CN111189426A - Intelligent pipeline deformation detection system of IMU (inertial measurement unit) - Google Patents
Intelligent pipeline deformation detection system of IMU (inertial measurement unit) Download PDFInfo
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- CN111189426A CN111189426A CN201911267552.8A CN201911267552A CN111189426A CN 111189426 A CN111189426 A CN 111189426A CN 201911267552 A CN201911267552 A CN 201911267552A CN 111189426 A CN111189426 A CN 111189426A
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- detector
- measurement unit
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/32—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring the deformation in a solid
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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
- 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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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
- G01S19/49—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Automation & Control Theory (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention discloses an intelligent pipeline deformation detection system of an IMU (inertial measurement unit), which comprises a detector, a marking box and a data analysis processing computer, wherein the marking box comprises a marking box body and a data analysis processing computer; the detector comprises an IMU inertia measurement unit, a coil induction module, a clock module and a signal acquisition module; a GPS navigation module is arranged in the mark box; and the data analysis processing computer reads the information stored by the detector after the detector finishes the pipeline detection, simultaneously reads the time and position information of the GPS module in each marker box, then fuses the information, calculates the running track of the detector, namely the distribution of the central axis of the pipeline, and judges the deformation of the pipeline according to the distribution of the central axis. The IMU inertial measurement unit comprises three-direction gyroscopes and three-direction accelerometers for collecting attitude information of the detector. The problem of not having the GPS signal in the pipeline, unable location is solved.
Description
Technical Field
The invention relates to a pipeline detection technology, in particular to an intelligent pipeline deformation detection system of an IMU (inertial measurement unit).
Background
The pipelines can not be separated for transporting the crude oil and the ore pulp from the west and east, China has wide range, the oil and gas pipelines are criss-cross and spread all over corners, the pipelines have very important function in national economic production, and the pipelines can generate the defects of corrosion and deformation under the influence of medium corrosion, road construction, rivers, rainwater, temperature, construction and driving for a long time. These defects can affect the service life of the pipeline, cause pipeline leakage and bring about great economic loss. The equipment for detecting the pipeline corrosion requires that the deformation quantity of the pipeline is very small, if the pipeline deformation is not carried out, the pipeline corrosion detection equipment can be clamped in the middle of the pipeline, and therefore, the work of detecting the deformation of the pipeline is indispensable.
Disclosure of Invention
The invention aims to provide an intelligent pipeline deformation detection system of an IMU (inertial measurement unit) inertia measurement unit, which is used for solving the problem that the test precision of the existing equipment is easily influenced by the external environment.
In order to achieve the purpose, the invention adopts the following technical scheme:
an intelligent pipeline deformation detection system of an IMU inertial measurement unit comprises a detector, a marking box and a data analysis processing computer;
the detector comprises an IMU inertial measurement unit, a coil induction module, a clock module and a signal acquisition module;
a GPS navigation module is arranged in the mark box;
and the data analysis processing computer reads the information stored by the detector after the detector finishes the pipeline detection, simultaneously reads the time and position information of the GPS module in each marker box, and then fuses the information to calculate the running track of the detector.
Preferably, the IMU inertial measurement unit of the detector includes three-directional gyroscopes and three-directional accelerometers for acquiring attitude information of the detector.
Preferably, the coil induction module of the detector adopts the principle that a coil cuts a magnetic field, and is used for detecting whether the equipment in the pipeline passes through the marking box.
Preferably, the clock module of the detector is used for providing time for the system, receiving GPS clock data sent by the marker box as a reference of the system clock and calibrating the clock in the process of operation.
Preferably, the GPS navigation module of the marker box is disposed in the marker box for acquiring GPS coordinates of the marker box.
Preferably, the signal acquisition module of the detector receives data sent by the IMU inertial measurement unit, the coil induction module and the clock module.
Preferably, the detection method of the detection system includes the following steps:
step 1: calibrating the GPS coordinates and clock information of the detector at the initial point of the detector;
step 2: in the motion process of the detector, the detector detects gyro data and acceleration data of three coordinates of the detector in real time through an IMU inertial measurement unit and records the gyro data and the acceleration data in a signal acquisition module in real time;
step 3: the method comprises the following steps that a mark box in the way is detected in real time through a coil induction module of a detector, and when the mark box is detected, the detector receives a GPS clock signal sent by the mark box and records the passing time to a signal acquisition module;
step 4: and after the detector finishes the pipeline detection work, the detector is taken out from the pipeline, the data analysis processing computer integrates the GPS position information of the marker box and the data information in the signal acquisition module of the detector, the data is integrated by utilizing a Kalman filtering algorithm, and a detection conclusion and data of the detection system are output to the outside.
The invention has the following advantages:
after the design of the invention is adopted, the IMU inertial measurement unit is used for realizing the integrated navigation, the anti-jamming capability to the environment is strong, the integrated navigation is not easy to be interfered by external buildings or equipment, the GPS coordinate information is obtained by using the marking box, the positioning information is conveniently and locally strengthened, the accurate positioning information is obtained, the integrated navigation and GPS positioning realizes the high-precision detection of the pipeline axis distribution, the data processing is the subsequent resolving, the processing time is not required to be too high, the dimension of the observed quantity can be selected as much as possible (15 dimensions or more) during the Kalman data fusion, the integrated navigation precision is improved to a great extent, the pipeline deformation testing precision is further improved, and the product has higher practicability and creativity.
Drawings
Fig. 1 is a system composition diagram of an intelligent pipeline deformation detection system of an IMU inertial measurement unit of the present invention.
Fig. 2 is a system operation process diagram of an intelligent pipeline deformation detection system of an IMU inertial measurement unit of the present invention.
Detailed Description
The following description of the embodiments of the present invention is provided for illustrative purposes, and other advantages and effects of the present invention will become apparent to those skilled in the art from the present disclosure.
It should be understood that the structures, ratios, sizes, and the like shown in the drawings and described in the specification are only used for matching with the disclosure of the specification, so as to be understood and read by those skilled in the art, and are not used to limit the conditions under which the present invention can be implemented, so that the present invention has no technical significance, and any structural modification, ratio relationship change, or size adjustment should still fall within the scope of the present invention without affecting the efficacy and the achievable purpose of the present invention. In addition, the terms such as "upper", "lower", "left", "right" and "middle" used in the present specification are for clarity of description, and are not intended to limit the scope of the present invention, and changes or modifications of the relative relationship may be made without substantial changes in the technical contents.
Example 1
Referring to fig. 1, an intelligent pipe deformation detection system of an IMU inertial measurement unit includes a detector, a marker box and a data analysis processing computer;
the detector comprises an IMU inertial measurement unit, a coil induction module, a clock module and a signal acquisition module;
a GPS navigation module is arranged in the mark box;
and the data analysis processing computer reads the information stored by the detector after the detector finishes the pipeline detection, simultaneously reads the time and position information of the GPS module in each marker box, and then fuses the information to calculate the running track of the detector.
In specific implementation, the IMU inertial measurement unit of the detector includes three-directional gyroscopes and three-directional accelerometers, and is used to acquire attitude information of the detector.
When the detector is specifically implemented, the coil induction module of the detector adopts the principle that a coil cuts a magnetic field and is used for detecting whether equipment in a pipeline passes through the marking box.
In specific implementation, the clock module of the detector is used for providing time for the system, receiving GPS clock data sent by the marker box as a reference of the system clock and calibrating the clock in the operation process.
In specific implementation, the GPS navigation module of the marker box is disposed in the marker box and used for acquiring GPS coordinates of the marker box.
In specific implementation, the signal acquisition module of the detector receives data sent by the IMU inertia measurement unit, the coil induction module and the clock module.
Referring to fig. 2, in a specific implementation, the detection method of the detection system includes the following steps:
step 1: calibrating the GPS coordinates and clock information of the detector at the initial point of the detector;
step 2: in the motion process of the detector, the detector detects gyro data and acceleration data of three coordinates of the detector in real time through an IMU inertial measurement unit and records the gyro data and the acceleration data in a signal acquisition module in real time;
step 3: the method comprises the following steps that a mark box in the way is detected in real time through a coil induction module of a detector, and when the mark box is detected, the detector receives a GPS clock signal sent by the mark box and records the passing time to a signal acquisition module;
step 4: and after the detector finishes the pipeline detection work, the detector is taken out from the pipeline, the data analysis processing computer integrates the GPS position information of the marker box and the data information in the signal acquisition module of the detector, the data is integrated by utilizing a Kalman filtering algorithm, and a detection conclusion and data of the detection system are output to the outside.
The invention uses the IMU inertia measurement unit to realize the acquisition of the attitude information of the detector, the IMU inertia measurement unit has strong interference resistance in work and is not interfered by the external environment, the marker box is used to obtain the GPS coordinate information, the GPS coordinate information is used to calibrate the position information of the IMU inertia measurement unit in time, and the method of combining the IMU inertia measurement unit and the GPS positioning is adopted to detect the deformation of the pipeline, so that the product has higher practicability and creativity.
Although the invention has been described in detail above with reference to a general description and specific examples, it will be apparent to one skilled in the art that modifications or improvements may be made thereto based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.
Claims (7)
1. The utility model provides an intelligent pipeline deformation detecting system of IMU inertial measurement unit which characterized in that: the detection system comprises a detector, a marking box and a data analysis processing computer;
the detector comprises an IMU inertial measurement unit, a coil induction module, a clock module and a signal acquisition module;
a GPS navigation module is arranged in the mark box;
and the data analysis processing computer reads the information stored by the detector after the detector finishes the pipeline detection, simultaneously reads the time and position information of the GPS module in each marker box, and then fuses the information to calculate the running track of the detector.
2. The intelligent pipe deformation detection system of the IMU inertial measurement unit of claim 1, wherein: the IMU inertial measurement unit of the detector comprises three-direction gyroscopes and three-direction accelerometers, and is used for collecting attitude information of the detector.
3. The intelligent pipe deformation detection system of the IMU inertial measurement unit of claim 1, wherein: the coil induction module of the detector adopts the principle that a coil cuts a magnetic field and is used for detecting whether equipment in a pipeline passes through the marking box or not.
4. The intelligent pipeline trajectory detection system of an IMU inertial measurement unit of claim 1, wherein: the clock module of the detector is used for providing time for the system, receiving GPS clock data sent by the marker box as a reference of the system clock and calibrating the clock in the operation process.
5. The intelligent pipe deformation detection system of the IMU inertial measurement unit of claim 1, wherein: and the GPS navigation module of the marking box is arranged in the marking box and is used for acquiring the GPS coordinates of the marking box.
6. The intelligent pipe deformation detection system of the IMU inertial measurement unit of claim 1, wherein: and a signal acquisition module of the detector receives data sent by the IMU inertia measurement unit, the coil induction module and the clock module.
7. The intelligent pipe deformation detection system of the IMU inertial measurement unit of claim 1, wherein: the detection method of the detection system comprises the following steps:
step 1: calibrating the GPS coordinates and clock information of the detector at the initial point of the detector;
step 2: in the motion process of the detector, the detector detects gyro data and acceleration data of three coordinates of the detector in real time through an IMU inertial measurement unit and records the gyro data and the acceleration data in a signal acquisition module in real time;
step 3: the method comprises the following steps that a mark box in the way is detected in real time through a coil induction module of a detector, and when the mark box is detected, the detector receives a GPS clock signal sent by the mark box and records the passing time to a signal acquisition module;
step 4: and after the detector finishes the pipeline detection work, the detector is taken out from the pipeline, the data analysis processing computer integrates the GPS position information of the marker box and the data information in the signal acquisition module of the detector, the data is integrated by utilizing a Kalman filtering algorithm, and a detection conclusion and data of the detection system are output to the outside.
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| CN201911267552.8A CN111189426A (en) | 2019-12-11 | 2019-12-11 | Intelligent pipeline deformation detection system of IMU (inertial measurement unit) |
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| CN201911267552.8A CN111189426A (en) | 2019-12-11 | 2019-12-11 | Intelligent pipeline deformation detection system of IMU (inertial measurement unit) |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112016600A (en) * | 2020-08-14 | 2020-12-01 | 中国石油大学(北京) | Pipeline abnormity identification method, device and system |
| CN114279395A (en) * | 2021-12-28 | 2022-04-05 | 国家石油天然气管网集团有限公司 | Deformation detection method and system for pipeline |
| CN117249811A (en) * | 2023-11-20 | 2023-12-19 | 中国建筑一局(集团)有限公司 | Distributed inclination monitoring system and method for super high-rise building |
-
2019
- 2019-12-11 CN CN201911267552.8A patent/CN111189426A/en active Pending
Non-Patent Citations (1)
| Title |
|---|
| 李睿 等: "基于多传感器数据融合的长输埋地管道中心线测量", 《石油学报》 * |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112016600A (en) * | 2020-08-14 | 2020-12-01 | 中国石油大学(北京) | Pipeline abnormity identification method, device and system |
| CN114279395A (en) * | 2021-12-28 | 2022-04-05 | 国家石油天然气管网集团有限公司 | Deformation detection method and system for pipeline |
| CN117249811A (en) * | 2023-11-20 | 2023-12-19 | 中国建筑一局(集团)有限公司 | Distributed inclination monitoring system and method for super high-rise building |
| CN117249811B (en) * | 2023-11-20 | 2024-03-29 | 中国建筑一局(集团)有限公司 | Distributed inclination monitoring system and method for super high-rise building |
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Application publication date: 20200522 |