CN112762277A - Real-time tracking and positioning system and method for in-pipeline detector - Google Patents
Real-time tracking and positioning system and method for in-pipeline detector Download PDFInfo
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- CN112762277A CN112762277A CN202110081040.3A CN202110081040A CN112762277A CN 112762277 A CN112762277 A CN 112762277A CN 202110081040 A CN202110081040 A CN 202110081040A CN 112762277 A CN112762277 A CN 112762277A
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/40—Constructional aspects of the body
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
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Abstract
The invention belongs to the technical field of pipeline detection, and discloses a real-time tracking and positioning system and a real-time tracking and positioning method for a detector in a pipeline, wherein the system comprises the following components: the system comprises an internal detector, an infrasonic wave sounder, an infrasonic wave sounding controller, a signal acquisition device and a monitoring terminal; the infrasonic wave generator and the infrasonic wave sounding controller are both arranged in the internal detector, and the infrasonic wave sounding controller is in communication connection with the monitoring terminal and controls the infrasonic wave generator to emit infrasonic waves; the signal acquisition device is respectively in signal connection with the infrasonic wave sounder and the monitoring terminal and is used for acquiring infrasonic wave signals sent by the infrasonic wave sounder and uploading the infrasonic wave signals to the monitoring terminal. The invention can obtain the real-time running state and the specific position of the inner detector for real-time positioning and tracking, and monitoring personnel can take measures in time according to the running state and the specific position information of the inner detector, thereby avoiding the occurrence of safety accidents.
Description
Technical Field
The invention belongs to the technical field of pipeline detection, and particularly relates to a real-time tracking and positioning system and method for a detector in a pipeline.
Background
The operation of the detector in the pipeline is a high-risk operation for pipeline operation enterprises, and the blockage condition may occur in the operation process of the detector, so that the production safety accidents of the pipeline enterprises are further caused. Therefore, it is important to know the operation state and the operation position of the inner detector every time the detector is put into operation.
In the prior art, the determination of the operation state and the position of the detector in the pipeline is mainly implemented by the following scheme: set for the calibration box and arrange the field engineer through arranging at pipeline every certain interval along the line and monitor, when the detector passes through the calibration box, the calibration box can be aroused, and the field engineer then judges the position of detector. However, the above technical solutions mainly have the following drawbacks: firstly, the running state and the position of the inner detector cannot be mastered in real time, and the position of the inner detector can be judged only through a single point (a calibration box); secondly, if the inner detector is blocked, the specific blocking position cannot be obtained in time, and the blocking position needs to be confirmed gradually along the pipeline by a field engineer.
Therefore, the existing technical scheme cannot control the operation risk of the internal detector and cannot make remedial measures quickly when the risk occurs.
Disclosure of Invention
The invention aims to provide a real-time tracking and positioning system and a real-time tracking and positioning method for an in-pipeline detector, which are used for solving the technical problems that the in-pipeline detector cannot be controlled to run risks and remedial measures cannot be taken quickly when the risks occur in the prior art.
In order to achieve the purpose, the invention adopts the following technical scheme:
a real-time tracking and locating system for in-pipe detectors, the system comprising: the system comprises an internal detector, an infrasonic wave sounder, an infrasonic wave sounding controller, a signal acquisition device and a monitoring terminal;
the infrasonic wave generator and the infrasonic wave sounding controller are both arranged in the internal detector, and the infrasonic wave sounding controller is in communication connection with the monitoring terminal and controls the infrasonic wave generator to emit infrasonic waves;
the signal acquisition device is respectively in signal connection with the infrasonic wave sounder and the monitoring terminal and is used for acquiring infrasonic wave signals sent by the infrasonic wave sounder and uploading the infrasonic wave signals to the monitoring terminal.
Further, the system further comprises: the signal acquisition device is communicated with the monitoring terminal through the signal cable for debugging and parameter setting; the monitoring terminal is arranged through the signal cable, and the infrasound sound production controller controls the infrasound production device to produce sound at the frequency and time interval.
Furthermore, the signal acquisition device comprises a signal acquisition device, a signal amplifier, a signal conversion module and a communication module; the signal collector is in signal connection with the infrasonic wave sounder and sends collected infrasonic wave electric signals to the signal amplifier, the signal amplifier screens the infrasonic wave electric signals to obtain target signals, sends the target signals to the signal conversion module, converts the target signals into digital signals, and sends the digital signals to the monitoring terminal through the communication module.
Furthermore, the signal acquisition device comprises a ball serving station signal acquisition device and a ball receiving station signal acquisition device, and the ball serving station signal acquisition device and the ball receiving station signal acquisition device are respectively arranged at two ends of the pipeline of the receiving and sending detection station.
Further, the monitoring terminal comprises a signal analysis module and a human-computer interaction interface, wherein the signal analysis module is used for analyzing the received digital signal, obtaining the running state and the position information of the internal detector, and displaying the running state and the position information of the internal detector on the human-computer interaction interface.
The invention also provides a real-time tracking and positioning method of the in-pipeline detector, which utilizes the real-time tracking and positioning system of the in-pipeline detector to track and position the running state and the position information of the in-pipeline detector in real time; the method comprises the following steps:
step 1: the monitoring terminal is connected with the inner detector through a signal cable, automatically identifies an infrasonic sound production controller in the inner detector, and sets the sound production frequency and time interval of the infrasonic sound production device through the infrasonic sound production controller;
step 2: the internal detector is put into operation and transmitted on a pipeline of a receiving and transmitting detection station, and the infrasonic wave generator emits infrasonic waves according to preset sounding frequency and time interval;
and step 3: the signal acquisition device receives an infrasonic wave signal, converts the infrasonic wave signal into a digital signal and sends the digital signal to the monitoring terminal;
and 4, step 4: and the monitoring terminal analyzes the received digital signal and acquires the running state and the position information of the internal detector.
Further, the step 3 comprises:
the signal collector receives the infrasonic wave signals, sends the infrasonic wave signals to the signal amplifier for amplification and screening out target signals, converts the target signals into digital signals through the signal conversion module and sends the digital signals to the monitoring terminal through the communication module.
Further, the step 4 comprises:
step 4.1: receiving the digital signal sent by the signal acquisition device, wherein the digital signal comprises the time difference delta t of the target signal received by the signal acquisition device of the serve station and the signal acquisition device of the receive station1-t2The medium flow velocity V when the infrasonic wave generator emits infrasonic waves;
step 4.2: and calculating the real-time mileage position S of the inner detector according to the time difference Deltat and the medium flow velocity V:
wherein L is the length of the pipeline of the receiving and transmitting detection station, C is the velocity of the infrasonic wave, and K is the influence factor of the medium flow velocity on the infrasonic wave velocity;
step 4.3: and judging the running state of the internal detector according to the time difference delta t, and judging the position information of the internal detector according to the real-time mileage position S.
Further, the judging the operation state of the internal detector according to the time difference Δ t includes:
and when the time difference deltat is kept unchanged, judging that the inner detector is in a blocking state.
Further, the generation frequency of the infrasonic waves is less than 20 Hz.
The invention has the beneficial effects that:
1. according to the invention, the infrasonic wave sounder and the infrasonic wave sounding controller are arranged in the internal detector, the infrasonic wave signals are collected by the signal collecting device and uploaded to the monitoring terminal, the received digital signals are analyzed by the signal analyzing module of the monitoring terminal, the real-time running state and the specific position of the internal detector can be obtained for real-time positioning and tracking, and monitoring personnel can take measures in time according to the running state and the specific position information of the internal detector, so that safety accidents are avoided.
2. According to the invention, the signal acquisition devices are respectively arranged at the two ends of the pipeline of the receiving and transmitting detection station, and the signal generation devices (the infrasonic sound production controller and the infrasonic sound production device) are arranged in the internal detector, so that redundant workers do not need to bury the calibration box and monitor the excitation state of the calibration box, the labor intensity and cost of the workers are reduced, and the monitoring efficiency of the internal detector is improved.
Drawings
FIG. 1 is a schematic diagram of a real-time tracking and positioning system for an in-pipe detector according to an embodiment of the present invention;
FIG. 2 is an assembly view of a real-time tracking and positioning system for in-duct detectors in an embodiment of the present invention;
FIG. 3 is a schematic diagram of a signal acquisition device of an in-pipe detector according to an embodiment of the present invention;
fig. 4 is a flowchart of a method for real-time tracking and positioning of an in-pipe detector according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present disclosure more clear, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the drawings in the embodiments of the present disclosure, and it is obvious that the described embodiments are some, but not all embodiments of the present disclosure. All other embodiments obtained by a person skilled in the art based on the embodiments in the present specification without any inventive step are within the scope of protection of the present specification.
It will be understood that, although the terms first, second, etc. may be used herein to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element from another. For example, a first element could be termed a second element, and, similarly, a second element could be termed a first element, without departing from the scope of example embodiments of the present invention.
It should be understood that, for the term "and/or" as may appear herein, it is merely an associative relationship that describes an associated object, meaning that three relationships may exist, e.g., a and/or B may mean: a exists alone, B exists alone, and A and B exist at the same time; for the term "/and" as may appear herein, which describes another associative object relationship, it means that two relationships may exist, e.g., a/and B, may mean: a exists independently, and A and B exist independently; in addition, for the character "/" that may appear herein, it generally means that the former and latter associated objects are in an "or" relationship.
It will be understood that when an element is referred to herein as being "connected," "connected," or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may be present. Conversely, if a unit is referred to herein as being "directly connected" or "directly coupled" to another unit, it is intended that no intervening units are present. In addition, other words used to describe the relationship between elements should be interpreted in a similar manner (e.g., "between … …" versus "directly between … …", "adjacent" versus "directly adjacent", etc.).
It is to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments of the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises," "comprising," "includes" and/or "including," when used herein, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, numbers, steps, operations, elements, components, and/or groups thereof.
It should also be noted that, in some alternative implementations, the functions/acts noted may occur out of the order noted in the figures. For example, two figures shown in succession may, in fact, be executed substantially concurrently, or the figures may sometimes be executed in the reverse order, depending upon the functionality/acts involved.
It should be understood that specific details are provided in the following description to facilitate a thorough understanding of example embodiments. However, it will be understood by those of ordinary skill in the art that the example embodiments may be practiced without these specific details. For example, systems may be shown in block diagrams in order not to obscure the examples in unnecessary detail. In other instances, well-known processes, structures and techniques may be shown without unnecessary detail in order to avoid obscuring example embodiments.
Example one
Referring to fig. 1-3, there is shown a schematic diagram of a real-time tracking and positioning system for in-pipe detectors, the system comprising: the system comprises an internal detector, an infrasonic wave sounder, an infrasonic wave sounding controller, a signal acquisition device and a monitoring terminal; the infrasonic wave generator and the infrasonic wave sounding controller are both arranged in the internal detector, and the infrasonic wave sounding controller is in communication connection with the monitoring terminal and controls the infrasonic wave generator to emit infrasonic waves; the signal acquisition device is respectively in signal connection with the infrasonic wave sounder and the monitoring terminal and is used for acquiring infrasonic wave signals sent by the infrasonic wave sounder and uploading the infrasonic wave signals to the monitoring terminal.
In the embodiment of the present invention, preferably, the system further includes: the signal acquisition device is communicated with the monitoring terminal through the signal cable for debugging and parameter setting; the monitoring terminal is arranged through the signal cable, and the infrasound sound production controller controls the infrasound production device to produce sound at the frequency and time interval. Preferably, the signal cable is a multifunctional integrated cable, which includes a debugging cable, a data downloading cable, a charging cable, and the like, and is used for data downloading.
Specifically, the communication debugging content and the parameter setting include baud rate, data bits, stop bits, parity check, and the like. The sounding frequency is preferably below 20Hz, and the sounding frequency is long in wavelength, small in attenuation and long in propagation distance; the sounding time interval is calculated by combining the length of the pipeline joint, the medium flow velocity, the pressure and the like, so that the phenomenon that the sound wave generated by the infrasonic wave is overlapped with the sound wave generated when the detector passes through a welding seam, and overlarge background noise is caused is avoided.
In the embodiment of the invention, the signal acquisition device comprises a signal acquisition device, a signal amplifier, a signal conversion module and a communication module; the signal collector is in signal connection with the infrasonic wave sounder and sends collected infrasonic wave electric signals to the signal amplifier, the signal amplifier screens the infrasonic wave electric signals to obtain target signals, sends the target signals to the signal conversion module, converts the target signals into digital signals, and sends the digital signals to the monitoring terminal through the communication module. The target signal can be conveniently and quickly found from the interference signal (the signal without obvious regularity) through the regular sound wave signal at intervals.
In the embodiment of the present invention, it should be noted that the signal acquisition device includes a service station signal acquisition device and a reception station signal acquisition device, and the service station signal acquisition device and the reception station signal acquisition device are respectively disposed at two ends of a pipeline of the receiving and transmitting detection station.
In the embodiment of the present invention, preferably, the monitoring terminal is a monitoring computer, and the monitoring terminal includes a signal analysis module and a human-computer interaction interface, where the signal analysis module is configured to analyze a received digital signal and obtain an operation state and position information of the internal detector, and display the operation state and position information of the internal detector on the human-computer interaction interface.
Example two
Referring to fig. 4, the present invention further provides a real-time tracking and positioning method for a detector in a pipeline, wherein the method uses the real-time tracking and positioning system for a detector in a pipeline to perform real-time tracking and positioning on the operation state and the position information of the detector in a pipeline; the method comprises the following steps:
step 1: the monitoring terminal is connected with the inner detector through a signal cable, automatically identifies an infrasonic sound production controller in the inner detector, and sets the sound production frequency and time interval of the infrasonic sound production device through the infrasonic sound production controller; preferably, the frequency of occurrence of the infrasonic waves is less than 20 Hz.
In the embodiment of the invention, before the monitoring terminal is connected with the internal detector, a signal acquisition device is arranged on a pipeline of a receiving and transmitting detection station, and the communication between the signal acquisition device and the monitoring terminal is tested to be normal; and after the setting is completed, the signal cable is disconnected.
Step 2: the internal detector is put into operation and transmitted on a pipeline of a receiving and transmitting detection station, and the infrasonic wave generator emits infrasonic waves according to preset sounding frequency and time interval;
and step 3: the signal acquisition device receives an infrasonic wave signal, converts the infrasonic wave signal into a digital signal and sends the digital signal to the monitoring terminal;
in the embodiment of the present invention, the step 3 includes: the signal collector receives the infrasonic wave signals, sends the infrasonic wave signals to the signal amplifier for amplification and screening out target signals, converts the target signals into digital signals through the signal conversion module and sends the digital signals to the monitoring terminal through the communication module.
And 4, step 4: and the monitoring terminal analyzes the received digital signal and acquires the running state and the position information of the internal detector.
In the embodiment of the present invention, the step 4 includes:
step 4.1: receiving the digital signal sent by the signal acquisition device, wherein the digital signal comprises the time difference delta t of the target signal received by the signal acquisition device of the serve station and the signal acquisition device of the receive station1-t2The medium flow velocity V when the infrasonic wave generator emits infrasonic waves;
step 4.2: and calculating the real-time mileage position S of the inner detector according to the time difference Deltat and the medium flow velocity V:
wherein L is the length of the pipeline of the receiving and transmitting detection station, C is the velocity of the infrasonic wave, and K is the influence factor of the medium flow velocity on the infrasonic wave velocity;
step 4.3: and judging the running state of the internal detector according to the time difference delta t, and judging the position information of the internal detector according to the real-time mileage position S.
Further, the judging the operation state of the internal detector according to the time difference Δ t includes:
and when the time difference deltat is kept unchanged, judging that the inner detector is in a blocking state.
The embodiment of the invention has the beneficial effects that:
1. according to the embodiment of the invention, the infrasonic wave generator and the infrasonic wave sound production controller are arranged in the internal detector, the infrasonic wave signals are collected by the signal collecting device and uploaded to the monitoring terminal, the received digital signals are analyzed by the signal analyzing module of the monitoring terminal, the real-time running state and the specific position of the internal detector can be obtained for real-time positioning and tracking, and monitoring personnel can take measures in time according to the running state and the specific position information of the internal detector, so that safety accidents are avoided.
2. According to the embodiment of the invention, the signal acquisition devices are respectively arranged at the two ends of the pipeline of the receiving and transmitting detection station, and the signal generation devices (the infrasonic sound production controller and the infrasonic sound production device) are arranged in the inner detector, so that redundant workers are not needed to bury the set calibration box and monitor the excitation state of the calibration box, the labor intensity and the cost of the workers are reduced, and the monitoring efficiency of the inner detector is improved.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, it is intended that the present invention cover the modifications and variations of this invention provided they come within the scope of the appended claims and their equivalents.
Claims (10)
1. A system for real-time tracking and locating of a detector within a pipe, the system comprising: the system comprises an internal detector, an infrasonic wave sounder, an infrasonic wave sounding controller, a signal acquisition device and a monitoring terminal;
the infrasonic wave generator and the infrasonic wave sounding controller are both arranged in the internal detector, and the infrasonic wave sounding controller is in communication connection with the monitoring terminal and controls the infrasonic wave generator to emit infrasonic waves;
the signal acquisition device is respectively in signal connection with the infrasonic wave sounder and the monitoring terminal and is used for acquiring infrasonic wave signals sent by the infrasonic wave sounder and uploading the infrasonic wave signals to the monitoring terminal.
2. The system for real-time tracking and locating of in-pipe detectors of claim 1, further comprising: the signal acquisition device is communicated with the monitoring terminal through the signal cable for debugging and parameter setting; the monitoring terminal is arranged through the signal cable, and the infrasound sound production controller controls the infrasound production device to produce sound at the frequency and time interval.
3. The system for real-time tracking and positioning of the in-pipeline detector according to claim 2, wherein the signal acquisition device comprises a signal collector, a signal amplifier, a signal conversion module and a communication module; the signal collector is in signal connection with the infrasonic wave sounder and sends collected infrasonic wave electric signals to the signal amplifier, the signal amplifier screens the infrasonic wave electric signals to obtain target signals, sends the target signals to the signal conversion module, converts the target signals into digital signals, and sends the digital signals to the monitoring terminal through the communication module.
4. The system as claimed in claim 2, wherein the signal acquisition device comprises a ball-serving station signal acquisition device and a ball-receiving station signal acquisition device, and the ball-serving station signal acquisition device and the ball-receiving station signal acquisition device are respectively disposed at two ends of the pipeline of the receiving and transmitting detection station.
5. The system of claim 2, wherein the monitoring terminal comprises a signal analysis module and a human-computer interaction interface, and the signal analysis module is configured to analyze the received digital signal and obtain the operation status and the position information of the inner detector, and display the operation status and the position information of the inner detector on the human-computer interaction interface.
6. A real-time tracking and positioning method for an in-pipe detector, which is characterized in that the method uses the real-time tracking and positioning system for an in-pipe detector according to any one of claims 1 to 5 to perform real-time tracking and positioning on the operation state and position information of the in-pipe detector; the method comprises the following steps:
step 1: the monitoring terminal is connected with the inner detector through a signal cable, automatically identifies an infrasonic sound production controller in the inner detector, and sets the sound production frequency and time interval of the infrasonic sound production device through the infrasonic sound production controller;
step 2: the internal detector is put into operation and transmitted on a pipeline of a receiving and transmitting detection station, and the infrasonic wave generator emits infrasonic waves according to preset sounding frequency and time interval;
and step 3: the signal acquisition device receives an infrasonic wave signal, converts the infrasonic wave signal into a digital signal and sends the digital signal to the monitoring terminal;
and 4, step 4: and the monitoring terminal analyzes the received digital signal and acquires the running state and the position information of the internal detector.
7. The method for real-time tracking and positioning of the in-pipe detector according to claim 6, wherein the step 3 comprises:
the signal collector receives the infrasonic wave signals, sends the infrasonic wave signals to the signal amplifier for amplification and screening out target signals, converts the target signals into digital signals through the signal conversion module and sends the digital signals to the monitoring terminal through the communication module.
8. The method for real-time tracking and positioning of the in-pipe detector according to claim 6, wherein the step 4 comprises:
step 4.1: receiving the digital signal sent by the signal acquisition device, wherein the digital signal comprises the time difference delta t of the target signal received by the signal acquisition device of the serve station and the signal acquisition device of the receive station1-t2The medium flow velocity V when the infrasonic wave generator emits infrasonic waves;
step 4.2: and calculating the real-time mileage position S of the inner detector according to the time difference Deltat and the medium flow velocity V:
wherein L is the length of the pipeline of the receiving and transmitting detection station, C is the velocity of the infrasonic wave, and K is the influence factor of the medium flow velocity on the infrasonic wave velocity;
step 4.3: and judging the running state of the internal detector according to the time difference delta t, and judging the position information of the internal detector according to the real-time mileage position S.
9. The method for real-time tracking and locating of the in-pipe detector according to claim 8, wherein the determining the operation state of the in-pipe detector according to the time difference Δ t comprises:
and when the time difference deltat is kept unchanged, judging that the inner detector is in a blocking state.
10. The method according to claim 6, wherein the infrasonic wave occurs at a frequency of less than 20 Hz.
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Application publication date: 20210507 |