EP3513223A1 - Système de détermination de la position de canalisations - Google Patents

Système de détermination de la position de canalisations

Info

Publication number
EP3513223A1
EP3513223A1 EP17807716.0A EP17807716A EP3513223A1 EP 3513223 A1 EP3513223 A1 EP 3513223A1 EP 17807716 A EP17807716 A EP 17807716A EP 3513223 A1 EP3513223 A1 EP 3513223A1
Authority
EP
European Patent Office
Prior art keywords
uav
determining
magnetic field
pipeline
magnetic
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
EP17807716.0A
Other languages
German (de)
English (en)
Inventor
Josef Alois Birchbauer
Uwe Linnert
Klaus Ludwig
Markus Richter
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Siemens Energy Global GmbH and Co KG
Original Assignee
Siemens AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Siemens AG filed Critical Siemens AG
Publication of EP3513223A1 publication Critical patent/EP3513223A1/fr
Pending legal-status Critical Current

Links

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
    • F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
    • F16L55/48—Indicating the position of the pig or mole in the pipe or conduit
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
    • G01V3/00—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation
    • G01V3/08—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation operating with magnetic or electric fields produced or modified by objects or geological structures or by detecting devices
    • G01V3/081—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation operating with magnetic or electric fields produced or modified by objects or geological structures or by detecting devices the magnetic field is produced by the objects or geological structures
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
    • G01V3/00—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation
    • G01V3/15—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation specially adapted for use during transport, e.g. by a person, vehicle or boat
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
    • G01V3/00—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation
    • G01V3/15—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation specially adapted for use during transport, e.g. by a person, vehicle or boat
    • G01V3/16—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation specially adapted for use during transport, e.g. by a person, vehicle or boat specially adapted for use from aircraft
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L2101/00—Uses or applications of pigs or moles
    • F16L2101/30—Inspecting, measuring or testing

Definitions

  • the invention relates to a system for determining the position of pipelines with at least one geomolch, which is introduced into a pipeline, moves therein and has a magnetic source for generating a magnetic field.
  • underground pipelines such as pipelines for gas, oil, water, etc. must be known with high accuracy for inspection tasks, usually these pipelines and in particular the position of their upper edge after laying and restoration of the soil are no longer visible from the outside.
  • geomolche which are introduced into the pipeline and transported by the stream of Medium m the pipeline to be moved.
  • the determination of the position of the geomolchs is done by inertial measuring systems.
  • the object of the invention is to further develop the state of the art and in particular to improve the use of geomolets for measuring pipelines.
  • Fig. 1 shows the use of a system according to the invention in a schematic and side view.
  • Fig. 2 shows the use of the system according to the invention in plan view .
  • the illustrations show the use of a geomould GM for determining the position of a pipeline RL.
  • the Geomolch GM is equipped with a magnetic source MQ, which generates a magnetic field MF.
  • the field strength course of the magnetic field is detected with a magnetic field sensor MFS attached to an unmanned flying object UAV and spatially assigned.
  • the unmanned aerial object UAV follows the maximum of the magnetic signal at a predetermined altitude and positions itself in each case at a defined distance from the geomoloch GM, for example directly above it.
  • the position and course of the pipeline RL are determined from the position of the unmanned flying object UAV continuously determined by means of satellite navigation and the distance between geomolch GM and unmanned aerial object UAV which can be determined from the field strength curve of the magnetic field MF.
  • a magnetic source for example, permanent magnets or magnetic coils are conceivable. It is advantageous to use a with alternating current
  • the frequency and field strength of the magnetic field MF prefferably be matched to the properties of the pipeline RL in such a way that the eddy currents induced in the latter become a minimum.
  • the design of the magnetic field MF as a superimposed by an alternating field DC field since the alternating field transmission of magnetic materials by the superposition of a DC field, which magnetically saturates the material at the appropriate location, can be improved.
  • the magnetic constant field should continue to run as symmetrically as possible within the tube.
  • a further advantageous embodiment of the invention provides that the magnetic field also simultaneously for the detection of weak points in the pipe casing or irregularities in the overlying soil (for example, "illegal
  • Tapping by attaching leads
  • a bidirectional measurement would also be conceivable in that the signal measured by the magnetic field probe MFS is transmitted to the geomolcester GM, for example, at a different, lower frequency is returned.
  • the distance between unmanned aerial object UA and geomoloch GM can be determined with suitable coding over the propagation time of the signals.
  • the advantages achieved by the system according to the invention are in particular in a high accuracy of the position determination of the Geomolches GM especially for comparatively long pipes RL by eliminating the drift behavior of the incremental measurement by means of inertial measuring.
  • the system also allows complete automation of the measurement process.

Landscapes

  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Environmental & Geological Engineering (AREA)
  • Geology (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geophysics (AREA)
  • General Engineering & Computer Science (AREA)
  • Electromagnetism (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Geophysics And Detection Of Objects (AREA)
  • Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)

Abstract

L'invention concerne un système de détermination de la position de canalisations à l'aide d'au moins une géo-sonde qui est introduite dans une canalisation, qui se déplace à l'intérieur et qui possède une source magnétique destinée à générer un champ magnétique. Au moins un drone (UAV) est équipé de capteurs de champ magnétique (MFS) et de moyens de positionnement. Des moyens de commande sont prévus pour déterminer l'allure du champ du champ magnétique (MF) et positionner le drone (UAV) à une distance définie de la géo-sonde (GM). Des moyens sont prévus pour déterminer la position de la géo-sonde (GM) à partir de la position du drone (UAV) et de la distance définie entre la géo-sonde (GM) et le drone (UAV).
EP17807716.0A 2016-11-30 2017-11-08 Système de détermination de la position de canalisations Pending EP3513223A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102016223774.8A DE102016223774A1 (de) 2016-11-30 2016-11-30 System zur Bestimmung der Lage von Rohrleitungen
PCT/EP2017/078546 WO2018099699A1 (fr) 2016-11-30 2017-11-08 Système de détermination de la position de canalisations

Publications (1)

Publication Number Publication Date
EP3513223A1 true EP3513223A1 (fr) 2019-07-24

Family

ID=60515315

Family Applications (1)

Application Number Title Priority Date Filing Date
EP17807716.0A Pending EP3513223A1 (fr) 2016-11-30 2017-11-08 Système de détermination de la position de canalisations

Country Status (7)

Country Link
US (1) US11237289B2 (fr)
EP (1) EP3513223A1 (fr)
CN (1) CN110023791B (fr)
CA (1) CA3043138C (fr)
DE (1) DE102016223774A1 (fr)
RU (1) RU2716864C1 (fr)
WO (1) WO2018099699A1 (fr)

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111699379B (zh) * 2018-04-02 2024-01-30 杜书勇 用于管道的智能数据采集系统和方法
EP3640620A1 (fr) * 2018-10-18 2020-04-22 Siemens Aktiengesellschaft Procédé de détection du passage d'une conduite souterraine au moyen d'un dispositif de détection aérien
RU2712504C1 (ru) * 2018-12-28 2020-01-29 Государственное Унитарное Предприятие "Водоканал Санкт-Петербурга" Способ неразрушающего инструментального обследования тоннельных канализационных коллекторов
RU2708799C1 (ru) * 2018-12-28 2019-12-11 Государственное Унитарное Предприятие "Водоканал Санкт-Петербурга" Способ обследования закрытых подземных выработок с применением беспилотных летательных аппаратов
CN110282130A (zh) * 2019-04-29 2019-09-27 北京工业大学 一种基于云计算的钢结构腐蚀检测高空飞行智能机器人
RU2747385C1 (ru) * 2020-10-30 2021-05-04 Александр Евгеньевич Зорин Способ определения пространственного положения трубопровода
CN112904878B (zh) * 2021-01-15 2022-08-16 西南石油大学 一种用于管道高后果区识别的无人机系统和方法

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Publication number Priority date Publication date Assignee Title
US4427943A (en) 1981-08-05 1984-01-24 Innovatum, Inc. Apparatus and method for locating and tracking magnetic objects or sources
DE4406681A1 (de) 1994-03-01 1995-09-07 Siemens Ag Verfahren zum Positionieren oder Bestimmen der Position eines Inspektions- oder Bearbeitungsgerätes
GB2297666B (en) 1995-01-31 1999-06-02 British Gas Plc Signalling to or from a vehicle inside a pipeline
US6243657B1 (en) * 1997-12-23 2001-06-05 Pii North America, Inc. Method and apparatus for determining location of characteristics of a pipeline
US6553322B1 (en) * 1999-09-29 2003-04-22 Honeywell International Inc. Apparatus and method for accurate pipeline surveying
US6816110B1 (en) * 2003-07-30 2004-11-09 Varco I/P, Inc. Precision positioning AGM system
US8261623B2 (en) * 2007-07-09 2012-09-11 Microline Technology Corporation Communication system for pipeline inspection
CN102269825A (zh) * 2010-06-04 2011-12-07 中国石油天然气股份有限公司 一种管道清管器在线跟踪定位系统
CN102169185B (zh) * 2010-12-30 2013-03-13 中国石油大学(北京) 一种清管器跟踪系统
RU2503038C1 (ru) 2012-06-26 2013-12-27 Закрытое акционерное общество "Комплексный технический сервис" Автоматический беспилотный диагностический комплекс
WO2014189943A1 (fr) 2013-05-22 2014-11-27 Weatherford/Lamb, Inc. Procede et systeme de suivi de trajectoire de deplacement d'outil de pipeline
CN104297596B (zh) 2014-10-17 2017-08-04 中国石油天然气股份有限公司 一种清管器跟踪定位的磁场发射机信号强度检测装置
US10378689B2 (en) 2015-11-09 2019-08-13 Halliburton Energy Services, Inc. Pig tracking by unmanned submarine
CN106092082A (zh) 2016-05-26 2016-11-09 重庆前卫科技集团有限公司 一种清管器定位方法

Also Published As

Publication number Publication date
CA3043138C (fr) 2021-11-09
CN110023791B (zh) 2021-08-31
CA3043138A1 (fr) 2018-06-07
DE102016223774A1 (de) 2018-05-30
US20200012005A1 (en) 2020-01-09
US11237289B2 (en) 2022-02-01
WO2018099699A1 (fr) 2018-06-07
RU2716864C1 (ru) 2020-03-17
CN110023791A (zh) 2019-07-16

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