WO2019047395A1 - 一种油气管道内检测器数据接收与存储装置 - Google Patents

一种油气管道内检测器数据接收与存储装置 Download PDF

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Publication number
WO2019047395A1
WO2019047395A1 PCT/CN2017/114484 CN2017114484W WO2019047395A1 WO 2019047395 A1 WO2019047395 A1 WO 2019047395A1 CN 2017114484 W CN2017114484 W CN 2017114484W WO 2019047395 A1 WO2019047395 A1 WO 2019047395A1
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Prior art keywords
data
module
mileage
chip
main controller
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PCT/CN2017/114484
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English (en)
French (fr)
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郭静波
朴冠宇
胡铁华
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清华大学
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Publication of WO2019047395A1 publication Critical patent/WO2019047395A1/zh

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
    • G05B19/0421—Multiprocessor system
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F17—STORING OR DISTRIBUTING GASES OR LIQUIDS
    • F17D—PIPE-LINE SYSTEMS; PIPE-LINES
    • F17D5/00—Protection or supervision of installations
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
    • G01C15/10—Plumb lines
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C22/00—Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers, using pedometers
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N27/00—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means
    • G01N27/72—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating magnetic variables
    • G01N27/82—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating magnetic variables for investigating the presence of flaws
    • G01N27/83—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating magnetic variables for investigating the presence of flaws by investigating stray magnetic fields
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F13/00—Interconnection of, or transfer of information or other signals between, memories, input/output devices or central processing units
    • G06F13/38—Information transfer, e.g. on bus
    • G06F13/42—Bus transfer protocol, e.g. handshake; Synchronisation
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F13/00—Interconnection of, or transfer of information or other signals between, memories, input/output devices or central processing units
    • G06F13/38—Information transfer, e.g. on bus
    • G06F13/42—Bus transfer protocol, e.g. handshake; Synchronisation
    • G06F13/4282—Bus transfer protocol, e.g. handshake; Synchronisation on a serial bus, e.g. I2C bus, SPI bus
    • G—PHYSICS
    • G11—INFORMATION STORAGE
    • G11C—STATIC STORES
    • G11C16/00—Erasable programmable read-only memories
    • G11C16/02—Erasable programmable read-only memories electrically programmable
    • G11C16/06—Auxiliary circuits, e.g. for writing into memory
    • G11C16/10—Programming or data input circuits
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/20—Pc systems
    • G05B2219/22—Pc multi processor system
    • G05B2219/2214—Multicontrollers, multimicrocomputers, multiprocessing
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/20—Pc systems
    • G05B2219/25—Pc structure of the system
    • G05B2219/25171—Serial, RS232
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/20—Pc systems
    • G05B2219/26—Pc applications
    • G05B2219/2612—Data acquisition interface
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F2213/00—Indexing scheme relating to interconnection of, or transfer of information or other signals between, memories, input/output devices or central processing units
    • G06F2213/0042—Universal serial bus [USB]

Definitions

  • the embodiments of the present application relate to the field of oil and gas energy and high-end equipment manufacturing, and particularly to a data receiving and storing device for detectors in oil and gas pipelines.
  • Oil and gas pipelines are the lifeline of energy transportation, and their operation status directly affects the ecological environment and national security; the industrialization and practicalization of detection technology and equipment in oil and gas pipeline defects are of great significance.
  • the internal testing equipment mainly involves a pipeline deformation detecting robot, a pipeline magnetic flux leakage detecting robot, and a pipeline crack detecting robot.
  • the pipeline inspection robot needs to collect, transmit and store multiple sensor data in real time. Therefore, a stable and reliable data acquisition, transmission and storage system is the key to the normal operation of the internal detector.
  • the data acquisition and storage system of the in-service detector has large volume, high power consumption, slow transmission rate, limited storage capacity, low reliability and low compatibility, which seriously restricts the development of detectors in the pipeline.
  • a data receiving and storing device for a detector in an oil and gas pipeline comprising: a main controller module, a data receiving module, a data storage module, a mileage module and a weight module;
  • the data receiving module is respectively connected to the data line device of the main controller module and the peripheral device, and configured to receive high-speed serial data transmitted by the sensor probe of the internal detector through the data line device, and Transmitting the high speed serial data to the main controller module;
  • the mileage module is connected to the main controller module and the mileage wheel of the peripheral device, configured to receive a trigger signal of the plurality of mileage wheels, and transmit the trigger signal to the main controller module;
  • the weight module is connected to the main controller module, configured to record a circumferential angular position of the inner detector in real time, and transmit the circumferential angular position to the main controller module;
  • the main controller module includes a plurality of core chips configured to process the trigger signal to obtain a mileage wheel signal, and the high speed is coordinated by the plurality of core chips under the pulse trigger of the mileage wheel signal Serial data, the circumferential angular position data is stored into the data storage module.
  • the mileage module includes a plurality of mileage wheel interfaces, and each of the mileage wheel interfaces is configured to receive a trigger signal of a mileage wheel;
  • the main controller module processes the trigger signal to obtain a mileage wheel signal, including:
  • the trigger signal is selected and frequency-divided to obtain the mileage signal.
  • the processing, by the main controller module, the trigger signal to obtain a mileage signal includes:
  • the mileage trigger signal is divided and encrypted to obtain a mileage wheel signal.
  • the plurality of core chips comprise: a field programmable gate array FPGA chip, a digital signal processing DSP chip, and an advanced reduced instruction set computer ARM chip;
  • the storing, by the plurality of core chips, the high-speed serial data and the circumferential angular position data into the data storage module includes:
  • the FPGA chip is configured to communicate with the data receiving module to acquire the high speed serial data, and communicate with the weight module to obtain the circumferential angular position, and is further configured to communicate with the mileage module to obtain the a trigger signal, selecting and dividing the trigger signal to obtain the mileage wheel signal, and passing the high speed serial data, the circumferential angular position and the mileage wheel signal through a universal mobile phone processor upp communication interface Transfer to the DSP chip;
  • the DSP chip is configured to receive, by the upp communication interface, the high speed serial data, the circumferential angular position, and the mileage wheel signal transmitted by the FPGA chip, and use the syslink component of the SharedRegion to High speed serial data, the circumferential angular position, and the range wheel signal are transmitted to the ARM chip;
  • the ARM chip is configured to drive an interface of a solid state hard disk of the data storage module, and store the high speed serial data and the circumferential angular position data to the solid state under a pulse trigger of the mileage wheel signal Inside the hard drive.
  • the oil and gas pipeline detector data receiving and storing device further comprises: a data downloading and debugging module;
  • the data downloading and debugging module is electrically connected to the computer of the main controller module, the data storage module and the peripheral device respectively, configured to feed back the state of the main controller module to the computer, and the data is The data stored by the storage module is downloaded to the computer.
  • the data storage module further includes: a gating switch;
  • the strobe switch is configured to control the SSD to be connected to the main controller module or to the data download and debug module;
  • the solid state hard disk When the solid state hard disk is connected to the main controller module, the solid state hard disk is configured to store data transmitted by the main controller module;
  • the data download and debug module is configured to download data stored by the solid state drive to the computer.
  • the data downloading and debugging module comprises: a computer communication chip and a solid state hard disk to a universal serial bus USB chip;
  • the computer communication chip is configured to convert RS-232 serial port data into USB2.0 interface data, and communicate with a computer through a USB2.0 interface;
  • the SSD to USB chip is configured to convert data in the SSD into USB3.0 interface data, and download the USB3.0 interface data to a computer through a USB3.0 interface.
  • the rate of the upp communication interface is greater than or equal to 50 MB/s;
  • the rate of the SharedRegion component is greater than or equal to 50 MB/s;
  • the ARM chip adopts a Linux 3.3 kernel system
  • the storage rate of the ARM chip is greater than or equal to 160 Mbps;
  • the data receiving module adopts an RS-485 differential duplex communication chip
  • the solid state hard disk has a size of 70 mm x 32 mm x 6 mm and a capacity of 512 GB.
  • the weight module comprises: an angle sensor, a weight and a recording unit; the angle sensor is fixed in the inner detector, Rotating the inner detector to rotate, the angle of rotation is the same as the angle of rotation of the inner detector; the weight moment points to the ground;
  • the recording unit is configured to record a circumferential angular position of the inner detector in real time by the angle sensor and the weight swing.
  • the detector data receiving and storing device in the oil and gas pipeline includes a main controller module having a plurality of core chips, which can provide a rich, high-speed and flexible data communication interface; the main controller modules are respectively connected to The data receiving module, the data storage module, the data downloading and debugging module, the mileage module and the weight module can realize high-speed and stable transmission and storage functions of various types of sensor data; the embodiment of the present application adopts a solid-state hard disk and a maximum storage of a single hard disk. The capacity of the 512 GB is greatly increased, and the data storage capacity of the internal detector is greatly improved.
  • the data download speed of the USB 3.0 high-speed data transmission interface is 280 MB/s or more, and the total data time of downloading the hard disk is less than 30 minutes.
  • the device has the characteristics of low power consumption and small size, and supports the internal detector to move at speeds up to 30m/s. It can be used for various types of oil and gas pipeline detectors, such as deformation detectors, corrosion flux leakage detectors, and cracks. Detectors and the like provide data control of electronic systems and high-speed transmission, storage and download of data can.
  • FIG. 1 is a schematic structural diagram of a data receiving and storing device for a detector in an oil and gas pipeline according to an embodiment of the present application
  • FIG. 2 is a schematic structural diagram of a data receiving and storing device for an oil and gas pipeline detector including a data downloading and debugging module according to an embodiment of the present application;
  • FIG. 3 is a schematic structural diagram of a data storage module and a data downloading and debugging module according to an embodiment of the present application
  • FIG. 4 is a schematic structural diagram of a main controller module according to an embodiment of the present application.
  • FIG. 5 is a schematic diagram of a mileage trigger signal selection and frequency division algorithm according to an embodiment of the present application.
  • the words “if” and “if” as used herein may be interpreted to mean “when” or “when” or “in response to determining” or “in response to detecting.”
  • the phrase “if determined” or “if detected (conditions or events stated)” can be interpreted as “when determined” or “in response to determination” or “when detected (stated condition or event) “Time” or “in response to a test (condition or event stated)”.
  • an oil and gas pipeline detector data receiving and storing device 1 is provided. As shown in FIG. 1, the main controller module 11, the data receiving module 12, and the data storage module 13 are provided. The mileage module 14 and the weight module 15.
  • the data receiving module 12 is respectively connected to the main controller module 11 and the data line device of the peripheral device, and configured to receive the high-speed serial data transmitted by the sensor probe of the internal detector through the data line device, and Transmitting high speed serial data to the main controller module;
  • the mileage module 14 is connected to the main controller module 11 and the peripheral wheel of the peripheral device, configured to receive a trigger signal of the plurality of mileage wheels, and transmit the trigger signal to the main controller module 11;
  • the weight module 15 is connected to the main controller module 11, configured to record the circumferential angular position of the inner detector in real time, and transmit the circumferential angular position to the main controller module 11;
  • the main controller module 11 includes a plurality of core chips configured to process the trigger signal to obtain a mileage wheel. And transmitting, by the pulse of the mileage wheel signal, the high speed serial data and the circumferential angular position data to the data storage module 13 by the plurality of core chips.
  • the main controller module 11 may include three core chips and peripheral circuits, and the main controller module 11 is connected to the data receiving module 12, the data storage module 13, the mileage module 14, and the weight, respectively.
  • a module 15 configured to control an internal detector (or a robot electronic system) in real time, receive high-speed serial data transmitted by the internal detector sensor, and store the high-speed serial data in real time into the large-capacity data storage module 13;
  • the peripheral circuits may include an RTC (Real-Time Clock), an external memory unit, and a memory.
  • the data receiving module 13 may employ an RS-485 differential duplex communication chip at a communication rate of 50 Mbps; one end thereof is electrically connected to the main controller module 11 and the other end is connected to the data.
  • the line concentrating device is responsible for transmitting the high speed serial data of all the sensor probes of the inner detector to the main controller module 11 via the data concentrator device.
  • the data line device and the sensor probe are two other devices of the detector in the oil and gas pipeline, and the sensor probe is also different according to the type of the detector in the oil and gas pipeline. Types, such as deformation sensor probes, magnetic flux leakage sensor probes, eddy current sensor probes, etc.; the data line device performs a line gathering operation on the data collected by the various types of sensor probes; The data input module of the embodiment of the present application is combined and transmitted to the data receiving module 12 of the embodiment of the present application, thereby saving physical space occupied by the transmission line and improving data transmission efficiency.
  • the data storage module 13 may include: a solid state hard disk 131; configured to store all collected data at high speed in real time.
  • the data storage module 13 may use a secure digital card SD memory card, a micro secure digital card Micro SD memory card, a flash memory FLASH memory chip/array, etc., optionally, in the embodiment of the present application.
  • Industrial solid-state hard disks with high capacity, high speed, small size, and low power consumption can be used to ensure stable and high-speed storage of large amounts of collected data.
  • the solid state drive 131 may take the smallest size of an existing industrial solid state drive, such as 70 mm x 32 mm x 6 mm.
  • the large-capacity data storage module 13 of the embodiment of the present application adopts a single-block maximum-capacity solid-state hard disk with a capacity of 512 GB.
  • the mileage module 14 can include a plurality of range wheel interfaces, wherein each mileage The wheel interface is configured to receive a trigger signal of a mileage wheel and transmit it to the main controller module 11, and the main controller module 11 selects and divides a plurality of trigger signals to generate a mileage wheel with a spacing of 2 mm, and the error precision thereof. Less than 10-6, fully meet the requirements of the actual engineering operation for mileage.
  • the weight module 15 may include an angle sensor and a weight, wherein the angle sensor is fixed in the inner detector and rotates by the same angle as the inner detector rotates; The influence of the earth's gravity, always pointing to the ground; the weight module records the circumferential angular position of the inner detector in real time through the angle sensor and the weight swing.
  • the oil and gas pipeline internal detector data receiving and storing device 1 can provide electronic systems for various types of oil and gas pipeline internal detectors, such as an internal deformation detector, a corroded magnetic leakage detector, and an internal crack detector. Data control and high-speed transmission and storage of data.
  • the difference between the embodiment and the first embodiment is that the data downloading and debugging module 16 is added to the oil and gas pipeline detector data receiving and storing device in the embodiment of the present application, so that the detector data receiving and storing device in the oil and gas pipeline can Communicate with the computer and implement the data download function based on the functions of data transmission and storage, as shown in Figure 2.
  • the oil and gas pipeline detector data receiving and storing device 1 may further include: a data downloading and debugging module 16.
  • the data downloading and debugging module 16 is electrically connected to the main controller module 11, the data storage module 13, and the computer, respectively, configured to feed back the state of the main controller module 11 to the computer, and download the data stored by the data storage module 13 to the computer. .
  • the data storage module 13 further includes: a gating switch 132; a gating switch 132 configured to control the solid state hard disk 131 to be connected to the main controller module 11 or to the data download and debug module 16 .
  • the solid state drive 131 When the solid state drive 131 is connected to the main controller module 11, the solid state drive 131 is configured to store data transmitted by the main controller module 11;
  • the data download and debug module 16 is configured to download the data stored by the solid state drive 131 to the computer.
  • the gating switch 132 can receive the control signal of the main controller module 11 and select to connect to the main controller module 11 or connect to the data download and debug under the control of the main controller module 11. Module 16.
  • the control signal may be sent when the main controller module 11 detects that the data receiving module 12 transmits the received high speed serial data to the main controller module 11, and controls the gating switch 132 to connect the solid state hard disk 131 to the main controller module 11;
  • the control signal can also be issued when the main controller module 11 detects that the data download and debug module 16 is connected to the computer, and controls the gating switch 132 to connect the solid state drive 131 to the data download and debug module 16.
  • the large-capacity data storage module 13 and the data download and debug module 16 may be respectively connected to the ARM chip of the main controller module 11, and the main controller module 11 is collected and transmitted.
  • the data is stored to the SSD 131 via the ARM chip and debugged or downloaded to the computer.
  • the high-speed gate switch 132 is responsible for controlling the connection state of the solid state hard disk 131.
  • the high-speed gate switch 132 can be a MAX4888CETI model chip, which is manufactured by Maxim Semiconductor Corporation.
  • the interface can be compatible with high-speed computing I interface, SAS interface, SATA interface, etc., can support signal communication up to 6.0Gbps rate, with small size, low power consumption;
  • strobe switch The public end can be connected to the solid state hard disk 131, and the other end (ie, the strobe end) can be connected to the ARM chip, or can be connected to the solid state hard disk to the USB chip end of the data downloading and debugging module 16.
  • the control end of the strobe switch 132 is connected to the ARM chip, and the strobe position is determined by the ARM chip: when the SSD 131 is connected to the ARM chip, it is used to store data; when the SSD 131 is connected to the data download and debug module At 1600, the data of the SSD 131 is downloaded to the computer at a high speed.
  • the large-capacity data storage device 13 of the embodiment of the present application stores the collected data in real time through the Linux 3.3 kernel system driver interface of the ARM chip.
  • the solid state hard disk 131 can store at a rate of more than 160 Mbps.
  • the data downloading and debugging module 16 can perform high-speed data downloading and debugging through two conversion chips; the data downloading and debugging module 16 can include: a computer communication chip 161 and a solid state hard disk to be universally used. Serial bus USB chip 162;
  • the computer communication chip 161 is configured to convert RS-232 serial port data into USB2.0 interface data, and communicate with a computer through a USB2.0 interface; the solid state hard disk to USB chip 162 is configured to be the solid state hard disk The data inside is converted into USB3.0 interface data, and the USB3.0 interface data is downloaded to the computer through the USB3.0 interface.
  • the computer communication chip 161 that is, the RS-232 to USB chip, is responsible for transmitting the data of the ARM chip to the computer through the USB2.0 interface, and viewing the various parts of the electronic system through the computer-specific debugging software. Data and status; the RS-232 to USB chip of the embodiment of the present application can adopt the FT232RL chip, which is produced by Future Tech. Device Company, is compatible with RS-232 interface and USB2.0 interface, and can convert RS-232 serial port data into USB2.0 communication data, realize the communication between the ARM chip and the computer; the chip is also compatible with advanced computer systems such as Windows 98, Windows 2000, XP, Win7, Win8 and Win10, which is greatly convenient for users.
  • the solid state drive to USB chip 162 downloads the data of the solid state drive 131 to the computer at a high speed through the solid state drive to the USB 3.0 interface.
  • the solid state drive to USB chip 162 can be implemented by using an ASM1153E chip, which is manufactured by ASMEDIA Tech., and can support data communication up to 6 Gbps, and supports USB 3.0 and USB 2.0. , SATA1.5, SATA3.0 and SATA6.0 and other communication interfaces, can realize the exchange between the two data interfaces, and even map the solid state drive to the computer, which becomes a hard disk component of the computer, which is greatly convenient
  • the user can complete the high-speed and stable downloading of the large-capacity data through a simple computer operation.
  • the data storage device 13 of the embodiment of the present application has a stable download speed of 280 MB/s or more, and the entire data of the 512 GB hard disk is less than 30 minutes. This feature greatly facilitates users to download large-capacity data and avoid waiting for a long time.
  • the difference between the embodiment and the first embodiment and the second embodiment is that an FPGA (Field-Programmable Gate Array), a DSP (Digital Signal Processor), and an ARM (Advanced) are provided.
  • the main controller module 11 of RISC Machines, the advanced reduced instruction set computer, is shown in FIG.
  • the data received by the data receiving module into the data storage module includes:
  • the FPGA chip communicates with the data receiving module to obtain the high-speed serial data, communicates with the mileage module to acquire the trigger signal, and communicates with the weight module to obtain the circumferential angular position, and
  • the mileage module communication acquires the trigger signal, selects and divides the trigger signal to obtain the mileage wheel signal, and passes the high speed serial data, the circumferential angular position, and the mileage wheel signal Universal mobile phone processor upp communication interface transmission To the DSP chip;
  • the DSP chip receives the high-speed serial data, the circumferential angular position and the mileage wheel signal transmitted by the FPGA chip through the UPP communication interface, and the high-speed serialization is performed by a syslink component of the SharedRegion Data, the circumferential angular position, and the mileage wheel signal are transmitted to the ARM chip;
  • the ARM chip drives the interface of the solid state hard disk, and the high speed serial data and the circumferential angular position are stored in the solid state hard disk in real time under the trigger of the pulse of the mileage wheel signal.
  • the plurality of core chips may include any combination of a single chip microcomputer, an FPGA, a DSP, an ARM, and the like.
  • the embodiment of the present application adopts an FPGA+DSP+ARM.
  • a three-core chip solution to ensure stable, high-speed data reception, transmission and storage.
  • the FPGA+DSP+ARM three-core chip solution can be implemented by using a combination scheme of an FPGA chip, a DSP chip, and an ARM chip, or by using an integrated FPGA, a DSP, and an ARM.
  • the integrated chip implementation does not impose restrictions on its detailed implementation.
  • the main controller module 11 of the embodiment of the present application will be described below by taking an embodiment of the integrated chip as an example.
  • the main controller module 11 may employ an FPGA of Xilinx Corporation (Xilin Corporation), for example, an FPGA chip of the type XC6SLX45.
  • the chip has a total of 43661 logic units, 58 DSP48A1 digital processing modules, 2088Kb capacity RAM blocks, and up to 358 available IO pins; it can fully meet the performance requirements proposed in the embodiments of the present application.
  • the main controller module 11 can also adopt an OMAPL 138 chip, which is a low-power dual-core chip introduced by Texas Instruments, embedded with a TMS320C6748 DSP chip and an ARM926EJ-S ARM chip;
  • the OMAPL138 chip supports the DSP side running SYS/BIOS system, the ARM side supports the Linux3.3 kernel system, and supports the SYSLINK dual-core communication component, which greatly improves the internal communication efficiency of the DSP and the ARM chip; among them, the TMS320C6748 chip runs at a frequency of 456MHz.
  • ARM926EJ-S chip runs at 456MHz, running Linux3.3 kernel system supports SATA high-speed interface, supports SYSLINK dual-core communication components, such as SharedRegion, SysLink_Notify, Heap*MP, ListMP, etc.
  • the OMAPL138 dual-core chip fully satisfies the performance requirements set forth in this embodiment.
  • the FPGA chip can configure the execution logic of the chip through a program built in the 64Mbit SPI interface FLASH.
  • the embodiment of the present application can adopt the Verilog HDL language.
  • the program logic is compiled; the OMAPL138 dual-core chip can use DDR2Memory RAM chip and NAND Flash ROM chip to expand the memory capacity of each system through internal storage area division.
  • the above FPGA integrated chip may be connected to the data receiving module 12, the mileage module 14 and the weight module 15; wherein the high speed data receiving module 12 may adopt RS
  • the -485 differential duplex communication chip is configured to transmit high speed serial data of all sensor probes to the main controller module 11 at a communication rate of 50 Mbps.
  • the mileage module 14 may have three mileage wheels to send mileage trigger data to the FPGA integrated chip; the FPGA integrated chip has a mileage wheel selection and frequency division algorithm embedded therein, which can generate 2 mm mileage. Wheel signal; the 2mm pitch wheel signal generated by the FPGA integrated chip means that whenever the inner detector moves 2mm forward along the pipe, a falling edge pulse will be triggered; the falling edge pulse will be used as the entire inner detector.
  • the work instruction triggers the weight module 15, the data receiving module 12 and the data storage module 13 to perform data acquisition, transmission and storage.
  • the DSP chip can be triggered through the state interaction port and passed upp
  • the communication interface obtains all the collected data
  • the state interaction port can be composed of a GPIO (General Purpose Input Output), and the embodiment can be composed of three GPIO ports, and the high and low level of the port is completed.
  • Information interaction; the upp communication interface can be an 8-bit parallel high-speed data communication interface, and the communication speed is high Up to 50MB/s and above.
  • the DSP chip uses the internal SYS/BIOS system to notify the ARM chip to receive data through the state interaction interface; when the handshake with the ARM chip is successful, The DSP chip transmits all the collected data to the ARM through the syslink component of SharedRegion; the state interaction interface between the DSP and the ARM can be used for the internal syslink components such as SysLink_Notify, Heap*MP and ListMP to complete the interactive operation of the two chips. Improve data transmission efficiency.
  • the ARM chip drives the SSD interface through the internally running Linux 3.3 kernel system, and saves all the data to the SSD in the large-capacity data storage module 13.
  • the ARM chip drives the SSD interface through the internally running Linux 3.3 kernel system, and saves all the data to the SSD in the large-capacity data storage module 13.
  • the FPGA chip and the ARM chip are completed by a state interaction interface;
  • the state interaction interface may include three GPIO ports for informing the FPGA by the ARM chip to transmit all or a part of all collected data.
  • the ARM chip can also be connected to the data download and debug module 16, including a computer communication chip, a solid state drive to a USB chip; wherein the computer communication chip is electrically connected to the main controller module, the solid state drive The USB chip is connected to the large-capacity data storage module and the computer;
  • the computer communication chip is responsible for converting RS-232 serial port data into USB2.0 interface data, and communicating with the computer through the USB interface;
  • the SSD to USB chip is responsible for converting the data of the solid state hard disk into USB3. .0 interface data, and downloaded to the computer through USB3.0 high-speed data interface; its download speed is 280MB/s; the total data download time of 512GB hard disk is less than 30 minutes; this feature greatly facilitates users to download large-capacity data, avoiding Waiting for a long time.
  • the oil and gas pipeline internal detector data receiving and storing device 1 proposed by the embodiment of the present application may further include a power management system.
  • the power management system's input voltage can be 7.9V, which can be generated by multiple industrial explosion-proof batteries in parallel; the power management system can generate six kinds of voltages, including: 1.0V, 1.2V, 1.3V, 1.8V, 3.3. V and 5V, together with a system voltage of 7.9V, power the entire unit 1.
  • the data receiving and storing apparatus 1 proposed by the embodiment of the present application takes the main controller module 11 as the core and passes the tasks of three core chips of FPGA, DSP and ARM.
  • the division of labor completes the data collection, transmission and storage of each part of the module, and at the same time, through the data downloading and debugging module 16, the user is convenient to debug and download the data.
  • the FPGA chip is mainly responsible for the data collection work of each part of the module, including: first, responsible for communicating with the data receiving module 12; second, being responsible for selecting the trigger signal of the mileage wheel and The frequency division algorithm generates a 2mm mileage wheel signal; the third is responsible for communicating with the weight module 15; the fourth is responsible for generating the running clock signal; the fifth is responsible for sorting the above four types of signals, and transmitting to the DSP chip through the upp communication interface, upp The communication interface rate can reach 50MB/s or more.
  • the DSP chip is an internal chip of the main controller module 11, connected to the FPGA chip and the ARM chip; mainly responsible for the intermediate buffer task, receiving data from the FPGA through the upp communication interface, and transmitting the data to the ARM chip through the syslink component of the SharedRegion
  • the SharedRegion communication component can reach speeds above 50MB/s.
  • the ARM chip is an internal chip of the main controller module, connected to The solid state hard disk in the DSP chip and the data storage module; the ARM chip is mainly responsible for system control, receiving the debugging command of the computer, and simultaneously storing the data transmitted through the SharedRegion component to the solid state hard disk 131, and the storage rate is above 160 Mbps. It can be seen that the three core chips have clear division of labor and mutual state interaction, which greatly ensures the transmission and storage efficiency of large-capacity, high-speed and multi-module data, and significantly improves the stability and reliability of the whole system.
  • the difference between this embodiment and the first embodiment to the fourth embodiment is that, based on the first embodiment to the fourth embodiment, the algorithm for selecting and dividing the mileage trigger signal by the mileage module 14 is further limited.
  • the mileage module 14 can include a plurality of range wheel interfaces, wherein each range wheel interface is configured to receive a trigger signal for a range wheel and transmit to the main controller module 11 through the main
  • the selection and the frequency division algorithm of the controller module 11 generate a mileage wheel signal with a spacing of 2 mm.
  • three mileage wheel trigger signals are taken as an example to further describe the mileage wheel selection and frequency division algorithm, as shown in FIG. 5 .
  • the selecting, by the main controller module 11 , the trigger signal may include: selecting, from the falling edge trigger signals of the plurality of mileage wheels, the mileage measured by the mileage wheel that first reaches the trigger edge within the preset time period as the trigger mileage.
  • the range wheel signal with a pitch of 2 mm means that whenever the inner detector moves forward 2 mm along the pipe, a falling edge pulse will be triggered; the falling edge pulse will be used as the entire inner detection.
  • the selection refers to triggering the one of the three trigger wheels that are the first to arrive at a certain time period according to the falling edge trigger time of the three mileage wheels.
  • the trigger signal as a mileage; to avoid a time delay caused by some of the mileage wheel being slipped.
  • the frequency division of the trigger signal by the main controller module 11 may include: performing a divide-by-four operation on the obtained trigger mileage.
  • the frequency division refers to performing a four-way operation on the selected mileage; since the trigger frequency of the mechanical system is limited by the rotation of the mechanical gear, it is impossible to achieve an infinitesimal, infinitely dense The degree is usually triggered by a mileage interval of 8 mm; however, in order to enable the internal detector to collect sufficient data along the running axis during the pipeline operation, it is generally required to generate mechanical rotation. Mileage triggering for frequency division and Encryption operation; as shown in Figure 4, the trigger frequency of the crossover mileage is 4 times of the selected mileage, that is, the spacing between the crossover mileage triggers is reduced to 1/4, thereby generating a 2mm equal-divided crossover mileage.
  • the frequency division mileage is based on the time length T of the selected mileage in the N-1 trigger period, divided by 4, and the time length T of the frequency division mileage is obtained in the Nth trigger period. /4; Since the internal detector does not undergo a drastic speed change during the operation of the internal detector, the frequency division method proposed in the embodiment of the present application can perform equal-divided 4-way operation on the selected mileage in real time. And the error precision is less than 10-6, which fully meets the requirements of the actual engineering operation for the mileage; and the mileage selection and frequency division method proposed by the embodiment of the present application satisfies the sampling density requirement of the internal detector, and improves the data sampling rate, and further Increase the quantized resolution of each type of defect by the internal detector.
  • the detector data receiving and storing device in the oil and gas pipeline includes a main controller module having a plurality of core chips, which can provide a rich, high-speed and flexible data communication interface; the main controller modules are respectively connected to The data receiving module, the data storage module, the data downloading and debugging module, the mileage module and the weight module can realize high-speed and stable transmission and storage functions of various types of sensor data; the embodiment of the present application adopts a solid-state hard disk and a maximum storage of a single hard disk. The capacity of the 512 GB is greatly increased, and the data storage capacity of the internal detector is greatly improved.
  • the data download speed of the USB 3.0 high-speed data transmission interface is 280 MB/s or more, and the total data time of downloading the hard disk is less than 30 minutes.
  • the device has the characteristics of low power consumption and small size, and supports the internal detector to move at speeds up to 30m/s. It can be used for various types of oil and gas pipeline detectors, such as deformation detectors, corrosion flux leakage detectors, and cracks. Detectors and the like provide data control of electronic systems and high-speed transmission, storage and download of data can.
  • the solution of the embodiment of the present application solves many problems such as large volume, high power consumption, slow transmission rate, limited storage capacity, low reliability, and low compatibility.

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Abstract

一种油气管道内检测器数据接收与存储装置，数据接收模块（12）与主控制器模块（11）和外设的数据集线装置相连，配置为通过数据集线装置接收内检测器的传感器探头传输的高速串行数据，并将高速串行数据传输至主控制器模块（11）；里程模块（14）与主控制器模块（11）和里程轮相连，配置为接收多个里程轮的触发信号并传输至主控制器模块（11）；重锤模块（15）与主控制器模块（11）相连，配置为实时记录内检测器的周向角度位置并传输至主控制器模块（11）；主控制器模块（11）包括多个核心芯片，配置为对所述触发信号进行处理获得里程轮信号，在所述里程轮信号的脉冲触发下，通过所述多个核心芯片配合将所述高速串行数据、所述周向角度位置数据存储到所述数据存储模块（13）内。

Description

一种油气管道内检测器数据接收与存储装置
相关申请
本申请要求2017年9月11日申请的，申请号为2017108111627，名称为“一种油气管道内检测器数据接收与存储装置”的中国专利申请的优先权，在此将其全文引入作为参考。
技术领域
本申请实施例涉及石油天然气能源领域和高端装备制造领域，尤指一种油气管道内检测器数据接收与存储装置。
背景技术
油气管道是能源运输的生命线，其运行状况直接影响到生态环境和国民安全；油气管道缺陷内检测技术与装备的工业化、实用化意义重大。其中，内检测设备主要涉及管道变形检测机器人、管道漏磁检测机器人、管道裂纹检测机器人等。管道检测机器人在管道内检测过程中，其携带的电子系统需要实时采集、传输、存储多个传感器数据。因此，稳定可靠的数据采集、传输与存储系统是内检测器正常工作的关键。目前，在役的内检测器的数据采集与存储系统存在体积大、功耗高、传输速率慢、存储容量有限、可靠性和兼容性低等问题，严重制约着管道内检测器的发展。
发明内容
以下是对本文详细描述的主题的概括。本概括并非是为了限制权利要求的保护范围。
于本申请的一个实施例中，提供了：
一种油气管道内检测器数据接收与存储装置，包括：主控制器模块、数据接收模块、数据存储模块、里程模块和重锤模块；
所述数据接收模块，分别与所述主控制器模块和外设的数据集线装置相连，配置为通过所述数据集线装置接收所述内检测器的传感器探头传输的高速串行数据，并将所述高速串行数据传输至所述主控制器模块；
所述里程模块，与所述主控制器模块和外设的里程轮相连，配置为接收多个里程轮的触发信号，并将所述触发信号传输至所述主控制器模块；
所述重锤模块，与所述主控制器模块相连，配置为实时记录所述内检测器的周向角度位置，并将所述周向角度位置传输至所述主控制器模块；
所述主控制器模块，包括多个核心芯片，配置为对所述触发信号进行处理获得里程轮信号，在所述里程轮信号的脉冲触发下，通过所述多个核心芯片配合将所述高速串行数据、所述周向角度位置数据存储到所述数据存储模块内。
优选的，所述里程模块包括多个里程轮接口，每个里程轮接口配置为接收一个里程轮的触发信号；
所述主控制器模块对所述触发信号进行处理获得里程轮信号包括：
对所述触发信号进行选择与分频处理获取所述里程轮信号。
优选的，所述主控制器模块对所述触发信号进行处理获得里程轮信号包括：
从所述多个里程轮的触发信号中，选取在预设时间段内最先到达预设触发里程的里程轮的触发沿作为里程触发信号；
对所述里程触发信号进行分频和加密，获得里程轮信号。
优选的，所述多个核心芯片包括：现场可编程门阵列FPGA芯片、数字信号处理DSP芯片和高级精简指令集计算机ARM芯片；
所述通过所述多个核心芯片配合将所述高速串行数据、所述周向角度位置数据存储到所述数据存储模块内包括：
所述FPGA芯片，配置为与所述数据接收模块通信获取所述高速串行数据，并与所述重锤模块通信获取所述周向角度位置，还配置为与所述里程模块通信获取所述触发信号，对所述触发信号进行选择与分频处理获取所述里程轮信号，并将所述高速串行数据、所述周向角度位置以及所述里程轮信号通过通用手机处理器upp通信接口传输至所述DSP芯片；
所述的DSP芯片，配置为通过所述upp通信接口接收所述FPGA芯片传输的所述高速串行数据、所述周向角度位置以及所述里程轮信号，并通过SharedRegion的syslink组件将所述高速串行数据、所述周向角度位置以及所述里程轮信号传输至所述ARM芯片；
所述ARM芯片，配置为驱动所述数据存储模块的固态硬盘的接口，在所述里程轮信号的脉冲触发下，将所述高速串行数据以及所述周向角度位置数据存储至所述固态硬盘内。
优选的，所述的油气管道内检测器数据接收与存储装置，还包括：数据下载与调试模块；
所述数据下载与调试模块分别与所述主控制器模块、所述数据存储模块和外设的计算机电连接，配置为向所述计算机反馈所述主控制器模块的状态，并将所述数据存储模块存储的数据下载至所述计算机。
优选的，所述数据存储模块还包括：选通开关；
所述选通开关，配置为控制所述固态硬盘连接至所述主控制器模块或连接至所述数据下载与调试模块；
当所述固态硬盘连接至所述主控制器模块时，所述固态硬盘配置为存储所述主控制器模块传输的数据；
当所述固态硬盘连接至所述数据下载与调试模块时，所述数据下载与调试模块配置为将所述固态硬盘存储的数据下载至所述计算机。
优选的，所述数据下载与调试模块包括：计算机通信芯片和固态硬盘转通用串行总线USB芯片；
所述计算机通信芯片，配置为将RS-232串口数据转换成USB2.0接口数据，并通过USB2.0接口与计算机进行通信；
所述固态硬盘转USB芯片，配置为将所述固态硬盘内的数据转换成USB3.0接口数据，并通过USB3.0接口将所述USB3.0接口数据下载至计算机。
优选的，
所述upp通信接口的速率大于或等于50MB/s；
所述SharedRegion组件的速率大于或等于50MB/s；
所述ARM芯片采用Linux3.3内核系统；
所述ARM芯片的存储速率大于或等于160Mbps；
所述数据接收模块采用RS-485差分双工通信芯片；
所述固态硬盘的尺寸为70mm×32mm×6mm，容量为512GB。
根据权利要求1所述的油气管道内检测器数据接收与存储装置，其中，所述重锤模块包括：角度传感器、重锤和记录单元；所述角度传感器固定在所述内检测器内，随所述内检测器的转动而转动，转动的角度和所述内检测器转动的角度相同；所述重锤时刻指向地面；
所述记录单元配置为通过所述角度传感器和所述重锤摆动实时记录所述内检测器的周向角度位置。
本申请实施例方案的优势：该油气管道内检测器数据接收与存储装置包括具有多个核心芯片的主控制器模块，能够提供丰富、高速和灵活的数据通信接口；主控制器模块分别连接至数据接收模块、数据存储模块、数据下载与调试模块、里程模块和重锤模块，能够实现各类传感器数据的高速、稳定传输与存储功能；本申请实施例采用固态硬盘，单块硬盘的最大存储容量达到512GB，极大地提升了内检测器的数据存储量；采用USB3.0高速数据传输接口，数据下载速度达到280MB/S以上，下载硬盘的全部数据时间少于30分钟；本申请实施例的装置具有低功耗、体积小巧等特点，支持内检测器的移动速度最高达30m/s，可以为各类型的油气管道内检测器，如变形内检测器、腐蚀漏磁内检测器、裂纹内检测器等提供电子系统的数据控制与数据的高速传输、存储和下载等功能。
在阅读并理解了附图和详细描述后，可以明白其他方面。
附图说明
本申请的实施例由范例图示说明，且不因此而受限，随附的附图及相似的符号代表相似的组件，其中：
图1为本申请实施例的油气管道内检测器数据接收与存储装置结构示意图；
图2为本申请实施例的包含数据下载与调试模块的油气管道内检测器数据接收与存储装置结构示意图；
图3为本申请实施例的数据存储模块和数据下载与调试模块的组成结构示意图；
图4为本申请实施例的主控制器模块组成结构示意图；
图5为本申请实施例的里程轮触发信号选择与分频算法示意图。
具体实施方式
下面结合附图对本申请实施例作详细描述，并不能用来限制本申请实施例的保护范围。
在本申请实施例中使用的术语是仅仅出于描述特定实施例的目的，而非旨在限制本申请实施例。在本申请实施例中所使用的单数形式的“一种”、“所述”和“该”也旨在包括多数形式，除非上下文清楚地表示其他含义。
取决于语境，如在此所使用的词语“如果”、“若”可以被解释成为“在……时”或“当……时”或“响应于确定”或“响应于检测”。类似地，取决于语境，短语“如果确定”或“如果检测(陈述的条件或事件)”可以被解释成为“当确定时”或“响应于确定”或“当检测(陈述的条件或事件)时”或“响应于检测(陈述的条件或事件)”。
还需要说明的是，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的商品或者系统不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种商品或者系统所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的商品或者系统中还存在另外的相同要素。
实施例一
于本申请的一个实施例中，提供了：一种油气管道内检测器数据接收与存储装置1，如图1所示，包括：主控制器模块11、数据接收模块12、数据存储模块13、里程模块14和重锤模块15。
数据接收模块12，分别与主控制器模块11和外设的数据集线装置相连，配置为通过所述数据集线装置接收所述内检测器的传感器探头传输的高速串行数据，并将所述高速串行数据传输至所述主控制器模块；
里程模块14，与所述主控制器模块11和外设的里程轮相连，配置为接收多个里程轮的触发信号，并将所述触发信号传输至所述主控制器模块11；
重锤模块15，与所述主控制器模块11相连，配置为实时记录所述内检测器的周向角度位置，并将所述周向角度位置传输至所述主控制器模块11；
所述主控制器模块11，包括多个核心芯片，配置为对所述触发信号进行处理获得里程轮 信号，在所述里程轮信号的脉冲触发下，通过所述多个核心芯片配合将所述高速串行数据、所述周向角度位置数据存储到所述数据存储模块13内。
在本申请一个或多个实施例中，主控制器模块11可以包括三个核心芯片及外围电路，主控制器模块11分别连接至数据接收模块12、数据存储模块13、里程模块14和重锤模块15；配置为实时控制内检测器(或机器人电子系统)，接收内检测器传感器传输的高速串行数据，并将该高速串行数据实时存储至大容量的数据存储模块13内；所述的外围电路可以包括RTC(Real-Time Clock，实时时钟)、外扩内存单元和存储器等。
在本申请一个或多个实施例中，所述数据接收模块13可以采用RS-485差分双工通信芯片，以50Mbps的通信速率；其一端电连接至主控制器模块11，另一端连接至数据集线装置，负责将内检测器的所有传感器探头的高速串行数据经数据集线装置传输至主控制器模块11。
在本申请一个或多个实施例中，所述的数据集线装置和传感器探头为油气管道内检测器的其他两个装置，根据油气管道内检测器的种类不同，所述的传感器探头也有多种类型，如变形传感器探头、漏磁传感器探头和涡流传感器探头等等；所述的数据集线装置对所述的各类型的传感器探头采集的数据进行集线操作；所述的集线操作是指将多路传感器输入数据合并为单路，再传输给本申请实施例的数据接收模块12，从而节约了传输线占用的物理空间，提升数据传输效率。
在本申请一个或多个实施例中，数据存储模块13可以包括：固态硬盘131；配置为实时高速存储所有采集数据。
在本申请一个或多个实施例中，数据存储模块13可以采用安全数码卡SD存储卡、微型安全数码卡Micro SD存储卡和闪存FLASH存储芯片/阵列等，可选地，本申请实施例中可以采用具有大容量、高速、体积小和功耗低的工业固态硬盘，以保证稳定、高速地存储大量的采集数据。
在本申请一个或多个实施例中，固态硬盘131可以采用已有工业固态硬盘中的最小尺寸，如70mm×32mm×6mm。本申请实施例的大容量数据存储模块13采用单块最大容量固态硬盘，容量达到512GB。
在本申请一个或多个实施例中，里程模块14可以包括多个里程轮接口，其中，每个里程 轮接口配置为接收一个里程轮的触发信号，并传输至主控制器模块11，通过主控制器模块11对多个触发信号的选择与分频，产生间距为2mm的里程轮信号，其误差精度小于10-6，完全满足实际工程运行对里程提出的要求。
在本申请一个或多个实施例中，重锤模块15可以包括角度传感器和重锤，其中，角度传感器固定在内检测器内，随内检测器的转动而转动相同的角度；重锤由于受地球重力的影响，时刻指向地面；所述重锤模块通过角度传感器和所述重锤摆动实时记录所述内检测器的周向角度位置。
本申请实施例提供的油气管道内检测器数据接收与存储装置1可以为各类型的油气管道内检测器，如变形内检测器、腐蚀漏磁内检测器、裂纹内检测器等提供电子系统的数据控制与数据的高速传输和存储功能。
实施例二
该实施例与实施例一的区别在于，在本申请实施例的油气管道内检测器数据接收与存储装置中增加了数据下载与调试模块16，使得该油气管道内检测器数据接收与存储装置能够与计算机进行通信，在数据传输与存储的功能基础上，实现数据下载功能，如图2所示。
所述的油气管道内检测器数据接收与存储装置1还可以包括：数据下载与调试模块16。
所述数据下载与调试模块16分别与主控制器模块11、数据存储模块13和计算机电连接，配置为向计算机反馈主控制器模块11的状态，并将数据存储模块13存储的数据下载至计算机。
在本申请一个或多个实施例中，数据存储模块13还包括：选通开关132；选通开关132，配置为控制固态硬盘131连接至主控制器模块11或连接至数据下载与调试模块16。
当固态硬盘131连接至主控制器模块11时，固态硬盘131配置为存储主控制器模块11传输的数据；
当固态硬盘131连接至数据下载与调试模块16时，数据下载与调试模块16配置为将固态硬盘131存储的数据下载至计算机。
在本申请一个或多个实施例中，选通开关132可以接收主控制器模块11的控制信号，在主控制器模块11的控制下选择连接至主控制器模块11或连接至数据下载与调试模块16。该 控制信号可以在主控制器模块11检测到数据接收模块12将接收的高速串行数据传输至主控制器模块11时发出，并控制选通开关132将固态硬盘131连接至主控制器模块11；该控制信号也可以在主控制器模块11检测到数据下载与调试模块16与计算机相连时发出，并控制选通开关132将固态硬盘131连接至数据下载与调试模块16。
实施例三
该实施例与实施例二的区别在于，在实施例二的基础上，对数据存储模块13和数据下载与调试模块16的组成结构做了进一步限定，如图3所示。
在本申请一个或多个实施例中，所述的大容量数据存储模块13和数据下载与调试模块16可以分别连接至主控制器模块11的ARM芯片，将主控器模块11采集和传输得到的数据，通过ARM芯片存储至固态硬盘131，并调试或下载至计算机。
在本申请一个或多个实施例中，高速的选通开关132，负责控制固态硬盘131的连接状态；本申请实施例中高速的选通开关132可以采用MAX4888CETI型号芯片，该芯片由美信半导体公司生产，是双刀双掷开关，接口可以兼容高速的计算I接口、SAS接口、SATA接口等等，可支持达6.0Gbps速率的信号通信，具有体积小、功耗低的特点；选通开关的公共端可以连接至固态硬盘131，另一端(即选通端)可以连接至ARM芯片，也可以连接至数据下载与调试模块16的固态硬盘转USB芯片端。同时，选通开关132的控制端连接至ARM芯片，由ARM芯片决定其选通位置：当固态硬盘131连接至ARM芯片时，则用来存储数据；当固态硬盘131连接至数据下载与调试模块16时，则用来将固态硬盘131的数据高速下载至计算机；本申请实施例提出的大容量的数据存储装置13，通过ARM芯片的Linux3.3内核系统驱动接口，将采集的数据实时存储至固态硬盘131，存储速率可以达160Mbps以上。
在本申请一个或多个实施例中，数据下载与调试模块16可以通过两个转换芯片完成数据高速下载与调试；所述数据下载与调试模块16可以包括：计算机通信芯片161和固态硬盘转通用串行总线USB芯片162；
所述计算机通信芯片161，配置为将RS-232串口数据转换成USB2.0接口数据，并通过USB2.0接口与计算机进行通信；所述固态硬盘转USB芯片162，配置为将所述固态硬盘内的数据转换成USB3.0接口数据，并通过USB3.0接口将所述USB3.0接口数据下载至计算机。
在本申请一个或多个实施例中，计算机通信芯片161，即RS-232转USB芯片负责将ARM芯片的数据通过USB2.0接口传输至计算机，通过计算机专用调试软件，查看电子系统的各项数据和状态；本申请实施例的RS-232转USB芯片可以采用FT232RL芯片，该芯片由Future Tech.器件公司生产，兼容RS-232接口和USB2.0接口，能够将RS-232串口数据转换为USB2.0通信数据，实现ARM芯片与计算机之间的通信；该芯片同样兼容Windows 98、Windows 2000、XP、Win7、Win8和Win10等高级计算机系统，极大地方便用户的使用。
在本申请一个或多个实施例中，固态硬盘转USB芯片162通过固态硬盘转USB3.0接口，将固态硬盘131的数据高速下载至计算机。
在本申请一个或多个实施例中，该固态硬盘转USB芯片162可以采用ASM1153E芯片实现，该芯片由ASMEDIA Tech.公司生产，可以支持高达6Gbps速率的数据通信，支持USB3.0、USB2.0、SATA1.5、SATA3.0和SATA6.0等多种通信接口，能够实现两种数据接口之间的互换，甚至能够将固态硬盘映射至计算机内，成为计算机的一个硬盘成分，极大地方便用户通过简单的计算机操作，完成大容量数据的高速、稳定下载；本申请实施例提出的数据存储装置13，其稳定的下载速度达到280MB/S以上，下载512GB硬盘的全部数据时间少于30分钟；该特点极大地方便用户下载大容量数据，避免了长时间地等待。
实施例四
该实施例与实施例一和实施例二的区别在于，提供了一种包括：FPGA(Field-Programmable Gate Array，现场可编程门阵列)、DSP(Digital Signal Processor，数字信号处理)和ARM(Advanced RISC Machines，高级精简指令集计算机)的主控制器模块11，如图4所示。
通过所述多个核心芯片配合将所述数据接收模块接收到的数据存储到所述数据存储模块内包括：
所述FPGA芯片与所述数据接收模块通信获取所述高速串行数据，与所述里程模块通信获取所述触发信号，并与所述重锤模块通信获取所述周向角度位置，还与所述里程模块通信获取所述触发信号，对所述触发信号进行选择与分频处理获取所述里程轮信号，并将所述高速串行数据、所述周向角度位置以及所述里程轮信号通过通用手机处理器upp通信接口传输 至所述DSP芯片；
所述的DSP芯片通过所述upp通信接口接收所述FPGA芯片传输的所述高速串行数据、所述周向角度位置以及所述里程轮信号，并通过SharedRegion的syslink组件将所述高速串行数据、所述周向角度位置以及所述里程轮信号传输至所述ARM芯片；
所述ARM芯片驱动所述固态硬盘的接口，在所述里程轮信号的脉冲触发下，将所述高速串行数据以及所述周向角度位置实时存储至所述固态硬盘内。
在本申请一个或多个实施例中，所述多个核心芯片可以包括：单片机、FPGA、DSP和ARM等的任意组合，可选地，本申请实施例方案中采用了FPGA+DSP+ARM的三核心芯片方案，以保证稳定、高速地完成数据接收、传输和存储工作。
在本申请一个或多个实施例中，该FPGA+DSP+ARM三核心芯片方案可以通过分别采用FPGA芯片、DSP芯片和ARM芯片的组合方案实现，也可以通过采用集成有FPGA、DSP和ARM的集成芯片实现，对于其详细实现方式不做限制。下面将以集成芯片的实施例为例介绍本申请实施例方案的主控制器模块11。
在本申请一个或多个实施例中，主控制器模块11可以采用Xilinx公司(赛灵思公司)的FPGA，例如，型号为XC6SLX45的FPGA芯片。该芯片共有43661个逻辑单元，58个DSP48A1数字处理模块，2088Kb容量RAM块，最多358个可用IO引脚；完全可以满足本申请实施例所提出的性能要求。
在本申请一个或多个实施例中，主控制器模块11还可以采用OMAPL138芯片，该芯片为德州仪器推出的低功耗双核心芯片，内嵌TMS320C6748DSP芯片和ARM926EJ-S ARM芯片；同时，所述的OMAPL138芯片支持DSP端运行SYS/BIOS系统，ARM端支持Linux3.3内核系统，并支持SYSLINK双核通信组件，极大地提升DSP和ARM芯片的内部通信效率；其中，TMS320C6748芯片运行主频456MHz，具有浮点运算能力，支持upp通信等功能；ARM926EJ-S芯片运行主频456MHz，运行的Linux3.3内核系统支持SATA高速接口，支持SYSLINK双核通信组件，如SharedRegion、SysLink_Notify、Heap*MP、ListMP等；所述的OMAPL138双核芯片完全满足本实施例提出的性能要求。所述的FPGA芯片可以通过64Mbit SPI接口FLASH内置的程序，配置该芯片的执行逻辑；本申请实施例可以采用Verilog HDL语 言进行程序逻辑的编译；所述的OMAPL138双核芯片可以采用DDR2Memory RAM芯片和NAND Flash ROM芯片，通过内部存储区域划分，扩展各自系统的内存容量。
在本申请一个或多个实施例中，如图4所示，上述的FPGA集成芯片可以连接至数据接收模块12、里程模块14和重锤模块15；其中，高速的数据接收模块12可以采用RS-485差分双工通信芯片，以50Mbps的通信速率，配置为将所有传感器探头的高速串行数据传输至主控制器模块11。本申请实施例二中可以有8个并行的数据接收模块15，以达到对所有数据进行分流操作；FPGA集成芯片也可以并行、同时接收8路接收模块发送来的数据流。
在本申请一个或多个实施例中，里程模块14可以有三个里程轮发送里程触发数据给所述的FPGA集成芯片；FPGA集成芯片内嵌有里程轮选择与分频算法，可以产生2mm的里程轮信号；由FPGA集成芯片产生的间距为2mm的里程轮信号是指每当内检测器沿管道向前移动2mm，将触发一个下降沿脉冲；所述的下降沿脉冲将作为整个内检测器的工作指令，触发重锤模块15、数据接收模块12和数据存储模块13进行数据采集、传输和存储工作，当FPGA集成芯片采集到各模块数据以后，可以通过状态交互端口触发DSP芯片，并通过upp通信接口，获得所有采集的数据；所述的状态交互端口可以由GPIO(General Purpose Input Output，通用输入/输出)组成，本实施例可以由三个GPIO端口组成，由端口的高低电平完成状态信息的交互；所述的upp通信接口可以为8bit并行高速数据通信接口，其通信速度高达50MB/s及以上。
在本申请一个或多个实施例中，DSP芯片获得所有采集的数据后，通过其内部运行的SYS/BIOS系统，采用状态交互接口，通知ARM芯片准备接收数据；当与ARM芯片握手成功后，DSP芯片通过SharedRegion的syslink组件，将所有采集数据传输至ARM；DSP和ARM之间的状态交互接口，可以为内部的SysLink_Notify、Heap*MP和ListMP等syslink组件，完成两个芯片运行状态的交互工作，提升数据传输效率。
在本申请一个或多个实施例中，ARM芯片接收到所有数据后，通过内部运行的Linux3.3内核系统，驱动固态硬盘接口，将所有数据保存至大容量的数据存储模块13中的固态硬盘131内。
在本申请一个或多个实施例中，FPGA芯片和ARM芯片之间通过状态交互接口完成； 所述的状态交互接口可以包括3个GPIO端口，用来由ARM芯片通知FPGA，传输所有采集的数据中的所有部分或者某一部分。
在本申请一个或多个实施例中，ARM芯片还可以连接至数据下载与调试模块16，包括计算机通信芯片，固态硬盘转USB芯片；其中，计算机通信芯片电连接至主控制器模块，固态硬盘转USB芯片连接至大容量数据存储模块和计算机；
进一步地，所述的计算机通信芯片负责将RS-232串口数据转换成USB2.0接口数据，并通过USB接口与计算机进行通信；所述的固态硬盘转USB芯片负责将固态硬盘的数据转换成USB3.0接口数据，并通过USB3.0高速数据接口下载至计算机；其下载速度达280MB/s；下载512GB硬盘的全部数据时间少于30分钟；该特点极大地方便用户下载大容量数据，避免了长时间地等待。
在本申请一个或多个实施例中，基于该实施例三所述的主控制器模块11，本申请实施例提出的油气管道内检测器数据接收与存储装置1还可以包括电源管理系统。该电源管理系统的输入电压可以为7.9V，可以由多节工业防爆电池并联产生；所述的电源管理系统可以产生6种电压，分别包括：1.0V、1.2V、1.3V、1.8V、3.3V和5V，与系统电压7.9V一起，为整个装置1供电。
在本申请一个或多个实施例中，如图4所示，本申请实施例提出的数据接收与存储装置1以主控制器模块11为核心，通过FPGA、DSP和ARM三个核心芯片的任务分工，完成各部分模块的数据采集、传输和存储工作，同时通过数据下载与调试模块16，方便用户进行数据的调试和下载工作。由本实施例四的描述可知，三个核心芯片中，FPGA芯片主要负责各部分模块的数据采集工作，包括：一是负责与数据接收模块12通信；二是负责对里程轮的触发信号的选择与分频算法，产生2mm的里程轮信号；三是负责与重锤模块15通信；四是负责产生运行时钟信号；五是负责将上述四类信号整理排序，通过upp通信接口传输至DSP芯片，upp通信接口速率可以达到50MB/s以上。DSP芯片为主控制器模块11的一个内部芯片，连接至FPGA芯片和ARM芯片；主要负责中间缓冲任务，通过upp通信接口接收来自FPGA的数据，并通过SharedRegion的syslink组件，将数据传输至ARM芯片；SharedRegion通信组件速率可以达到50MB/s以上。ARM芯片为所述的主控制器模块的一个内部芯片，连接至 DSP芯片和数据存储模块中的固态硬盘；ARM芯片主要负责系统控制，接收计算机的调试命令，同时将通过SharedRegion组件传输得到的数据实时存储至固态硬盘131，存储速率达160Mbps以上。由此可见，三个核心芯片分工明确，相互进行状态交互，极大地保证了大容量、高速、多模块数据的传输与存储效率，显著地提高了全系统的稳定性和可靠性。
实施例五
该实施例与实施例一至实施例四的区别在于，在实施例一至实施例四的基础上，对里程模块14对里程轮触发信号进行选择与分频的算法做了进一步限定。
在本申请一个或多个实施例中，里程模块14可以包括多个里程轮接口，其中，每个里程轮接口配置为接收一个里程轮的触发信号，并传输至主控制器模块11，通过主控制器模块11的选择与分频算法，产生间距为2mm的里程轮信号；本实施例以三个里程轮触发信号为例，进一步详细说明里程轮选择与分频算法，如图5所示。
所述主控制器模块11对所述触发信号进行选择可以包括：从多个里程轮的下降沿触发信号中，选取在预设时间段内最先到达触发沿的里程轮所测量的里程作为触发里程。
在本申请一个或多个实施例中，间距为2mm的里程轮信号是指每当内检测器沿管道向前移动2mm，将触发一个下降沿脉冲；所述的下降沿脉冲将作为整个内检测器机器人的工作指令，触发数据集线装置、所有传感器探头、重锤模块15、数据接收模块12和数据存储模块13进行数据采集、传输和存储工作。
在本申请一个或多个实施例中，所述的选择是指根据三个里程轮的下降沿触发时间，选取三个当中在某一个时间段最先到达的触发沿的那一个里程轮的触发沿作为里程触发信号；以避免部分里程轮因打滑造成了时间延迟。
所述主控制器模块11对所述触发信号进行分频可以包括：对获得的所述触发里程进行四分频操作。
在本申请一个或多个实施例中，所述的分频是指对选择以后的里程进行四分频操作；由于机械系统的触发频率受机械齿轮转动的限制，不可能达到无限小、无限密的程度，故一般采用间距为8mm的里程间隔进行触发；然而，为了使内检测器在管道运行过程中，传感器探头沿着运行轴向能够采集到足够充分的数据，一般需对机械转动产生的里程触发进行分频和 加密操作；如图4所示，分频里程的触发频率为选择里程的4倍，即分频里程触发间的间距减少为1/4，从而产生2mm等间距的分频里程。
在本申请一个或多个实施例中，分频里程是根据第N-1触发周期里，选择里程的时间长度T，除以4，得到第N次触发周期里，分频里程的时间长度T/4；由于内检测器在运行过程中，其机械系统一般不会发生剧烈的速度变化，因此，采用本申请实施例提出的分频办法，可以实时对选择里程进行等间距的4分频操作，且其误差精度小于10-6，完全满足实际工程运行对里程提出的要求；并且本申请实施例提出的里程选择与分频办法，满足内检测器的采样密度要求，提高数据采样率，进而提升内检测器对各类型缺陷的量化分辨率。
本申请实施例方案的优势：该油气管道内检测器数据接收与存储装置包括具有多个核心芯片的主控制器模块，能够提供丰富、高速和灵活的数据通信接口；主控制器模块分别连接至数据接收模块、数据存储模块、数据下载与调试模块、里程模块和重锤模块，能够实现各类传感器数据的高速、稳定传输与存储功能；本申请实施例采用固态硬盘，单块硬盘的最大存储容量达到512GB，极大地提升了内检测器的数据存储量；采用USB3.0高速数据传输接口，数据下载速度达到280MB/S以上，下载硬盘的全部数据时间少于30分钟；本申请实施例的装置具有低功耗、体积小巧等特点，支持内检测器的移动速度最高达30m/s，可以为各类型的油气管道内检测器，如变形内检测器、腐蚀漏磁内检测器、裂纹内检测器等提供电子系统的数据控制与数据的高速传输、存储和下载等功能。本申请实施例方案解决了当前技术存在的体积大、功耗高、传输速率慢、存储容量有限、可靠性和兼容性低等诸多问题。
虽然本申请实施例所揭露的实施方式如上，但所述的内容仅为便于理解本申请实施例而采用的实施方式，并非用以限定本申请实施例。任何本申请实施例所属领域内的技术人员，在不脱离本申请实施例所揭露的精神和范围的前提下，可以在实施的形式及细节上进行任何的修改与变化，但本申请实施例的专利保护范围，仍须以所附的权利要求书所界定的范围为准。

Claims (9)

  1. 一种油气管道内检测器数据接收与存储装置，包括：主控制器模块、数据接收模块、数据存储模块、里程模块和重锤模块；
    所述数据接收模块，分别与所述主控制器模块和外设的数据集线装置相连，配置为通过所述数据集线装置接收所述内检测器的传感器探头传输的高速串行数据，并将所述高速串行数据传输至所述主控制器模块；
    所述里程模块，与所述主控制器模块和外设的里程轮相连，配置为接收多个里程轮的触发信号，并将所述触发信号传输至所述主控制器模块；
    所述重锤模块，与所述主控制器模块相连，配置为实时记录所述内检测器的周向角度位置，并将所述周向角度位置传输至所述主控制器模块；
    所述主控制器模块，包括多个核心芯片，配置为对所述触发信号进行处理获得里程轮信号，在所述里程轮信号的脉冲触发下，通过所述多个核心芯片配合将所述高速串行数据、所述周向角度位置数据存储到所述数据存储模块内。
  2. 根据权利要求1所述的油气管道内检测器数据接收与存储装置，其中，所述里程模块包括多个里程轮接口，每个里程轮接口配置为接收一个里程轮的触发信号；
    所述主控制器模块对所述触发信号进行处理获得里程轮信号包括：
    对所述触发信号进行选择与分频处理获取所述里程轮信号。
  3. 根据权利要求1所述的油气管道内检测器数据接收与存储装置，其中，
    所述主控制器模块对所述触发信号进行处理获得里程轮信号包括：
    从所述多个里程轮的触发信号中，选取在预设时间段内最先到达预设触发里程的里程轮的触发沿作为里程触发信号；
    对所述里程触发信号进行分频和加密，获得里程轮信号。
  4. 根据权利要求2所述的油气管道内检测器数据接收与存储装置，其中，所述多个核心芯片包括：现场可编程门阵列FPGA芯片、数字信号处理DSP芯片和高级精简指令集计算机 ARM芯片；
    所述通过所述多个核心芯片配合将所述高速串行数据、所述周向角度位置数据存储到所述数据存储模块内包括：
    所述FPGA芯片，配置为与所述数据接收模块通信获取所述高速串行数据，并与所述重锤模块通信获取所述周向角度位置，还配置为与所述里程模块通信获取所述触发信号，对所述触发信号进行选择与分频处理获取所述里程轮信号，并将所述高速串行数据、所述周向角度位置以及所述里程轮信号通过通用手机处理器upp通信接口传输至所述DSP芯片；
    所述的DSP芯片，配置为通过所述upp通信接口接收所述FPGA芯片传输的所述高速串行数据、所述周向角度位置以及所述里程轮信号，并通过SharedRegion的syslink组件将所述高速串行数据、所述周向角度位置以及所述里程轮信号传输至所述ARM芯片；
    所述ARM芯片，配置为驱动所述数据存储模块的固态硬盘的接口，在所述里程轮信号的脉冲触发下，将所述高速串行数据以及所述周向角度位置数据存储至所述固态硬盘内。
  5. 根据权利要求4所述的油气管道内检测器数据接收与存储装置，还包括：数据下载与调试模块；
    所述数据下载与调试模块分别与所述主控制器模块、所述数据存储模块和外设的计算机电连接，配置为向所述计算机反馈所述主控制器模块的状态，并将所述数据存储模块存储的数据下载至所述计算机。
  6. 根据权利要求5所述的油气管道内检测器数据接收与存储装置，其中，所述数据存储模块还包括：选通开关；
    所述选通开关，配置为控制所述固态硬盘连接至所述主控制器模块或连接至所述数据下载与调试模块；
    当所述固态硬盘连接至所述主控制器模块时，所述固态硬盘配置为存储所述主控制器模块传输的数据；
    当所述固态硬盘连接至所述数据下载与调试模块时，所述数据下载与调试模块配置为将 所述固态硬盘存储的数据下载至所述计算机。
  7. 根据权利要求5所述的油气管道内检测器数据接收与存储装置，其中，所述数据下载与调试模块包括：计算机通信芯片和固态硬盘转通用串行总线USB芯片；
    所述计算机通信芯片，配置为将RS-232串口数据转换成USB2.0接口数据，并通过USB2.0接口与计算机进行通信；
    所述固态硬盘转USB芯片，配置为将所述固态硬盘内的数据转换成USB3.0接口数据，并通过USB3.0接口将所述USB3.0接口数据下载至计算机。
  8. 根据权利要求4所述的油气管道内检测器数据接收与存储装置，其中，
    所述upp通信接口的速率大于或等于50MB/s；
    所述SharedRegion组件的速率大于或等于50MB/s；
    所述ARM芯片采用Linux3.3内核系统；
    所述ARM芯片的存储速率大于或等于160Mbps；
    所述数据接收模块采用RS-485差分双工通信芯片；
    所述固态硬盘的尺寸为70mm×32mm×6mm，容量为512GB。
  9. 根据权利要求1所述的油气管道内检测器数据接收与存储装置，其中，所述重锤模块包括：角度传感器、重锤和记录单元；所述角度传感器固定在所述内检测器内，随所述内检测器的转动而转动，转动的角度和所述内检测器转动的角度相同；所述重锤时刻指向地面；
    所述记录单元配置为通过所述角度传感器和所述重锤摆动实时记录所述内检测器的周向角度位置。
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