CN1952825A - Crawling intelligent controller in submarine pipeline - Google Patents
Crawling intelligent controller in submarine pipeline Download PDFInfo
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- CN1952825A CN1952825A CN 200610117886 CN200610117886A CN1952825A CN 1952825 A CN1952825 A CN 1952825A CN 200610117886 CN200610117886 CN 200610117886 CN 200610117886 A CN200610117886 A CN 200610117886A CN 1952825 A CN1952825 A CN 1952825A
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Abstract
This invention relates to sea bottom tube creep intelligent controller in intelligent control field, which comprises PC104 bus CPU module, PC104 bus DC/DC power module, PC104 bus CAN communication module, portable inertia guide system, inclination sensor, CF card memory and wireless network module orderly connected, wherein, the PC104 bus communication module is the data process center of intelligent controller to get creep machine position information through testing and computing and to compare the information and management information file load.
Description
Technical field
The present invention relates to a kind of device of field of ocean engineering, specifically is a kind of crawling intelligent controller in submarine pipeline.
Background technology
China's offshore petroleum resources are abundant, 200 meters of the depth of waters with interior continental platform, about 150～20,000,000,000 tons of reserves of oil amount.Many pipe layings in the marine large-scale oil field that China has found are all laid in the eighties, have entered the high-incidence season of pipeline leakage in recent years, press for it is overhauled.The external ripe subsea pipeline apparatus for examination and repair of using can not be fit to safeguard the demand of China's shallow sea petroleum pipeline fully, and costs an arm and a leg.Therefore develop a kind of leak detection and maintenance automatic equipment with shallow sea petroleum pipeline of independent intellectual property right, not only can reduce the tremendous economic loss that causes because of pipeline is aging, reduce the pollution that Oil spills caused, and can grasp the gordian technique in this field, be convenient to develop from now on the series of products that are used to overhaul different bore pipelines, ensure the safe operation of China's shallow sea petroleum pipeline.
Find through literature search prior art, Chinese patent publication number CN1828219A, open day is 2006.09.06, patent name is: intelligent detector for submarine pipeline, this patented claim readme is: " a kind of intelligent detector for submarine pipeline; belong to the detection technique field, comprising: drive unit, Magnetic Flux Leakage Inspecting head, magnetic leakage signal treating apparatus, supply unit, mileage gauge, rotary encoder, Ultrasonic Detection head and ultrasonic signal processing device.Drive unit, Magnetic Flux Leakage Inspecting head, magnetic leakage signal treating apparatus, supply unit, ultrasonic signal processing device, Ultrasonic Detection head link to each other with universal joint from the head to the tail successively, mileage gauge is located on the roller of ultrasonic signal processing device, and rotary encoder is located in the magnetic leakage signal treating apparatus casing ".Its weak point is: pick-up unit can only detect the defective in the oil pipeline, and defective but can't be keeped in repair the defective of finding, so exist the pipeline of defective still can not normally move in ducted position.
Summary of the invention
The objective of the invention is at the deficiencies in the prior art, a kind of crawling intelligent controller in submarine pipeline is provided, make it solve the maintenance problem of China's offshore oil pipeline.
The present invention is achieved by the following technical solutions, the present invention includes: PC104 bus CPU module, PC104 bus DC/DC power module, PC104 bus CAN communication module, strap-down inertial navigation system, inclination sensor, CF card memory and wireless network module.
Described PC104 bus CPU module, it is core component of the present invention, other parts all are connected with it, and PC104 bus CPU module links to each other with wireless network module with PC104 bus DC/DC power module, PC104 bus CAN communication module, strap-down inertial navigation system, inclination sensor, CF card memory.PC104 bus CPU module and PC104 bus DC/DC power module interconnect with Standard PC 104 bus interface; PC104 bus CPU module and PC104 bus CAN communication module interconnect with Standard PC 104 bus interface; PC104 bus CPU module and strap-down inertial navigation system interconnect with parallel interface; PC104 bus CPU module and inclination sensor interconnect with the serial line interface rs-232 standard; PC104 bus CPU module and CF card memory interconnect with ide interface; PC104 bus CPU module and wireless network module are interconnected with USB interface.
Described PC104 bus DC/DC power module links to each other with the power supply unit of crawl device in the pipeline, it provides electric former unit+the 24V direct current is converted to+direct current of 5V uses for PC104 bus CPU module, in addition PC104 bus DC/DC power module keep in addition supply voltage steadily, reduce the influence of the variation of power supply unit supply voltage to PC104 bus CPU module.
Described PC104 bus CAN communication module is by the power supply unit of public CAN bus and crawl device, the unit of creeping, detecting unit and positioning unit interconnection, PC104 bus CPU module to power supply unit, the unit of creeping, detecting unit and positioning unit transmitting control commands with receive their message feedback, has realized intelligent controller and power supply unit by PC104 bus CAN communication module, the function of the unit of creeping, detecting unit and positioning unit communication.
Described strap-down inertial navigation system can provide the information of crawl device change in location when motion, this information is represented with respect to the changes in coordinates of the frame of reference with the position of crawl device, be embodied in it in X-axis, the increment of changes in coordinates is (as Δ X on Y-axis and the Z axle, Δ Y and Δ Z, these three measured values drift about in time), PC104 bus CPU module adopts the information of statistical learning method positional change even to be handled, calculate the location variation Δ X of crawl device, the relation at Δ Y and Δ Z and the angle of inclination of crawl device on surface level, this angle of inclination can be recorded accurately by inclination sensor, obtain Δ X with counter the pushing away of angle of inclination value then, the exact value of Δ Y and Δ Z, the measured value that this mathematical processing methods can be eliminated strap-down inertial navigation system drifts about in time.
Described inclination sensor can provide the angle of inclination value of crawl device on surface level to PC104 bus CPU module, the information of its change in location when this angle value is used to revise crawl device that inertial navigation system provides to PC104 bus CPU module in motion.
Operating system program, numerical processor and the control program of storage intelligent controller in the described CF card memory.
The wireless network card of described wireless network module and field adjustable computer constitutes the wireless network of AD-HOC pattern, convenient field adjustable work to intelligent controller.
The course of work of the present invention and principle of work:
1, the defective in the submarine pipeline is overhauled two steps of needs: 1. online detection: under the situation that pipeline does not stop production, online detection instrument adopts leather cup as drive unit, nondestructiving inspecting equipments such as employing ultrasonic probe detect, adopt the geography information of inertial navigation system measuring channel to pipeline, the data of gathering are preserved, the offshore analytic process that has industry specialists to participate in after testing process is finished finally draws the duct size information file that includes pipeline geography information, defect of pipeline information and weld seam information.2. detection and localization: the wireless network module of field adjustable computer and intelligent controller constitutes wireless network, by wireless network the duct size information file is downloaded to intelligent controller, the data of the sensor measurement that intelligent controller is self-contained after treatment, compare with the data of putting down in writing in the duct size information file, generate the scheme that the control crawl device carries out defect location in view of the above automatically.
2, PC104 bus CPU module is the data processing centre (DPC) of intelligent controller, the variation of the crawl device locus of living in that inertial navigation system records is along with time drift, PC104 bus CPU module calculates the variable quantity of this locus and the crawl device relation at surface level direction angle of inclination, inclination sensor can accurately be measured the numerical value at this angle of inclination, therefore can be with the changing value of angle of inclination value inverting crawl device locus of living in accurately, the changing value of this locus added up by the small time period just can draw the locus of crawl device in oil pipeline.
3, PC104 bus CAN communication module is by the public CAN bus and the power supply unit of crawl device, the unit of creeping, detecting unit and positioning unit interconnection, intelligent controller is by PC104 bus CAN communication module transmitting control commands, the weld seam information that mileage wheel information that the reception power supply unit provides and detecting unit provide, and power supply unit, the unit of creeping, the crawl device that the message feedback of detecting unit and positioning unit, these information and PC104 bus CPU module calculate merges mutually and can provide foundation for the fault location that crawl device accurately is positioned pipeline at ducted spatial positional information.
Intelligent controller Autonomous Control crawl device of the present invention accurately navigates to ducted defective locations, orders crawl device emission ultra-low frequency signal to guide then to rob shiprepair defect of pipeline is keeped in repair, and has solved the maintenance problem of China's offshore oil pipeline.
Description of drawings
Fig. 1 is intelligent controller of the present invention system pie graph.
Embodiment
Below in conjunction with accompanying drawing embodiments of the invention are elaborated: present embodiment has provided detailed embodiment being to implement under the prerequisite with the technical solution of the present invention, but protection scope of the present invention is not limited to following embodiment.
As shown in Figure 1, present embodiment comprises: PC104 bus CPU module, PC104 bus DC/DC power module, PC104 bus CAN communication module, strap-down inertial navigation system, inclination sensor, CF card memory and wireless network module.Described PC104 bus CPU module, other parts all are connected with it, and PC104 bus CPU module links to each other with wireless network module with PC104 bus DC/DC power module, PC104 bus CAN communication module, strap-down inertial navigation system, inclination sensor, CF card memory.PC104 bus CPU module and PC104 bus DC/DC power module interconnect with Standard PC 104 bus interface; PC104 bus CPU module and PC104 bus CAN communication module interconnect with Standard PC 104 bus interface; PC104 bus CPU module and strap-down inertial navigation system interconnect with parallel interface; PC104 bus CPU module and inclination sensor interconnect with the serial line interface rs-232 standard; PC104 bus CPU module and CF card memory interconnect with ide interface; PC104 bus CPU module and wireless network module are interconnected with USB interface.
The present embodiment crawling intelligent controller in submarine pipeline is an ingredient of crawl device in the submarine pipeline, crawl device comprises in the submarine pipeline: intelligent controller, power supply unit, the unit of creeping, detecting unit and positioning unit interconnect by power lead and CAN communication bus between them.
Described PC104 bus CPU module is the data processing centre (DPC) of intelligent controller, it calibrates the measured value of inertial navigation system with the measured value of inclination sensor, can obtain the changing value of crawl device locus of living in, the changing value of this locus added up by the small time period draw the locus of crawl device in oil pipeline, adopt information fusion technology to crawl device ducted spatial positional information of living in, odometer information and weld seam information are handled, obtain crawl device at ducted precise position information, the data of putting down in writing in this result and the duct size information file are compared, automatically generate the scheme that the control crawl device carries out defect location in view of the above, finish crawl device there being the accurate location of defective locations in the pipeline.
Described PC104 bus DC/DC power module provides power supply unit+and the 24V direct current is converted to+and the direct current of 5V uses for all building blocks of intelligent controller, when this power module can be eliminated the voltage instability that power supply unit provides to the influence of intelligent controller work, it adopts identical bus structure with PC104 bus CPU module, thereby has characteristics easy for installation.
Described PC104 bus CAN communication module is by the public CAN bus and the power supply unit of crawl device, the unit of creeping, detecting unit and positioning unit interconnection, intelligent controller is by PC104 bus CAN communication module transmitting control commands, reception is installed on the measured data of other unit upper sensor and receives the message feedback of other unit, the measured data in other unit comprise: the odometer information that weld seam information that detecting unit records and power supply unit record, these information provide foundation for PC104 bus CPU module analysis calculates crawl device in ducted accurate position.
Described inertial navigation system provides the information of crawl device change in location when motion, this information is represented with respect to the changes in coordinates of the frame of reference with the position of crawl device, be embodied in it in X-axis, the increment of changes in coordinates on Y-axis and the Z axle: Δ X, Δ Y and Δ Z, but Δ X, three measured values of Δ Y and Δ Z can not directly be used because of drift in time, therefore adopt statistical learning method that the information of the change in location of crawl device is handled, calculate change in location value Δ X, the relation at Δ Y and Δ Z and the angle of inclination of crawl device on surface level, this angle of inclination can be recorded accurately by inclination sensor, obtain Δ X with counter the pushing away of angle of inclination value then, the exact value of Δ Y and Δ Z, by the small time period it is accumulated to obtain the locus of crawl device in oil pipeline, intelligent controller is finished the task of oil pipeline defect location with reference to this information.
5, CF card memory: operating system program, numerical processor and the control program of storage intelligent controller in the described CF card memory, its volume is little, in light weight, low in energy consumption, and is easy with PC104 bus CPU module interface.
6, wireless network module: the wireless network card of described wireless network module and field adjustable computer constitutes the AD-HOC HOC wireless network, on-the-spot during to system debug, adopt the debugging computer that intelligent controller is implemented the operation that telnet comes supervisory system, by wireless network the duct size information file is downloaded to intelligent controller simultaneously.
Claims (7)
1, a kind of crawling intelligent controller in submarine pipeline, comprise: PC104 bus CPU module, PC104 bus DC/DC power module, PC104 bus CAN communication module, strap-down inertial navigation system, inclination sensor, CF card memory and wireless network module, it is characterized in that: described PC104 bus CPU module and PC104 bus DC/DC power module, PC104 bus CAN communication module, strap-down inertial navigation system, inclination sensor, the CF card memory links to each other with wireless network module, PC104 bus CPU module is the data processing centre (DPC) of intelligent controller, it is by detecting and calculating crawl device at ducted precise position information, the data of putting down in writing in this information and the duct size information file are compared, automatically generate the scheme that the control crawl device carries out defect location in view of the above, full Autonomous Control crawl device is finished the accurate location to fault location in the pipeline.
2, crawling intelligent controller in submarine pipeline according to claim 1 is characterized in that, described PC104 bus CPU module and PC104 bus DC/DC power module interconnect with Standard PC 104 bus interface; PC104 bus CPU module and PC104 bus CAN communication module interconnect with Standard PC 104 bus interface; PC104 bus CPU module and strap-down inertial navigation system interconnect with parallel interface; PC104 bus CPU module and inclination sensor interconnect with the serial line interface rs-232 standard; PC104 bus CPU module and CF card memory interconnect with ide interface; PC104 bus CPU module and wireless network module are interconnected with USB interface.
3, according to claim 1 or 2 described crawling intelligent controller in submarine pipeline, it is characterized in that, described PC104 bus DC/DC power module, link to each other with the power supply unit of crawl device in the pipeline, it provides electric former unit+the 24V direct current is converted to+direct current of 5V uses for PC104 bus CPU module, in addition PC104 bus DC/DC power module also keep supply voltage steadily, reduce the influence of the variation of power supply unit supply voltage to PC104 bus CPU module.
4, according to claim 1 or 2 described crawling intelligent controller in submarine pipeline, it is characterized in that, described PC104 bus CAN communication module, by the power supply unit of public CAN bus and crawl device, the unit of creeping, detecting unit and positioning unit interconnection, PC104 bus CPU module to power supply unit, the unit of creeping, detecting unit and positioning unit transmitting control commands with receive their message feedback, realizes intelligent controller and power supply unit, the unit of creeping, detecting unit and positioning unit communication by PC104 bus CAN communication module.
5, according to claim 1 or 2 described crawling intelligent controller in submarine pipeline, it is characterized in that, described strap-down inertial navigation system, detect crawl device in ducted position, described inclination sensor records the angle of inclination value of crawl device on surface level, revise the variation of the crawl device locus of living in that strap-down inertial navigation system records with the angle of inclination value, the variation of this locus was added up by the small time period draws locus in the crawl device oil pipeline of living in.
6, according to claim 1 or 2 described crawling intelligent controller in submarine pipeline, it is characterized in that operating system program, numerical processor and the control program of storage intelligent controller in the described CF card memory.
7, according to claim 1 or 2 described crawling intelligent controller in submarine pipeline, it is characterized in that, described wireless network module, the wireless network card formation AD-HOC HOC wireless network with the field adjustable computer downloads to intelligent controller to the duct size information file by wireless network.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2006101178863A CN100462884C (en) | 2006-11-02 | 2006-11-02 | Crawling intelligent controller in submarine pipeline |
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| Application Number | Priority Date | Filing Date | Title |
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| CNB2006101178863A CN100462884C (en) | 2006-11-02 | 2006-11-02 | Crawling intelligent controller in submarine pipeline |
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| CN1952825A true CN1952825A (en) | 2007-04-25 |
| CN100462884C CN100462884C (en) | 2009-02-18 |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101832470A (en) * | 2010-05-19 | 2010-09-15 | 中国船舶重工集团公司第七〇二研究所 | Method and device for polling underwater lines based on light vision sensing |
| CN101886743A (en) * | 2010-06-30 | 2010-11-17 | 东北大学 | Method and device for positioning submarine pipeline robot |
| CN102331780A (en) * | 2011-05-26 | 2012-01-25 | 合肥工业大学 | Intelligent wheelchair system blended in intelligent home system |
| CN103090193A (en) * | 2013-01-08 | 2013-05-08 | 浙江大学 | Device and method for detection and location of submarine oil pipeline leakage |
| CN103389736A (en) * | 2013-07-18 | 2013-11-13 | 东北大学 | Submarine pipeline inspection robot based on infrared thermal imaging and control method thereof |
| CN103615664A (en) * | 2013-11-28 | 2014-03-05 | 昆山泰顺自动化设备有限公司 | Pipeline detection equipment |
| CN104160203A (en) * | 2011-07-29 | 2014-11-19 | 马来西亚国家石油公司 | System and method for inspecting a subsea pipeline |
| CN105629840A (en) * | 2016-03-15 | 2016-06-01 | 华南理工大学 | A pipeline crawling intelligent detection device with multiple sensors being integrated |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8800396B2 (en) | 2011-07-14 | 2014-08-12 | Crts, Inc. | Pipeline internal field joint cleaning, coating, and inspection robot |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1373783B1 (en) * | 2001-03-07 | 2005-08-03 | Carnegie-Mellon University | Gas main robotic inspection system |
| JP2005514213A (en) * | 2001-10-17 | 2005-05-19 | ウィリアム・マーシュ・ライス・ユニバーシティ | Autonomous robot crawler for in-pipe inspection |
| CN1319701C (en) * | 2004-02-18 | 2007-06-06 | 中国科学院沈阳自动化研究所 | Under water-robot control device using distributed node network |
| CN1828219A (en) * | 2006-04-06 | 2006-09-06 | 上海交通大学 | Intelligent detector for submarine pipeline |
-
2006
- 2006-11-02 CN CNB2006101178863A patent/CN100462884C/en not_active Expired - Fee Related
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101832470A (en) * | 2010-05-19 | 2010-09-15 | 中国船舶重工集团公司第七〇二研究所 | Method and device for polling underwater lines based on light vision sensing |
| CN101832470B (en) * | 2010-05-19 | 2012-11-07 | 中国船舶重工集团公司第七〇二研究所 | Method and device for polling underwater lines based on light vision sensing |
| CN101886743A (en) * | 2010-06-30 | 2010-11-17 | 东北大学 | Method and device for positioning submarine pipeline robot |
| CN101886743B (en) * | 2010-06-30 | 2012-10-17 | 东北大学 | Method and device for positioning submarine pipeline robot |
| CN102331780A (en) * | 2011-05-26 | 2012-01-25 | 合肥工业大学 | Intelligent wheelchair system blended in intelligent home system |
| CN104160203A (en) * | 2011-07-29 | 2014-11-19 | 马来西亚国家石油公司 | System and method for inspecting a subsea pipeline |
| CN103090193A (en) * | 2013-01-08 | 2013-05-08 | 浙江大学 | Device and method for detection and location of submarine oil pipeline leakage |
| CN103090193B (en) * | 2013-01-08 | 2014-12-03 | 浙江大学 | Device for detection and location of submarine oil pipeline leakage |
| CN103389736A (en) * | 2013-07-18 | 2013-11-13 | 东北大学 | Submarine pipeline inspection robot based on infrared thermal imaging and control method thereof |
| CN103389736B (en) * | 2013-07-18 | 2015-09-30 | 东北大学 | A kind of control method of the submarine pipeline inspection robot based on infrared thermal imaging |
| CN103615664A (en) * | 2013-11-28 | 2014-03-05 | 昆山泰顺自动化设备有限公司 | Pipeline detection equipment |
| CN105629840A (en) * | 2016-03-15 | 2016-06-01 | 华南理工大学 | A pipeline crawling intelligent detection device with multiple sensors being integrated |
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| CN100462884C (en) | 2009-02-18 |
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