CN107120532B - Pipe jointer detection method based on fast orthogonal searching algorithm - Google Patents
Pipe jointer detection method based on fast orthogonal searching algorithm Download PDFInfo
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- CN107120532B CN107120532B CN201710331931.3A CN201710331931A CN107120532B CN 107120532 B CN107120532 B CN 107120532B CN 201710331931 A CN201710331931 A CN 201710331931A CN 107120532 B CN107120532 B CN 107120532B
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- 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
- F17D5/02—Preventing, monitoring, or locating loss
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Abstract
The present invention is to provide a kind of pipe jointer detection methods based on fast orthogonal searching algorithm.Using the inertial sensor measurement data for being used for pipe detection positioning in in-pipeline detection device；And carry out the inertial sensor measurement data in analysis conduit with fast orthogonal searching algorithm, the pipe jointer corresponding period is extracted by the Singularity Analysis to inertial sensor measurement data；The pipeline location and time relationship calculated in conjunction with pipe detection positioning system carries out time synchronization operation and obtains pipe jointer in the distribution situation of pipeline different location；Pipe jointer testing result provides convenience for the maintenance at position perishable, easily rupturable at duct section connector etc., positioning system is detected for inertia subsidiary conduit and provides continuous azimuth and pitch angle error correction in straight pipeline section, convenient for improving positioning and the orientation accuracy of pipe detection positioning system.It neither will increase any cost, will not have any change to original pipe detection device hardware system.
Description
Technical field
The present invention relates to a kind of pipe jointer detection methods, especially when duct survey device moves in pipeline
Shi Caiyong fast orthogonal searching algorithm is come the method that detects pipe jointer.
Background technique
Pipeline is most effective, convenient and safety the mode for realizing the transport of the resources such as oil, gas or water.With a large amount of previously pavings
If pipeline have reached or be more than service phase, be by the environmental pollution of pipe leakage bring and economic loss it is very serious, very
It is even more to be difficult to estimate to security threat caused by pipe explosion.Duct survey device be in pipeline realize pipeline defect detection and
The most effective tool of defect location, it has also become the first choice that various pipes are periodically detected.In addition, mud-rock flow, landslide etc. are certainly
Right factor will also result in pipeline modification, can realize effective measurement to detected pipeline coordinate using duct survey device, analyze
The displacement or modification of pipeline can provide help well, the danger such as the leakage of prevention various pipes or explosion to the prediction of pipeline potential danger
Danger occurs.
The inertia subsidiary conduit positioning system being made of inertial sensor is to realize defect of pipeline positioning and pipeline modification inspection
The core component of survey.But the position error and azimuth angle error of inertia subsidiary conduit positioning system are with detected
The increase of pipeline distance and build up diverging.Under normal conditions, duct survey device surrounding installation mileage gauge and its
The nonholonomic restriction moved in pipeline can provide continuous velocity amendment for inertia subsidiary conduit positioning system.Meanwhile along tested
Test tube road is at a certain distance and position known ground list notation can provide discrete location for inertia subsidiary conduit positioning system and repair
Just.But azimuth (orientation) error of the inertia aided positioning system of the low precision micromachined process composition of small size
Diverging is big, other than speed and location error are corrected, it is also necessary to carry out azimuth angle error amendment.Detect sensing in traditional azimuth
Device is influenced that error is big, and inertia subsidiary conduit positioning system is difficult to pipeline in pipeline path by internal diameter of the pipeline and tube environment etc.
It excavates and maintenance provides enough precision.Therefore, it assists pipeline path to detect positioning system for inertia and a kind of new orientation is provided
Angle error modification method is imperative.
The pipeline of laying is to be connected by straight pipeline section by pipe jointer (including curved pipe, circular weld and flange etc.)
Made of.Pipeline junction is mostly attached using welding or screw, is easy to corrode in long-term underground environment even broken
It splits.In addition, duct survey device in straight pipeline with azimuth and the constant characteristic of pitch angle, can be used for correcting pipeline location
The orientation angular divergence error of system improves the precision of pipe detection positioning system.But the premise that the method is realized is exactly to realize
Correct detection to pipe jointer, and determine its specific coordinate position.
Summary of the invention
It is not required to increase hardware cost the purpose of the present invention is to provide one kind, will not be to existing pipe detection and assessment
The pipe jointer detection method based on fast orthogonal searching algorithm that system has an impact.
The object of the present invention is achieved like this:
Using measurement data of the strapdown IMU at duct survey device center in pipeline is mounted on, with offline
The mode of processing extracts pipe jointer part corresponding position in pipeline；With fast orthogonal searching algorithm to inertia sensing
Device measurement data carries out the transformation of time domain to frequency domain, obtains the time-frequency characteristic curve of acquisition signal, special by transformed frequency domain
Linearity curve amplitude judges the period corresponding to straight pipeline section and pipe jointer in entirely detected pipeline；In conjunction with inertia
The pipeline location and the relationship of time of subsidiary conduit positioning system output, by the time of pipe jointer detection and pipeline location meter
Time in calculation carries out time synchronization operation, obtains the corresponding relationship between pipeline location and pipe jointer；It will finally be detected
The position of pipe jointer and straight pipeline section in test tube road respectively indicates out in geographical co-ordinate system.
The pipe jointer part corresponding position in pipeline that extracted in a manner of processed offline specifically includes: when
After duct survey device completes the detection of entire detected pipeline and returns to tube receiver, deposited from the data of duct survey device
It is downloaded in storage unit and saves pipe detection data and pipeline location sensing data.
The straight pipeline section and pipe judged in entirely detected pipeline by transformed frequency domain characteristic amplitude
Period corresponding to road connector specifically includes: judging the corresponding time such as circular weld or flange using the method for threshold value
Section, when time-frequency characteristic curve amplitude is greater than given threshold, the corresponding period is circular weld or flange, and works as time-frequency characteristic
When amplitude is less than given threshold, the corresponding period is straight pipeline section；Meanwhile gyroscope measures in duct survey device
Data are used to judge whether duct survey device passes through certain section of crooked pipeline, crooked pipeline are separated from entire be detected in pipeline
Out；Finally, the circular weld that detected with accelerometer of curved pipe section that gyroscope detects or flange etc. are merged,
Realize the detection of entire pipe jointer.
The geographical coordinate position for being detected pipe jointer is determined such that the inertia measurement data installed in pipeline not
It is only used for the detection of pipe jointer, while being also used to be detected the calculating of pipeline geographical coordinate position, pipe jointer detection
Output be time and pipe jointer relationship, and the output of pipe detection positioning system is time and pipeline coordinate position
Relationship obtains position of the pipe jointer in geographical coordinate by time synchronization.
Method of the invention, it is main using the strap down inertial navigation for being mounted on cylindrical type or class torpedo duct survey device center
Measurement data of the measuring unit in pipeline, it is corresponding in pipeline to extract pipe jointer part in a manner of processed offline
Position.Time domain is mainly carried out to the transformation of frequency domain to inertial sensor measurement data with fast orthogonal searching algorithm, obtains acquisition
The time-frequency characteristic curve of signal judges the straight pipeline in entirely detected pipeline by transformed frequency domain characteristic amplitude
Period corresponding to section and pipe jointer.Meanwhile in conjunction with inertia subsidiary conduit positioning system export pipeline location and when
Between relationship, and by pipe jointer detection time and pipeline location calculate in time carry out time synchronization operation
Obtain the corresponding relationship between pipeline location and pipe jointer.To, finally by detected pipeline pipe jointer and
The position of straight pipeline section respectively indicates out in geographical co-ordinate system.
Fast orthogonal searching algorithm is realized in pipe jointer detection: firstly, when the completion of duct survey device is whole
The detection of a detected pipeline and after returning to tube receiver, downloads and saves from the data storage cell of duct survey device
Pipe detection data and pipeline location sensing data.Next, by survey of the accelerometer in pipeline in duct survey device
It measures data and transformation of the signal from time domain to frequency domain is carried out using fast orthogonal searching algorithm, show that corresponding signal time-frequency characteristic is bent
Line.And the corresponding period such as circular weld or flange is judged using the method for threshold value, it is set when time-frequency characteristic curve amplitude is greater than
When determining threshold value, the corresponding period is circular weld or flange, and when time-frequency characteristic curve amplitude is less than given threshold, it is corresponding
Period be straight pipeline section.At the same time, gyroscope measurement data is used to judge that duct survey fills in duct survey device
It whether sets by certain section of crooked pipeline, crooked pipeline is separated from entire be detected in pipeline.Finally, gyroscope is detected
The circular weld that detected with accelerometer of curved pipe section or flange etc. merge, realize the inspection of entire pipe jointer
It surveys.
The geographical coordinate position for being detected pipe jointer is determined such that the inertia measurement data installed in pipeline not
It is only used for the detection of pipe jointer, while being also used to be detected the calculating of pipeline geographical coordinate position.Since the two uses
Data of the same set of inertial sensor in pipeline, the pipe jointer thus detected and pipeline location system have the time same
Walk characteristic.The output of pipe jointer detection is the relationship of time and pipe jointer, and the output of pipe detection positioning system
It is the relationship of time and pipeline coordinate position, position of the pipe jointer in geographical coordinate can be obtained by time synchronization.
Pipe jointer testing result can provide convenience in excavation and maintenance to be laid with pipeline.It is imbedded in underground throughout the year
Or underwater pipeline is since largely welding etc. is attached at its pipe jointer, junction and neighbouring soil and water
In chemical substance be easy to happen corrosion, or even rupture.Therefore, pipe jointer at pipe leakage high risk zone.In addition,
The pipe detection sensor carried on duct survey device can effectively detect corrosion at straight pipeline and pipe jointer and
Rupture situation.In this way, pipe jointer testing result can provide convenience with when excavating for pipeline maintenance.
Pipe jointer detection in the present invention based on fast orthogonal searching algorithm is without any hardware cost.Pipeline
Being implemented without for connector detection installs other sensors in duct survey device, and the signal for detection is examined to pipeline
Measure the utilization again of position inertial sensor data.In addition, being in pipe detection to the maintenance of defect of pipeline in pipe detection
It is carried out after completing, without carrying out simultaneously, therefore to the analysis of pipe detection data, pipe jointer detection and pipeline location system
Statistics is calculated pipeline geographical coordinate and is all carried out offline, therefore will not have an impact to existing pipe detection and assessment system.Together
When, there are also such Some features by the present invention:
1. it is processed offline, pipe jointer inspection that the present invention, which detects pipe jointer using fast orthogonal searching algorithm,
Azimuth and pitch angle error correction can be provided in straight pipeline section for inertia subsidiary conduit positioning system by surveying result.
2. the pipe jointer testing result in the present invention is not dependent on any additional sensor, only use
Inertia subsidiary conduit detects the furnished inertial sensor of positioning system.
3. the pipe jointer detection in the present invention is suitable for the various calibers of transports such as all kinds of oil, gas and water, chemical substance
Pipeline, used duct survey device external form are cylindrical type or class torpedo.
Detailed description of the invention
Fig. 1 fast orthogonal searching algorithm detects pipe jointer schematic diagram.
Fig. 2 inertia subsidiary conduit positioning system positioning schematic.
Pipe jointer overhaul flow chart of Fig. 3 based on fast orthogonal searching algorithm.
Specific embodiment
The present invention is described in detail with reference to the accompanying drawing, it should be noted that gyroscope involved in this method, plus
Speedometer and strapdown inertial navigation system are typical inertia device and navigation positioning system, and duct survey device is typical pipe
Road detection system, therefore the present invention is no longer described in detail its principle.
In conjunction with Fig. 1, fast orthogonal searching algorithm detection pipe jointer includes: three axis by installing in duct survey device
Turning rate and linear acceleration when gyroscope and the sensitive duct survey device of three axis accelerometer difference move in pipeline
Degree.The turning rate measured value of three-axis gyroscope measurement is for judging whether duct survey device passes through crooked pipeline.Wherein,
The quadratic sum of gyroscope output angular speed is as threshold value under stationary state, when the turning rate of any axis measurement of three-axis gyroscope
Measured value is greater than threshold value, then determines that duct survey device passes through crooked pipeline section, otherwise determines that duct survey device passes through
Straight pipeline section.Meanwhile by accelerometer in duct survey device as the measuring signal of pipe motion is for judging annular welds
The pipe jointers such as seam and flange.Accelerometer measures signal is carried out by the change of time domain to frequency domain using fast orthogonal searching algorithm
It changes, obtains its time-frequency characteristic curve, when frequency curve amplitude is greater than preset threshold value after transformation, that is, duct survey device is just logical
The pipe jointers such as circular weld and flange position is crossed, otherwise duct survey device passes through straight pipeline section.Finally, will be by gyro
The pipe jointers knot such as the crooked pipeline section of instrument measured value detection and the circular weld and flange that are detected by acceleration measuring magnitude
It closes, the pipe jointer and the corresponding relationship of time in entire detected pipeline can be obtained.
In conjunction with Fig. 2, inertia subsidiary conduit positioning system principle are as follows: sensitivity is managed respectively for three-axis gyroscope and three axis accelerometer
Turning rate and linear acceleration when road measuring device moves in pipeline.Under situation known to primary condition, use
Strap inertial navigation algorithm can calculate posture, speed and the location information that duct survey device moves in pipeline.Due to
The measurement error of inertial sensor itself will lead to strapdown inertial navigation system output error with the growth of pipe detection distance
And increase.Three-dimensional speed is provided by nonholonomic restriction of the axial velocity and duct survey device of mileage gauge measurement in pipeline
Degree, pipe jointer detection provides azimuth and pitch angle in straight pipeline section and earth's surface magnetic marker provides three-dimensional position,
Inertial sensor errors and strapdown inertial navigation system error can be estimated under the action of Kalman filter estimation, these errors can
To feed back and improve pipeline location system accuracy.Further, since the non real-time nature characteristic of pipe detection and maintenance, can use number
According to the offline estimating system error of antialiasing, pipeline location system accuracy is improved again.Finally, with obtaining accurate pipeline
Manage coordinate value.
In conjunction with Fig. 3, entirely based on the pipe jointer testing process of fast orthogonal searching algorithm are as follows: in the base of Fig. 1 and Fig. 2
On plinth, realizing that pipe detection result detects the synchronism of positioning system in time with inertia subsidiary conduit is to realize that pipeline is connect
The important prerequisite of device coordinate position.The operational process of whole system is as follows:
Step 1, after the Detection task that duct survey device completes entire detected pipeline, pipeline is read from memory
The data of alignment sensor, enter step 2；
Step 2, according to the method for using fast orthogonal searching algorithm in Fig. 1, it can obtain duct survey device in pipeline
The relationship of pipe jointer corresponding to runing time and different moments, enters step 3；
Step 3, while inertial sensor data when using duct survey detects pipe jointer, pipeline location is passed
Sensor is resolved using inertial navigation, integrated navigation and data smoothing filtering technique can be obtained duct survey device and move in pipeline
Track and the relationship of time, and enter step 4；
Step 4, the pipeline track relationship and step 3 of pipe jointer and time that step 2 obtains obtained and time
Relationship carry out time synchronization operation, the result that the premise of time synchronization both is exactly is all based on same in duct survey device
A set of inertia measurement data, enter step 5；
Step 5, it after pipe jointer testing result and pipeline location system carry out time synchronization, can be obtained detected
The specific coordinate position of pipe jointer, enters step 6 in pipeline；
Step 6, by detecting with time synchronization as a result, generating the detection report for finally indicating pipe jointer and its position
It accuses.
Pipe jointer detection method based on fast orthogonal searching algorithm of the invention.Using fast orthogonal searching algorithm
The Strange properties in pipeline measuring device in inertial sensor measurement data are detected, by pipe jointer (crooked pipeline, annular welds
Seam and flange etc.) it is distinguished from detected pipeline.Meanwhile outlet pipe can be calculated in conjunction with inertia subsidiary conduit detection positioning system
Road connector is in the specific location being detected in pipeline.
The specific coordinate position of pipe jointer, be the pipe jointer obtained by pipe jointer detection method and when
Between the position that resolves of relationship and pipe detection positioning system and time relationship carry out what time synchronization operation was realized.
The accurate coordinate position of pipe jointer, can by perishable, the easily rupturable position such as laying duct section connector
It excavates and maintenance provides convenience.
Pipe jointer testing result can assist pipeline path to detect positioning system for low accuracy inertial and mention in straight pipeline section
For azimuth and pitch angle error correction, conducive to the positioning and orientation accuracy for improving entire pipe detection positioning system.
The realization of pipe jointer detection method neither will increase any cost, will not fill to original duct survey
The hardware system set has any change.
Claims (1)
1. a kind of pipe jointer detection method based on fast orthogonal searching algorithm, it is characterized in that: being surveyed using pipeline is mounted on
Measurement data of the strapdown IMU at device center in pipeline is measured, pipeline connection is extracted in a manner of processed offline
Device part corresponding position in pipeline；With fast orthogonal searching algorithm to the accelerometer measures number of strapdown IMU
According to the transformation of time domain to frequency domain is carried out, obtains the time-frequency characteristic curve of acquisition signal, pass through transformed time-frequency characteristic Curve Amplitude
Value judges the period corresponding to straight pipeline section and pipe jointer in entirely detected pipeline；In conjunction with inertia subsidiary conduit
Positioning system output pipeline location and the relationship of time, by pipe jointer detection time and pipeline location calculate in when
Between carry out time synchronization operation, obtain the corresponding relationship between pipeline location and pipe jointer；It finally will be in detected pipeline
Pipe jointer and the position of straight pipeline section respectively indicate out in geographical co-ordinate system；
The straight pipeline section judged in entirely detected pipeline by transformed time-frequency characteristic amplitude and pipeline connect
Connecing the period corresponding to device specifically includes: judging circular weld or flange corresponding period using the method for threshold value, at that time
When frequency characteristic curve amplitude is greater than given threshold, the corresponding period is circular weld or flange, and works as time-frequency characteristic curve width
When value is less than given threshold, the corresponding period is straight pipeline section；Meanwhile the strapdown IMU of duct survey device
Interior gyroscope measurement data is used to judge whether duct survey device passes through certain section of crooked pipeline, by crooked pipeline from entirely quilt
It is separated in detection pipeline；Finally, by the curved pipe section of gyroscope detection and the circular weld that detected of accelerometer or
Flange merges, and realizes the detection of entire pipe jointer；
Measurement data of the strapdown IMU installed in pipeline in pipeline is applied not only to the detection of pipe jointer, together
When be also used to be detected pipeline geographical coordinate position calculating, the output for detecting pipe jointer is time and pipe jointer
Relationship, and the output of inertia subsidiary conduit positioning system is the relationship of time and pipeline coordinate position, is obtained by time synchronization
Position of the pipe jointer in geographical coordinate.
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| CN107664266A (en) * | 2017-09-26 | 2018-02-06 | 哈尔滨航士科技发展有限公司 | A kind of pipe detection positioner and localization method |
| CN109693058B (en) * | 2018-12-24 | 2020-06-26 | 北京理工大学 | Method and device for determining welding posture of pipeline assembly and upper computer |
| CN112985369A (en) * | 2021-02-04 | 2021-06-18 | 重庆飞扬测控技术研究院有限公司 | Pipeline connector detection method based on novel artificial fish swarm algorithm |
| CN114166214B (en) * | 2021-11-12 | 2023-06-06 | 海南大学 | STA/LTA algorithm-based pipeline connector detection method and system |
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