24 controls the flight controller 25 based on the positioning information, so that the unmanned aerial vehicle 21 follows the pipeline inspection device 12, and the intelligent controller 24 also sends the positioning information of the unmanned aerial vehicle 21 to the ground control system 3 through the wireless communication module 4 in real time, and the positioning information of the unmanned aerial vehicle 21 is also the positioning information of the pipeline inspection device 12, and the worker operates the control platform 31 to remotely control the unmanned aerial vehicle 21 to travel along the pipeline distribution direction, crawling instructions are sent to the pipeline flaw detection equipment 12 through the unmanned aerial vehicle communication system 2, and the detection of multiple welding seams in the pipeline is realized one by one;
if the pipeline is laid on the ground, the unmanned aerial vehicle 21 and the pipeline inspection equipment 12 can be controlled to run according to the pipeline image shot by the camera 26, and the unmanned aerial vehicle 21 can realize autonomous takeoff, landing or ultra-low altitude flight in the environment with complex terrain based on the high-precision height data detected by the altitude sensor 27; the device is connected with the ground control system 3 through the camera 26 and the intelligent controller 24, is controlled through the ground control platform 31, positions the welding line, transmits data information to the control platform 31 and feeds the data information back to the ultrasonic flaw detector 122 in the pipeline, and accurately detects the flaw of the welding line;
when pipeline inspection equipment 12 carries out pipeline inspection, track by welding seam tracking sensor 11, behind the accurate positioning weld position, carry out ultrasonic automatic detection by ultrasonic flaw detector 122 to the welding seam, detect formation of image and pass through signal transmitter and unmanned aerial vehicle communication system 2 and control platform 31 with detection data transmission item portion ground, accomplish the detection back of one crater, creep to next one mouthful through automatic receiving's instruction and carry out automated inspection. The ultrasonic flaw detector 122 has high detection speed, can automatically detect, calculate and record, and automatically perform depth compensation and automatically set sensitivity; the detection precision is high, the analog signals are subjected to high-speed digital acquisition, quantization, calculation and judgment, and a defect image is directly generated; time domain, frequency domain or image analysis is carried out on the signals, and the working quality is graded through analog identification, so that the influence of human factors is reduced, and the reliability and stability of retrieval are improved;
the pipeline flaw detection data detected by the ultrasonic flaw detector 122 is sent to the ground control system 3 through the unmanned aerial vehicle communication system 2, and is analyzed and processed by the ground flaw detection data analyzer 32, so that the defect part and defect attribute of the weld joint are judged, and a detection report is automatically generated.
As shown in fig. 2 to 3, each of the first marking device 13 and the second marking device 23 includes a paint tank storing paint, a spray pipe connected to the paint tank, a pressure pump disposed on the spray pipe, and a nozzle installed at one end of the spray pipe.
It should be noted that, when the ultrasonic flaw detector 122 detects a weld defect, the control platform 31 stores the positioning information of the weld defect position, so that the subsequent maintenance personnel can conveniently search and maintain according to the positioning information, but because the field positioning is not accurate and the searching speed is affected, the control platform 31 further issues the spraying marking instructions of the first marking device 13 and the second marking device 23 to the intelligent controller 24, the intelligent controller 24 transmits the spraying marking instructions to the first marking device 13 and the second marking device 23, the first marking device 13 sprays the weld defect position in the pipeline, the second marking device 23 sprays the external weld defect position outside the pipeline (for the embedded pipeline, the spraying is performed on the ground corresponding to the weld defect position, for the external pipeline, the spraying is performed directly on the pipeline corresponding to the weld defect position), the maintenance personnel can subsequently and quickly search the pipeline position of the weld defect within a rough positioning range, when the interior of the pipeline is inspected, the defect part of the welding seam can be quickly determined.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention.
Claims (10)
1. The utility model provides an open-air pipeline ultra-low altitude of unmanned aerial vehicle detecting system that detects, its characterized in that includes:
the pipeline flaw detection system (1) comprises pipeline flaw detection equipment (12) which crawls in a pipeline and detects the pipeline weld defects based on the weld position information positioned by a tracking sensor (11), first marking equipment (13) which is arranged on the pipeline flaw detection equipment (12) and is used for spraying and marking the weld defect parts, and a first GPS positioner (14) which is used for positioning the pipeline flaw detection equipment (12);
the unmanned aerial vehicle communication system (2) comprises an unmanned aerial vehicle (21), a second GPS positioner (22) which is arranged on the unmanned aerial vehicle (21) and used for positioning the unmanned aerial vehicle (21), and a second marking device (23) which is used for spraying and marking the position of the defect of the welding seam outside the pipeline;
the ground control system (3) issues driving instructions of the unmanned aerial vehicle (21) and the pipeline flaw detection equipment (12) based on the positioning information of the positioning pipeline flaw detection equipment (12) and the unmanned aerial vehicle (21), acquires and processes pipeline flaw detection data collected by the pipeline flaw detection equipment (12), judges a welding seam defect part, stores the positioning information of the welding seam defect part, and issues spraying marking instructions of the first marking equipment (13) and the second marking equipment (23).
2. The ultra-low-altitude flaw detection system for the field pipeline of the unmanned aerial vehicle as claimed in claim 1, wherein: the pipeline flaw detection system (1) is connected with the unmanned aerial vehicle communication system (2) and the unmanned aerial vehicle communication system (2) is connected with the ground control system (3) through the wireless communication module (4).
3. The ultra-low-altitude flaw detection system for the field pipeline of the unmanned aerial vehicle as claimed in claim 2, wherein: install intelligent control ware (24) in unmanned aerial vehicle (21), pipeline inspection system (1) sends the pipeline inspection data of gathering to intelligent control ware (24) through wireless communication module (4), intelligent control ware (24) are through wireless communication module (4) with pipeline inspection data transmission to ground control system (3).
4. The ultra-low-altitude flaw detection system for the field pipeline of the unmanned aerial vehicle as claimed in claim 3, wherein: pipeline inspection equipment (12) include pipeline crawler (121) and install ultrasonic flaw detector (122) on pipeline crawler (121), ground control system (3) send the instruction of crawling to intelligent control ware (24) through wireless communication module (4), and intelligent control ware (24) will crawl the instruction and transmit to pipeline crawler (121), ultrasonic flaw detector (122) are through wireless communication module (4) with the pipeline data transmission of detecting a flaw of gathering to intelligent control ware (24), send to ground control system (3) through intelligent control ware (24) again.
5. The ultra-low-altitude flaw detection system for the field pipeline of the unmanned aerial vehicle as claimed in claim 4, wherein: the first GPS positioner (14) sends the positioning information of the pipeline flaw detection equipment (12) at the position of the weld defect to the intelligent controller (24) through the wireless communication module (4) and is used for close-range tracking of the unmanned aerial vehicle (21) and positioning of the spraying position of the second marking equipment (23).
6. The ultra-low-altitude flaw detection system for the field pipeline of the unmanned aerial vehicle as claimed in claim 5, wherein: install flight control ware (25) in unmanned aerial vehicle (21), flight control ware (25) and No. two GPS locator (22) all are connected with ground control system (3) through intelligent control ware (24) and wireless communication module (4), and ground control system (3) are based on the pipeline distribution data of storage, the position information of unmanned aerial vehicle (21) that No. two GPS locator (22) sent, send flight instruction and instruction of crawling to intelligent control ware (24) through wireless communication module (4), intelligent control ware (24) transmit flight instruction and instruction of crawling to flight control ware (25) and pipeline crawler (121) respectively.
7. The ultra-low-altitude flaw detection system for the field pipeline of the unmanned aerial vehicle as claimed in claim 6, wherein: still install camera (26) on unmanned aerial vehicle (21), camera (26) are used for gathering ground image information and send ground image information to intelligent control ware (24), and intelligent control ware (24) send ground image information to ground control system (3), by integrated image identification module discernment ground image in ground control system (3) for unmanned aerial vehicle (21) accessible flight to control No. two marking device (23) and carry out the spraying mark to ground.
8. The ultra-low-altitude flaw detection system for the field pipeline of the unmanned aerial vehicle as claimed in claim 7, wherein: install altitude sensor (27) on unmanned aerial vehicle (21), altitude sensor (27) are used for detecting the altitude that unmanned aerial vehicle (21) fly, realize taking off of unmanned aerial vehicle (21), land or the super low-altitude flight under the complicated environment of topography.
9. The ultra-low-altitude flaw detection system for the field pipeline of the unmanned aerial vehicle of claim 8, wherein: the ground control system (3) comprises a control platform (31) and a ground flaw detection data analyzer (32);
the control platform (31) is used for receiving pipeline flaw detection data, unmanned aerial vehicle (21) positioning information, pipeline flaw detection equipment (12) positioning information and ground image information which are sent by the pipeline flaw detection system (1) and the unmanned aerial vehicle communication system (2), and controlling the unmanned aerial vehicle (21) and the pipeline flaw detection equipment (12) to run based on the unmanned aerial vehicle (21) positioning information, the pipeline flaw detection equipment (12) positioning information and the ground image information;
the ground flaw detection data analyzer (32) is used for acquiring pipeline flaw detection data, analyzing and processing the pipeline flaw detection data, judging the defect position and defect attribute of a welding seam, and automatically generating a detection report.
10. The ultra-low-altitude flaw detection system for the field pipeline of the unmanned aerial vehicle as claimed in claim 1, wherein: the first marking device (13) and the second marking device (23) respectively comprise a pigment tank for storing pigment, a spraying pipe connected with the pigment tank, a pressure pump arranged on the spraying pipe, and a nozzle arranged at one end of the spraying pipe.
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