ES2628950R1 - Sistema y método para determinar trayectorias en conductos subterráneos - Google Patents
Sistema y método para determinar trayectorias en conductos subterráneos Download PDFInfo
- Publication number
- ES2628950R1 ES2628950R1 ES201630126A ES201630126A ES2628950R1 ES 2628950 R1 ES2628950 R1 ES 2628950R1 ES 201630126 A ES201630126 A ES 201630126A ES 201630126 A ES201630126 A ES 201630126A ES 2628950 R1 ES2628950 R1 ES 2628950R1
- Authority
- ES
- Spain
- Prior art keywords
- mobile platform
- acquired data
- underground
- inertial sensors
- underground conduit
- 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.)
- Granted
Links
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- 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
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Geophysics And Detection Of Objects (AREA)
- Excavating Of Shafts Or Tunnels (AREA)
- Navigation (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
Abstract
Sistema y método para determinar trayectorias en conductos subterráneos.#El sistema comprende:#- una plataforma móvil (102) prevista para su desplazamiento en un conducto subterráneo para realizar una inspección del mismo;#- un sistema de referencia (103) con uno o más sensores no inerciales para control de la distancia recorrida por la plataforma móvil (102);#- un módulo electrónico (101) asociado a dicha plataforma móvil (102) y dotado con sensores inerciales (304) para realizar un mapeado en un tramo del conducto subterráneo con base en unos datos adquiridos que proporcionan unas señales de navegación y a unos patrones temporales de los mismos; y#- unos medios de computación para calcular la trayectoria seguida por la plataforma móvil (102) tomando en consideración los datos adquiridos y los patrones temporales asociados, estando dichos datos adquiridos corregidos frente a posibles derivas mediante una comparación con unos datos obtenidos por el (los) sensor(es) no inerciales.
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
ES201630126A ES2628950B1 (es) | 2016-02-04 | 2016-02-04 | Sistema y método para determinar trayectorias en conductos subterráneos |
EP17382050.7A EP3203185A1 (en) | 2016-02-04 | 2017-02-06 | System and method for determining paths in underground pipelines |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
ES201630126A ES2628950B1 (es) | 2016-02-04 | 2016-02-04 | Sistema y método para determinar trayectorias en conductos subterráneos |
Publications (3)
Publication Number | Publication Date |
---|---|
ES2628950A2 ES2628950A2 (es) | 2017-08-04 |
ES2628950R1 true ES2628950R1 (es) | 2017-10-06 |
ES2628950B1 ES2628950B1 (es) | 2018-08-16 |
Family
ID=58108567
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
ES201630126A Active ES2628950B1 (es) | 2016-02-04 | 2016-02-04 | Sistema y método para determinar trayectorias en conductos subterráneos |
Country Status (2)
Country | Link |
---|---|
EP (1) | EP3203185A1 (es) |
ES (1) | ES2628950B1 (es) |
Families Citing this family (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN108955675A (zh) * | 2018-07-24 | 2018-12-07 | 东南大学 | 一种基于惯性测量的地下管道轨迹检测系统及方法 |
CN112050088B (zh) * | 2019-06-05 | 2023-10-31 | 中国石油天然气股份有限公司 | 管道检测方法、装置及计算机存储介质 |
CN111624552B (zh) * | 2020-05-25 | 2022-08-30 | 中国地质大学(武汉) | 一种基于声波渡越时间测量的地下管道定位系统及方法 |
WO2022122424A1 (en) * | 2020-12-07 | 2022-06-16 | Reduct Nv | Method and system for mapping and inspecting live fluid pipes |
CN115507791B (zh) * | 2022-11-18 | 2023-03-17 | 武汉大学 | 地下管线的惯性吹球测量系统及方法 |
CN117289355B (zh) * | 2023-09-26 | 2024-05-07 | 广东大湾工程技术有限公司 | 一种地下管线探测数据处理方法 |
Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6553322B1 (en) * | 1999-09-29 | 2003-04-22 | Honeywell International Inc. | Apparatus and method for accurate pipeline surveying |
US8547428B1 (en) * | 2006-11-02 | 2013-10-01 | SeeScan, Inc. | Pipe mapping system |
Family Cites Families (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4717875A (en) | 1986-02-19 | 1988-01-05 | Atlantic Richfield Company | Method and system for determining curvature in fluid transmission pipelines |
US4747317A (en) | 1986-12-18 | 1988-05-31 | Atlantic Richfield Company | System for surveying fluid transmission pipelines and the like |
CA1327403C (en) | 1988-12-30 | 1994-03-01 | John R. Adams | Inertial based pipeline monitoring system |
US6243657B1 (en) | 1997-12-23 | 2001-06-05 | Pii North America, Inc. | Method and apparatus for determining location of characteristics of a pipeline |
US6243483B1 (en) | 1998-09-23 | 2001-06-05 | Pii North America, Inc. | Mapping system for the integration and graphical display of pipeline information that enables automated pipeline surveillance |
US7100463B2 (en) | 2003-10-10 | 2006-09-05 | Todd Gerard Boudreaux | Pipeline locator/coordinate mapping device |
NZ560329A (en) | 2005-02-07 | 2009-08-28 | Pure Technologies Ltd | Anomaly detector for pipelines |
FR2907581A1 (fr) | 2006-10-24 | 2008-04-25 | France Telecom | Procede et dispositif d'estimation d'une trajectoire decrite par un vehicule |
-
2016
- 2016-02-04 ES ES201630126A patent/ES2628950B1/es active Active
-
2017
- 2017-02-06 EP EP17382050.7A patent/EP3203185A1/en not_active Withdrawn
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6553322B1 (en) * | 1999-09-29 | 2003-04-22 | Honeywell International Inc. | Apparatus and method for accurate pipeline surveying |
US8547428B1 (en) * | 2006-11-02 | 2013-10-01 | SeeScan, Inc. | Pipe mapping system |
Also Published As
Publication number | Publication date |
---|---|
ES2628950B1 (es) | 2018-08-16 |
ES2628950A2 (es) | 2017-08-04 |
EP3203185A1 (en) | 2017-08-09 |
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FG2A | Definitive protection |
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