CN108267454A - The defects of applied to retaining pressure fluid inside pipe fitting measurement and positioning system and method - Google Patents

Abstract

The defects of being applied to retaining pressure fluid inside pipe fitting the invention discloses one kind measurement and positioning system and method.Vehicle-mounted low frequency signal reception device is placed in the bottom for searching vehicle, and spherical device includes hemisphere spherical shell, circular slab and probe assembly；Circular slab is placed in complete sphere enclosure, and circular slab is equipped with probe assembly；Probe assembly includes 360 degree of spherical panorama video cameras, signal transmitting coil and light source bracket；Spherical device is moved in pressure fluid inside pipe fitting along pressure fluid pipe fitting, sends out low-frequency electromagnetic wave, and the vehicle-mounted low frequency signal reception device for searching vehicle is connected to host computer；Detect low-frequency electromagnetic wave post processing obtain spherical device where pressure fluid pipe fitting blocking position；It takes out spherical device and is connected to vehicle positioning host computer processing acquisition defective locations.The present invention can realize the inner case of acquisition pressure fluid pipe fitting, save inner space, electric energy and the video data acquiring amount of device, can accurately carry out the positioning of spherical device and the detection of defect.

Description

Defect measurement and positioning system and method applied to the inside of a plugged pressure fluid pipe fitting

technical field

The invention relates to a positioning device and method for a fluid pipe fitting, in particular to a defect measurement and positioning system and method applied to the inside of a blocked pressure fluid pipe fitting.

Background technique

After a period of operation, pressure fluid pipe fittings such as oil and gas pipe fittings may have defects due to corrosion, geological movement, pipe material and construction quality, etc., and a lot of corrosion impurities will accumulate in the pipeline, which requires regular inspection and cleaning of the pipeline , otherwise it may cause flow reduction, gas leakage or even explosion accidents.

On-line monitoring of oil and gas pipe fittings not only requires pipeline inspection equipment to complete pipeline defect detection or pipeline cleaning, but also requires pipeline equipment tracking and positioning equipment to realize real-time tracking and positioning of pipeline equipment.

Oil and gas pipe fittings are usually long-distance pipelines, and the tracking and positioning methods can only use cableless or wireless methods. When using cableless devices, the energy supply of the device needs to be considered, because there is no cable to supplement energy for the device, and the pipeline device must only reduce power consumption as much as possible. Electricity. In addition, because there is no cable connection and the environment inside the pipe is complicated, the recovery problem when the pipe device is stuck also needs to be considered.

Contents of the invention

The purpose of the present invention is to overcome the deficiencies in the prior art, and provide a defect measurement and positioning system and method applied to the inside of the blocked pressure fluid pipe fittings, which can realize the defect detection and external positioning of the pressure fluid pipe fittings. The external positioning of fluid pipe fittings can meet the positioning requirements of larger diameter internal pipe fittings, and has the characteristics of good stability during movement, high positioning accuracy, and energy saving for the interior of pipe fittings.

In order to solve the problems of the technologies described above, the technical solution provided by the invention is:

1. A defect measurement and positioning system applied to the inside of a plugged pressure fluid pipe fitting:

It includes a spherical device and a vehicle-mounted low-frequency signal receiving device. The vehicle-mounted low-frequency signal receiving device is placed at the bottom of the search vehicle, and the spherical device is in the pressure fluid pipe; Plate and detection assembly; two hemispherical shells form a complete spherical shell, the circular plate is placed inside the complete spherical shell, and two symmetrically arranged detection assemblies are arranged on the two ends of the circular plate; the detection assembly includes The 360-degree spherical panoramic camera, the signal transmitting coil and the light source bracket are arranged in sequence outward, the 360-degree spherical panoramic camera is fixed in the center of the circular plate, and the circular signal transmitting coil is fixed on the circular plate around the 360-degree spherical panoramic camera. A light source support is fixed on the circular plate around the transmitting coil, and an illumination light source is installed on the light source support.

The two hemispherical shells are provided with flange end faces, and screw holes are opened on the flange end faces, and the screw holes on the flange end faces of the two hemispherical shells are connected by bolts and nuts so that the two hemispherical shells are butted to form a complete spherical shell.

The circular plate is located on the plane of the contact surfaces of the flange end faces of the two hemispherical shells, a silicone sealing ring is provided between the flange end faces of the two hemispherical shells, and the inner peripheral surface of the silicone sealing ring is provided with a The circular groove is directed, and the peripheral edge of the circular plate is embedded in the circular groove to form positioning and sealing.

The bottom of the 360-degree spherical panoramic camera has a connecting screw hole, and the center of the circular plate has a through hole. The connecting screw holes at the bottom of the two 360-degree spherical panoramic cameras of the two detection components pass through the same double-headed screw that runs through the through-hole connected so that two 360-degree spherical panoramic cameras are fixed at both ends of the circular plate.

The circular plate is provided with a circuit module and a power battery, the circuit module includes an internal positioning circuit module, a data memory and a low-frequency electromagnetic wave transmitting circuit module, the internal positioning circuit module has a gyroscope, the internal positioning circuit module and the low-frequency electromagnetic wave transmitting circuit The module is connected to the power battery, the data memory is connected to the internal positioning circuit module, the internal positioning circuit module is connected to the USB socket, the low-frequency electromagnetic wave transmitting circuit module is connected to the signal transmitting coil, and the low-frequency electromagnetic wave transmitting circuit module drives the signal transmitting coil to send out low-frequency signals.

The vehicle-mounted low-frequency signal receiving device includes a processing circuit module and four signal receiving sensors, and the four signal receiving sensors are spliced into a square sensor group and installed on the bottom of the vehicle.

2. A defect measurement and positioning method applied to the inside of a plugged pressure fluid pipe fitting:

1) The spherical device moves along the pressure fluid pipe inside the pressure fluid pipe, and is stopped at the blockage of the pressure fluid pipe; the spherical device emits low-frequency electromagnetic waves, and the search vehicle moves along the pressure fluid pipe outside the pressure fluid pipe to search, and the search vehicle The vehicle-mounted low-frequency signal receiving device at the bottom detects low-frequency electromagnetic waves in real time, and the vehicle-mounted low-frequency signal receiving device is connected to the vehicle-mounted positioning host computer; when the vehicle-mounted low-frequency signal receiving device detects low-frequency electromagnetic waves, the vehicle-mounted positioning host computer processes the low-frequency electromagnetic waves to obtain the location of the spherical device. The blockage position of the pressure fluid pipe fittings;

2) Take out the spherical device at the blocked position, and then connect the spherical device to the vehicle-mounted positioning host computer. The vehicle-mounted positioning host computer acquires the video data and orientation data detected by the spherical device for processing to obtain the defect position.

In said step 1), the search vehicle advances along the pressurized fluid pipe, and in the process of approaching the spherical device, the sensor group consisting of four signal receiving sensors on the vehicle-mounted low-frequency signal receiving device receives the low-frequency electromagnetic waves emitted by the spherical device, and then the low-frequency The electromagnetic waves are processed by the processing circuit module of the vehicle-mounted low-frequency signal receiving device and then input to the vehicle-mounted positioning host computer.

In the described step 1), the vehicle-mounted positioning host computer receives the low-frequency electromagnetic wave signals received by the four signal receiving sensors Use the following formulas to simultaneously calculate and obtain the three-axis position coordinates x, y, z of the spherical device relative to the center point of the sensor group:

Among them, b represents the magnification of the processing circuit module in the vehicle-mounted low-frequency signal receiving device, and x, y, and z represent the three-axis position coordinates of the spherical device relative to the center point of the sensor group respectively. In the specific implementation, the coordinate system is based on the center point of the sensor group A three-dimensional coordinate system established for the origin; (x ₀ ,y ₀ ),(x ₁ ,y ₁ ),(x ₂ ,y ₂ ),(x ₃ ,y ₃ ) are the position coordinates of the center points of the four signal receiving sensors , B ₀ , B ₁ , B ₂ , and B ₃ represent the electromagnetic field strengths of the four signal receiving sensors at the moment of receiving low-frequency electromagnetic waves; I is the current of the signal transmitting coil in the spherical device, and n is the unit length of the signal transmitting coil The turns ratio of the coil, R is the radius of the signal transmitting coil, μ ₀ is the magnetic permeability of the signal transmitting coil in the pressure fluid pipe, and l is half the length of the signal transmitting coil.

In the described step 2), the video data and the orientation data are collected by the gyroscope of the 360-degree spherical panoramic camera and the internal positioning circuit module respectively, and the video data and the orientation data are input to the vehicle-mounted positioning host computer for processing. Defect recognition is performed on each frame of image in the video data to extract each frame of defect images with pipe inner wall defects, and then calculation and processing are performed according to the orientation data to obtain the position coordinates of the spherical device corresponding to the defect images as the defect position.

In said step 2), after the spherical device is recovered and taken out, the video data collected by the 360-degree spherical panoramic camera and the orientation data collected by the gyroscope of the internal positioning circuit module are input into the vehicle-mounted positioning host computer, and then calculated and processed in the following manner to obtain The transition matrix with position coordinates at the current m-th sampling moment corresponding to the defect image:

2.1) The azimuth data collected by the gyroscope includes the angular acceleration and acceleration at each sampling moment. First, use the following method to calculate the offset around each coordinate axis at the current m-th sampling moment relative to the initial sampling moment by applying the quaternion solution. Angle (γ _m ,θ _m ,ψ _m ), specifically:

2.1.1) First, establish a quaternion at the sampling time, and initialize the quaternion of the gyroscope at the initial sampling time as:

[q ₀ (0) q ₁ (0) q ₂ (0) q ₃ (0)]＝[1 0 0 0]

Among them, q ₀ (0), q ₁ (0), q ₂ (0), q ₃ (0) represent the quaternion at the initial sampling moment;

Then use the following method for each sampling time after the initial sampling time, initially assign the quaternion and use the standard Kalman filter algorithm to correct the error in the quaternion data, and substitute the corrected quaternion data into the quaternion of the following formula Argument differential equation, use Runge-Kutta to solve the quaternion differential equation to get the quaternion value q ₀ (m), q ₁ (m), q ₂ (m), q ₃ (m ):

Among them, q ₀ (m), q ₁ (m), q ₂ (m), and q ₃ (m) represent the quaternion at the mth sampling moment, m represents the ordinal number of the sampling moment, and the mth sampling moment is taken as the current Time, m>=1; w _x (m-1), w _y (m-1), w _z (m-1) is obtained by integrating the three-axis angular acceleration at the m-1 sampling time collected by the gyroscope The triaxial angular velocity of , T represents the time interval between adjacent sampling moments;

The quaternion describes the transformation process from the coordinate system established by the center point of the sensor group to the coordinate system established by the gyroscope, where q ₀ (m) represents a vector in the three-dimensional coordinates established by the gyroscope at time m, and q ₁ (m), q ₂ (m), and q ₃ (m) represent the rotation vectors of the three-dimensional coordinate axes established by the gyroscope at time m to m+1, respectively.

After each update of the quaternion, the following formula needs to be brought in for normalization:

in, Indicates the normalized quaternion at the mth sampling moment;

2.1.2) Then, according to the conversion relationship between quaternions and Euler angles in the following formula, the offset angles (γ _m , θ _m , ψ _m ):

Among them, ψ _m , θ _m , and γ _m represent the calculated rotation angles of the spherical device around the z-axis, y-axis, and x-axis at the mth sampling moment;

2.1.3) Then, according to the acceleration data (a _xm , a _ym , a _zm ) collected by the gyroscope moving along each coordinate axis direction, it is calculated that the gyroscope is moving along each coordinate axis direction at the current mth The moving distance (△x _m , △y _m , △z _m ) of each sampling time relative to the initial sampling time:

Among them, V _x(m-1) , V _y(m-1) and V _z(m-1) represent the velocity components of the motion velocity of the spherical device on the three-dimensional coordinate axis at the mth sampling moment, and t is the time variable ;

2.2) Put the distance (△x _m , △y _m , △z _m ) and offset angle (γ _m , θ _m , ψ _m ) into the following formula to obtain the transfer matrix T _m of the gyroscope:

The internal structure of the spherical device of the present invention is a plane-symmetrical structure, all structures are placed symmetrically, and the weight distribution is uniform, which is beneficial for maintaining the balance of the spherical device in the liquid.

In the present invention, two 360-degree spherical panoramic cameras are assembled on a circular plate, and the internal circuits of the two spherical panoramic cameras are connected with the circuit modules on the circular plate. The board realizes the charging and data reading of the spherical camera device.

The spherical shell is provided with a USB socket for charging and reading data, and the data in the data storage and the power supply battery can be charged through the USB socket without disassembling the spherical shell.

Compared with prior art, the beneficial effect of the present invention is:

1. The device only uses two 360-degree spherical panoramic cameras to collect the internal conditions of the pressure fluid pipe fittings, saving the internal space of the device, electric energy and video data collection.

2. The interior of the whole device is a symmetrical structure, and the modules are evenly distributed, which better controls the balance of the device. The center of gravity of the control device can be located at the center of the sphere of the device, so that the device can be naturally suspended and balanced in the liquid.

3. The outer diameter of the spherical device is slightly smaller than the inner diameter of the pipe, and it can move within the pipe relying on fluid pressure, which saves the electric energy required for the device to move, and the spherical device is a cable-free device, and the working distance will not be limited by the cable.

4. A USB slot for charging and reading data is provided on the spherical device’s spherical shell, so that the data in the data storage and the power battery can be charged through the USB slot without disassembling the spherical shell.

5. Process each defect picture in time periods to avoid errors accumulating over time and correct the influence of zero drift errors.

In summary, the present invention can accurately locate the spherical device and detect defects.

Description of drawings

Fig. 1 is a schematic diagram of the system of the present invention.

Fig. 2 is a schematic structural diagram of a spherical shell in an embodiment of the present invention.

Fig. 3 is a schematic diagram of the assembly and disassembly of the spherical device in the embodiment of the present invention.

Fig. 4 is a structural diagram of a circular plate and some components in an embodiment of the present invention.

FIG. 5 is a structural diagram of a 360-degree spherical panoramic camera in an embodiment of the present invention.

Fig. 6 is an assembly diagram of the double spherical camera device in the embodiment of the present invention.

Fig. 7 is a schematic diagram of the groove of the silicone sealing ring in the embodiment of the present invention.

Figure 8 is a device connection diagram of the circular plate.

Fig. 9 is a working flow chart of the spherical device.

In the figure: vehicle-mounted positioning host computer 1, vehicle-mounted low-frequency signal receiving device 2, spherical device 3, pressure fluid pipe fitting 4, screw hole 5, switch through hole 6, switch thread plug 7, USB through hole 8, USB thread plug 9, 360 High-degree spherical panoramic camera 10, signal transmitting coil 11, light source bracket 12, circular plate 13, silicone seal ring 14, hemispherical shell 15, spliced circular plate 16, through hole 17, charging patch 18, connecting screw hole 19, double-headed screw 20, annular groove 21.

Detailed ways

Further description will be given below in conjunction with the embodiments shown in the accompanying drawings.

As shown in FIG. 1 , the present invention includes a spherical device 3 and a vehicle-mounted low-frequency signal receiving device 2 , the vehicle-mounted low-frequency signal receiving device 2 is placed on the bottom of the search vehicle, and the spherical device 3 is in the pressure fluid pipe 4 .

The spherical device 3 includes two hemispherical shells 15 and a circular plate 13 and a detection assembly installed in the two hemispherical shells 15; the two hemispherical shells 15 form a complete spherical shell, and the circular plate 13 is placed in the complete spherical shell Inside, and on the plane where the flange end faces of the two hemispherical shells 15 meet, the two end faces of the circular plate 13 are provided with two symmetrically arranged detection assemblies; as shown in Figure 3, the detection assembly consists of circular The 360-degree spherical panoramic camera 10, the signal transmitting coil 11 and the light source bracket 12 arranged in sequence outward from the center of the plate 13, the 360-degree spherical panoramic camera 10 is fixed at the center of the circular plate 13, and the circular plate 13 around the 360-degree spherical panoramic camera 10 An annular signal transmitting coil 11 is fixed on the top, and a light source bracket 12 is fixed on a circular plate 13 around the signal transmitting coil 11, and an illumination light source is installed on the light source bracket 12.

As shown in Figure 2, the two hemispherical shells 15 are all provided with flange end faces, and the flange end faces are provided with screw holes 6, and the screw holes 6 on the flange end faces of the two hemispherical shells 15 are connected by bolts and nuts so that the two The hemispherical shells 15 are butted to form a complete spherical shell. The two hemispherical shells 15 are made of hard transparent material, and the transparent material is beneficial to the image collection of the device and the irradiation of the light source.

As shown in Figure 7, the circular plate 13 is located on the plane of the contact surfaces of the flange end faces of the two hemispherical shells 15, and a silicone sealing ring 14 is arranged between the flange end faces of the two hemispherical shells 15, The two hemispherical shells will be equipped with a silicone sealing ring when they are spliced together. The sealing ring can prevent liquid from entering the interior of the spherical device and increase the airtightness of the inside of the sphere; The peripheral edge of the shaped plate 13 is embedded in the annular groove 21 to form positioning and sealing.

As shown in Figure 4, the circular plate 13 is provided with mounting grooves arranged evenly spaced along the circumference of the inner and outer rings, the signal transmitting coil 11 is embedded in the mounting groove of the inner ring, and the light source bracket 12 is embedded in the outer ring. The mounting groove of the circle forms the circular plate 16 after splicing.

As shown in Fig. 4 and Fig. 6, described 360 degree spherical panoramic camera 10 bottoms have connecting screw hole 19, and circular plate 13 center has through hole 17, two 360 degree spherical panoramic cameras 10 of two detection assemblies The connecting screw holes 19 at the bottom are connected by the same stud screws 20 passing through the through holes 17, so that two 360-degree spherical panoramic cameras 10 are fixed at both ends of the circular plate 13.

As shown in Figure 5, the bottom of the 360-degree spherical panoramic camera 10 is provided with a charging patch 18, and the circular plate 13 is provided with a charging patch 18, and the 360-degree spherical panoramic camera 10 and the charging patch 18 of the circular plate 13 are connected and contacted. , and are commonly connected to the power battery. The 360-degree spherical panoramic camera contains a Bluetooth module, and the video data can be exported through the Bluetooth device without disassembling the spherical shell, which simplifies the operation.

The circular plate 13 is provided with a circuit module and a power battery, and the circuit module includes an internal positioning circuit module, a data memory and a low-frequency electromagnetic wave transmitting circuit module. The internal positioning circuit module has a gyroscope, and the internal positioning circuit module is connected with the low-frequency electromagnetic wave transmitting circuit module. To the power supply battery, the data memory is connected to the internal positioning circuit module, the internal positioning circuit module is connected to the USB socket, the low-frequency electromagnetic wave transmitting circuit module is connected to the signal transmitting coil 11, and the signal transmitting coil 11 is driven by the low-frequency electromagnetic wave transmitting circuit module to send a low-frequency signal. The power battery is also connected to the 360-degree spherical panoramic camera 10 and the light source, and the circuit module, the 360-degree spherical panoramic camera 10 and the light source are powered by the power battery.

The vehicle-mounted low-frequency signal receiving device includes a processing circuit module and four signal receiving sensors for receiving signals. The four signal receiving sensors are spliced into a square sensor group and installed on the bottom of the vehicle.

The switch of each circuit module inside the control device is provided on the spherical shell, and the internal circuit of the robot can be controlled without dismantling the spherical shell, which not only saves the electric energy of the robot, but also facilitates the user's operation. Among the two hemispherical shells 15, one of the hemispherical shells 15 is provided with a switch through hole 6 for installing the switch, and one of the hemispherical shells 15 is provided with a USB through hole 8 for arranging the USB interface and leading out the connection to the host computer. , The switch through hole 6 and the USB through hole 8 are respectively provided with a switch threaded plug 7 and a USB threaded plug 9 for sealing. The two through holes 6 and 8 are respectively fixed with the USB slot and the control switch of the spherical device, and each of the two through holes is equipped with a threaded plug, which can seal the through hole when the spherical device is working, so as to ensure the airtightness of the device sex.

In a specific implementation, a through hole is provided on the circular plate, in addition to fixing the 360-degree spherical panoramic camera 10, it also fixes the light source, the light source frame, and the signal transmitting coil.

The making and building process of the present invention is:

In the specific implementation, two Φ180 outer spherical shells are made. The spherical shell is composed of two hemispherical shells. There are 12 evenly distributed screw holes on the edge of each hemisphere. The function of the screw holes is for the screws to pass through and The two hemispheres are fixed together (Figure 2). A screw hole is arranged every 30° on the edge of the hemispherical shell, and the distance from the center of each screw hole to the center of the hemisphere is equal.

A silicone sealing ring is placed at the joint of the two outer spherical shells, and the butt joint and sealing of the spherical shells are realized through the sealing ring and fixing screws, so as to prevent the pipeline liquid from flowing into the device from the gap when the device is working in the pipeline, which will affect the operation of the device. There are grooves inside the silicone sealing ring, which can fix the circular plate (as shown in Figure 7).

The circular plate of the device is placed at the joint of the two hemispheres, that is, in the middle of the silicone sealing ring, and there is a groove in the middle of the silicone sealing ring to fix the circular plate. The diameter of the circuit board is slightly smaller than the silicone sealing ring, and there is a through hole (as shown in Figure 6) in the center of the circuit board, which can be used to fix two 360-degree spherical panoramic cameras, one on each of the two sides of the circuit board. A patch for charging is provided around the through hole at the center of the circle, and the charging patch corresponds to the camera when it is fixed (as shown in Figure 5).

On the two ring areas on the center circuit board, 16 installation slots are evenly distributed, and each ring is distributed with 8 installation slots, and each installation slot occupies 1/16 of the area of the ring (as shown in Figure 4) .

The ring mounting slot with a small radius is used to place the signal transmitting coil. The height of the transmitting coil is slightly larger than the radius of the ring where it is located. There are four evenly distributed teeth on the edge of the coil frame. The holes fit perfectly, and the function of the teeth is to fix the signal transmitting coil on the circular board. There are two transmitting coils, and one transmitting coil is fixed on the front and back sides of the circuit board (as shown in Figure 4).

The ring mounting groove with a larger radius is used to place the light source and the light source bracket. Like the transmitting coil, the light source bracket is also a hollow cylinder whose height is smaller than the signal transmitting coil, and there are four evenly distributed holes on the edge of the cylinder that fit perfectly with the mounting groove. Teeth are used to embed the light source support on the circular plate, and one on each of the front and back sides (as shown in Figure 4).

The vehicle-mounted low-frequency signal receiving device is composed of four signal receiving sensors and a processing circuit module. The induction coil is made of a copper core enameled wire wound on a plastic hollow skeleton. The enameled wire is wound on the skeleton for 15,000 turns, and the length of the skeleton is 490mm. The four signal receiving sensors are distributed symmetrically, and each hollow frame is fixed on one side of the square frame. The two ends of the enameled wire of each signal receiving sensor are connected to the processing circuit module. The processing circuit module of the receiving device includes an amplifier circuit, a filter circuit and a prompt circuit. The light will be on to remind the user that they are close to the spherical device, and the amplifier circuit and filter circuit will also start to work to amplify and filter the micro-current received by the signal receiving sensor, and then import the processed signal into the vehicle positioning host computer for exchange Processed by the host computer.

The upper computer part is built using the Labview platform. After the signal processed by the receiving device is imported into the upper computer, the upper computer compares the signal strength corresponding to the four signal receiving sensors, and calculates the relative signal of the spherical device through the background program of the upper computer. The location coordinates of the device are received and fed back to the user.

The diameter of the spherical device is 10mm smaller than the inner diameter of the pressure fluid pipe. The spherical device can be naturally suspended in the pipeline liquid, and it can be moved by the thrust of the liquid flow in the pipeline, and the moving speed of the spherical device can be controlled by controlling the flow rate of the fluid in the pipe. When the spherical device moves in the pipe, two 360-degree spherical panoramic cameras start to shoot the internal situation of the pipeline, and store the captured video in the memory card inside the 360-degree spherical panoramic camera. The internal positioning circuit module starts to record the position information and store it in the data memory. The low-frequency electromagnetic wave transmitting circuit module continuously transmits ultra-low frequency electromagnetic waves to the outside by driving the signal transmitting coil.

When the spherical device moves to the silt deposit blockage in the pipe, the spherical device will be blocked. The operator will drive a search vehicle equipped with a vehicle-mounted low-frequency signal receiving device and a vehicle-mounted positioning host computer, and drive on the ground along the route map provided by the host computer. When the search vehicle moves near the spherical device, the warning light will light up to remind the operator that they are approaching device, the search vehicle decelerates slowly until the on-board positioning host computer displays the coordinates of the spherical device. According to the location coordinates displayed by the vehicle-mounted positioning host computer, the operators dig the pipeline, recover the spherical pipeline device and clean the pipeline deposits (as shown in Figure 1).

After the spherical pipeline device is recovered, the spherical device is connected to the host computer with a data cable and a Bluetooth device, and the internal video of the pipeline stored in the two 360-degree spherical panoramic cameras and the internal positioning data recorded in the data storage are extracted, and handed over to the The upper computer processes, identifies the damage in the pipeline, and finds the specific location of the damage inside the pipeline.

Embodiments of the present invention and implementation thereof are as follows:

Taking the internal detection of the pressure fluid pipe fitting of DN220 (unit mm, the same below) as an example, the specific implementation of the external positioning device of the pressure fluid pipe fitting spherical device will be described below (as shown in FIG. 1 ).

The specific working process is as follows:

After assembling the various parts of the spherical device, turn on the control switch of the spherical device, put the completely sealed spherical device into the pressure fluid pipe 4 to be tested, and let the spherical device move with the liquid in the pressure fluid pipe 4.

1) The spherical device 3 moves along the pressure fluid pipe 4 inside the pressure fluid pipe, and is stopped at the blockage of the pressure fluid pipe; the spherical device 3 emits low-frequency electromagnetic waves, and the search vehicle moves along the pressure fluid pipe 4 outside the pressure fluid pipe to search The vehicle-mounted low-frequency signal receiving device 2 at the bottom of the search vehicle detects low-frequency electromagnetic waves in real time, and the vehicle-mounted low-frequency signal receiving device 2 is connected to the vehicle-mounted positioning host computer 1; when the vehicle-mounted low-frequency signal receiving device 2 detects low-frequency electromagnetic waves, the vehicle-mounted positioning host computer 1 The low-frequency electromagnetic waves are processed to obtain the blockage position of the pressure fluid pipe where the spherical device 3 is located.

During the movement of the spherical device 3 along the pressure fluid pipe 4, the double spherical camera device inside the spherical device 3 will start the full-range video data recording in the pressure fluid pipe 4, and at the same time, the gyroscope of the internal positioning circuit module of the spherical device 3 maintains the full-range orientation Data recording, and storing the video data and orientation data in the data memory.

At the same time, the spherical device will continuously emit 23.5HZ ultra-low frequency electromagnetic waves, and the internal positioning circuit will also record the data of the spherical device's orientation, acceleration and moving time, and store them in the data storage. The pipeline is filled with fluid, and the spherical device is pushed forward by detecting the fluid pressure in the pipeline, and the speed of the spherical device is adjusted by controlling the liquid flow in the tube.

The search vehicle advances along the pressure fluid pipe fitting 4. In the process of approaching the spherical device, the sensor group consisting of four signal receiving sensors on the vehicle-mounted low-frequency signal receiving device 2 receives the low-frequency electromagnetic waves emitted by the spherical device 3. When the vehicle-mounted low-frequency signal receiving device At a certain distance from the spherical device, the receiving device will receive the low-frequency electromagnetic waves emitted by the spherical device, and then the low-frequency electromagnetic waves will be processed by the processing circuit module of the vehicle-mounted low-frequency signal receiving device 2 and then input to the vehicle-mounted positioning host computer 1 . Based on the obtained signal strength, the upper computer uses an internal algorithm to obtain the position coordinates of the spherical device relative to the receiving device.

The on-board positioning host computer 1 receives the low-frequency electromagnetic wave signals received by the four signal receiving sensors The three-axis position coordinates x, y, z of the spherical device 1 relative to the center point of the sensor group are obtained by simultaneous calculation using the following formula:

Wherein, b represents the magnification of the processing circuit module in the vehicle-mounted low-frequency signal receiving device 2, and x, y, and z represent the three-axis position coordinates of the spherical device 3 relative to the center point of the sensor group respectively. In the specific implementation, the coordinate system is based on the sensor group The three-dimensional coordinate system established with the center point as the origin; (x ₀ ,y ₀ ),(x ₁ ,y ₁ ),(x ₂ ,y ₂ ),(x ₃ ,y ₃ ) are the coordinates of the center points of the four signal receiving sensors Position coordinates, B ₀ , B ₁ , B ₂ , and B ₃ respectively represent the electromagnetic field strengths of the four signal receiving sensors at the moment of receiving low-frequency electromagnetic waves; I is the current of the signal transmitting coil 11 in the spherical device 3, and n is the signal transmitting The turns ratio of the coil on the unit length of the coil 11, R is the radius of the signal transmitting coil 11, μ ₀ is the magnetic permeability of the signal transmitting coil 11 in the pressure fluid pipe fitting, and 1 is half the length of the signal transmitting coil 11;

The search vehicle stops moving after receiving the signal. At this time, the on-board positioning host computer will perform the above steps and display the position coordinates x, y, z of the spherical device to the operator. The operator digs the ground and pressure fluid pipes according to the position coordinates. , recover and take out the spherical device 3 and clean up the deposits in the pressure fluid pipe fittings to remove the blockage.

The recovery personnel carry out the recovery operation through the location coordinates displayed by the vehicle-mounted positioning host computer, and clean up the sediment in the pipeline.

2) Take out the spherical device 3 at the blocked position, and then connect the spherical device 3 to the vehicle-mounted positioning host computer 1, and the vehicle-mounted positioning host computer 1 acquires the video data and orientation data detected by the spherical device 3 for processing to obtain the defect location.

In step 2), the operator uses the USB slot of the spherical shell to connect the spherical device with the host computer through the data cable, extracts the data of the internal positioning circuit module in the data storage and imports it into the host computer, and the host computer according to the internal positioning The data recorded by the circuit module restores the position of the spherical device at each sampling moment in the pipeline. Then use Bluetooth to extract the pipeline video stored inside the spherical camera.

The video data and the orientation data are collected and obtained by the 360-degree spherical panoramic camera 10 and the gyroscope of the inner positioning circuit module respectively, and the video data and the orientation data are input to the vehicle-mounted positioning host computer 1 for processing, and the vehicle-mounted positioning host computer 1 is aimed at each position in the video data. Defect identification is carried out on the frame images to extract the defect images of each frame with defects on the inner wall of the pipe, and then calculation and processing are performed according to the orientation data to obtain the position coordinates of the spherical device 3 corresponding to the defect images as the defect position.

Specifically, the three-axis angular velocity and acceleration data are extracted from the azimuth data, and the three-axis unit time velocity and moving distance are calculated by integral and other methods to obtain and form a transfer matrix, and obtain the position coordinates of the spherical device at the moment when the defect picture is sampled.

After recovering and taking out the spherical device 3, the video data collected by the 360-degree spherical panoramic camera 10 and the orientation data collected by the gyroscope of the internal positioning circuit module are input into the vehicle-mounted positioning host computer 1, and then the defect image correspondence is obtained by calculation and processing in the following manner: The transition matrix with position coordinates at the current mth sampling moment of :

2.1) The azimuth data collected by the gyroscope includes the angular acceleration and acceleration at each sampling moment. First, use the following method to calculate the offset around each coordinate axis at the current m-th sampling moment relative to the initial sampling moment by applying the quaternion solution. Angle (γ _m ,θ _m ,ψ _m ), specifically:

2.1.1) First, establish a quaternion at the sampling time, and initialize the quaternion of the gyroscope at the initial sampling time as:

[q ₀ (0) q ₁ (0) q ₂ (0) q ₃ (0)]＝[1 0 0 0]

Among them, q ₀ (0), q ₁ (0), q ₂ (0), q ₃ (0) represent the quaternion at the initial sampling moment;

Then use the following method for each sampling time after the initial sampling time, initially assign the quaternion and use the standard Kalman filter algorithm to correct the error in the quaternion data, and substitute the corrected quaternion data into the quaternion of the following formula Argument differential equation, use Runge-Kutta to solve the quaternion differential equation to get the quaternion value q ₀ (m), q ₁ (m), q ₂ (m), q ₃ (m ):

Among them, q ₀ (m), q ₁ (m), q ₂ (m), q ₃ (m) represent the quaternion at the mth sampling moment, m represents the ordinal number of the sampling moment, m>=1; w _x (m-1), w _y (m-1), w _z (m-1) is the three-axis angular velocity obtained by integrating the three-axis angular acceleration at the m-1 sampling time collected by the gyroscope, and T represents the adjacent time interval between sampling instants;

After each update of the quaternion, the following formula needs to be brought in for normalization:

in, Indicates the normalized quaternion at the mth sampling moment;

2.1.2) Then, according to the conversion relationship between quaternions and Euler angles in the following formula, the offset angles (γ _m , θ _m , ψ _m ):

Among them, ψ _m , θ _m , and γ _m represent the calculated rotation angles of the spherical device around the z-axis, y-axis, and x-axis at the mth sampling moment;

2.1.3) Then, according to the acceleration data (a _xm , a _ym , a _zm ) collected by the gyroscope moving along each coordinate axis direction, it is calculated that the gyroscope is moving along each coordinate axis direction at the current mth The moving distance (△x _m , △y _m , △z _m ) of each sampling time relative to the initial sampling time:

Among them, V _x(m-1) , V _y(m-1) and V _z(m-1) represent the velocity components of the motion velocity of the spherical device on the three-dimensional coordinate axis at the mth sampling moment, and t is the time variable ;

2.2) Put the distance (△x _m , △y _m , △z _m ) and offset angle (γ _m , θ _m , ψ _m ) into the following formula to obtain the transfer matrix T _m of the gyroscope:

Finally, after the defect location is found, the defect part is repaired.

Finally, it should be noted that what is listed above is only a specific implementation case of the present invention, and does not limit the present invention in any form. Obviously, the present invention is not limited to the above embodiments, and many modifications are possible. All deformations that can be directly derived or associated by those skilled in the art from the content disclosed in the present invention should be considered as the protection scope of the present invention.

Claims (11)

1. A defect measurement and positioning system applied to the inside of a blocked pressure fluid pipe fitting, characterized in that: it comprises a spherical device (3) and a vehicle-mounted low-frequency signal receiving device (2), and the vehicle-mounted low-frequency signal receiving device (2) is placed in the search vehicle At the bottom, the spherical device (3) is in the pressure fluid pipe fitting (4); the spherical device (3) includes two hemispherical shells (15) and a circular plate (13) installed in the two hemispherical shells (15) and Detection assembly; two hemispherical spherical shells (15) form a complete spherical shell, the circular plate (13) is placed inside the complete spherical shell, and the two ends of the circular plate (13) are provided with two symmetrically arranged detection assemblies; the detection The assembly includes a 360-degree spherical panoramic camera (10), a signal transmitting coil (11) and a light source bracket (12) arranged in sequence from the center of the circular plate (13), and the 360-degree spherical panoramic camera (10) is fixed on the circular plate (13) center, circular signal transmitting coil (11) is fixed on the circular plate (13) around the 360 degree spherical panoramic camera (10), and the circular signal transmitting coil (11) around the signal transmitting coil (11) is fixed with A light source support (12), an illumination light source is installed on the light source support (12). 2. A defect measuring and locating system applied to the inside of a plugged pressure fluid pipe fitting according to claim 1, characterized in that: the two hemispherical shells (15) are provided with flange end faces, and screws are provided on the flange end faces The holes (6), the screw holes (6) on the flange end faces of the two hemispherical shells (15) are connected by bolts and nuts so that the two hemispherical shells (15) are docked to form a complete spherical shell. 3. A defect measuring and locating system applied to the inside of a plugging pressure fluid pipe according to claim 1, characterized in that: the circular plate (13) is located at the flange ends of the two hemispherical shells (15) On the plane of the face-to-face contact surface, a silicone sealing ring (14) is provided between the flange end faces of the two hemispherical shells (15), and the inner peripheral surface of the silicone sealing ring (14) is provided with a circumferential annular groove (21 ), the peripheral edge of the circular plate (13) is embedded in the annular groove (21) to form positioning and sealing. 4. A defect measurement and positioning system for blocking pressure fluid pipes according to claim 1, characterized in that: said 360-degree spherical panoramic camera (10) has a connecting screw hole (19) at the bottom, round The center of the shape plate (13) has a through hole (17), and the connecting screw holes (19) at the bottom of the two 360-degree spherical panoramic cameras (10) of the two detection assemblies pass through the same double-headed screw (17) of the through hole (17). 20) are connected so that two 360-degree spherical panoramic cameras (10) are fixed on the two ends of the circular plate (13). 5. A defect measuring and locating system applied to the inside of a plugged pressure fluid pipe according to claim 1, characterized in that: said circular plate (13) is provided with a circuit module and a power battery, and the circuit module includes an internal Positioning circuit module, data memory and low-frequency electromagnetic wave transmitting circuit module, the internal positioning circuit module has a gyroscope, the internal positioning circuit module and the low-frequency electromagnetic wave transmitting circuit module are connected to the power battery, the data memory is connected to the internal positioning circuit module, and the internal positioning circuit module Connect to the USB socket, the low-frequency electromagnetic wave transmitting circuit module is connected to the signal transmitting coil (11), and the low-frequency electromagnetic wave transmitting circuit module drives the signal transmitting coil (11) to send out low-frequency signals. 6. A defect measurement and positioning system applied to the inside of a blocked pressure fluid pipe according to claim 1, wherein the vehicle-mounted low-frequency signal receiving device includes a processing circuit module and four signal receiving sensors, and the four signal receiving devices The receiving sensors are spliced into a square sensor group and installed on the bottom of the vehicle. 7. A defect measurement and positioning method applied to the inside of a blocked pressure fluid pipe fitting applied to the system of claim 1, characterized in that: the method steps are as follows: 1) The spherical device (3) moves along the pressure fluid pipe (4) inside the pressure fluid pipe, and is stopped at the blockage of the pressure fluid pipe; the spherical device (3) emits low-frequency electromagnetic waves, and the search vehicle moves along the pressure fluid pipe outside The pressure fluid pipe fittings (4) are moved and searched, and the low-frequency electromagnetic waves are detected in real time by the vehicle-mounted low-frequency signal receiving device (2) at the bottom of the search vehicle, and the vehicle-mounted low-frequency signal receiving device (2) is connected to the vehicle-mounted positioning host computer (1); when the vehicle-mounted low-frequency signal is received After the device (2) detects the low-frequency electromagnetic wave, the vehicle-mounted positioning host computer (1) processes the low-frequency electromagnetic wave to obtain the blockage position of the pressure fluid pipe fitting where the spherical device (3) is located; 2) Take out the spherical device (3) at the blocked position, and then connect the spherical device (3) to the vehicle-mounted positioning host computer (1), and the vehicle-mounted positioning host computer (1) obtains the video data and orientation detected by the spherical device (3) The data is processed to obtain defect locations. 8. A defect measuring and locating method applied to the inside of a blocked pressure fluid pipe fitting according to claim 7, characterized in that: in the step 1), the search vehicle advances along the pressure fluid pipe fitting (4), and closes to the spherical device During the process, the sensor group consisting of four signal receiving sensors on the vehicle-mounted low-frequency signal receiving device (2) receives the low-frequency electromagnetic waves emitted by the spherical device (3), and then the low-frequency electromagnetic waves pass through the processing circuit of the vehicle-mounted low-frequency signal receiving device (2) After the module is processed, it is input to the vehicle positioning host computer (1). 9. A defect measuring and locating method applied to the inside of a blocked pressure fluid pipe according to claim 7, characterized in that: in the step 1), the vehicle-mounted positioning host computer (1) receives four signal receiving sensors low-frequency electromagnetic wave signal The three-axis position coordinates x, y, z of the spherical device (1) relative to the center point of the sensor group are obtained by simultaneous calculation with the following formula: Wherein, b represents the magnification of the processing circuit module in the vehicle-mounted low-frequency signal receiving device (2), and x, y, and z represent the three-axis position coordinates of the spherical device (3) relative to the center point of the sensor group respectively, and the coordinate system in the specific implementation It is a three-dimensional coordinate system established with the center point of the sensor group as the origin; (x ₀ ,y ₀ ),(x ₁ ,y ₁ ),(x ₂ ,y ₂ ),(x ₃ ,y ₃ ) are four signal receiving The position coordinates of the sensor center point, B ₀ , B ₁ , B ₂ , and B ₃ respectively represent the electromagnetic field strengths of the four signal receiving sensors at the moment of receiving low-frequency electromagnetic waves; I is the signal transmitting coil (11 in the spherical device (3) ), n is the turns ratio of the coil on the unit length of the signal transmitting coil (11), R is the radius of the signal transmitting coil (11), and m ₀ is the signal transmitting coil (11) in the pressure fluid pipe fitting Magnetic permeability, l is half the length of the signal transmitting coil (11). 10. A method for measuring and locating defects applied to the inside of a plugged pressure fluid pipe fitting according to claim 7, characterized in that: in the step 2), the video data and the orientation data are respectively captured by a 360-degree spherical panoramic camera (10 ) and the gyroscope acquisition of the internal positioning circuit module, the video data and orientation data are input to the vehicle-mounted positioning host computer (1) for processing, and the vehicle-mounted positioning host computer (1) performs defect recognition and extraction for each frame of image in the video data. Each frame of the defect image of the inner wall defect of the pipe fitting is calculated and processed according to the orientation data to obtain the position coordinates of the spherical device (3) corresponding to the defect image as the defect position. 11. A defect measurement and positioning method applied to the inside of a plugging pressure fluid pipe according to claim 7, characterized in that: in the step 2), after the spherical device (3) is recovered and taken out, the 360-degree spherical panoramic camera (10) The video data collected and the azimuth data collected by the gyroscope of the internal positioning circuit module are input into the vehicle positioning host computer (1), and then the following method is used to calculate and process the position corresponding to the current mth sampling time corresponding to the defect image Coordinate transfer matrix: 2.1) The azimuth data collected by the gyroscope includes the angular acceleration and acceleration at each sampling moment. First, use the following method to calculate the offset around each coordinate axis at the current m-th sampling moment relative to the initial sampling moment by applying the quaternion solution. Angle (γ _m ,θ _m ,ψ _m ), specifically: 2.1.1) First, establish a quaternion at the sampling time, and initialize the quaternion of the gyroscope at the initial sampling time as: [q ₀ (0) q ₁ (0) q ₂ (0) q ₃ (0)]＝[1 0 0 0] Among them, q ₀ (0), q ₁ (0), q ₂ (0), q ₃ (0) represent the quaternion at the initial sampling moment; Then use the following method for each sampling time after the initial sampling time, initially assign the quaternion and use the standard Kalman filter algorithm to correct the error in the quaternion data, and substitute the corrected quaternion data into the quaternion of the following formula Argument differential equation, use Runge-Kutta to solve the quaternion differential equation to get the quaternion value q ₀ (m), q ₁ (m), q ₂ (m), q ₃ (m ): Among them, q ₀ (m), q ₁ (m), q ₂ (m), q ₃ (m) represent the quaternion at the mth sampling moment, m represents the ordinal number of the sampling moment, m>=1; w _x (m-1), w _y (m-1), w _z (m-1) is the three-axis angular velocity obtained by integrating the three-axis angular acceleration at the m-1 sampling time collected by the gyroscope, and T represents the adjacent time interval between sampling instants; The following formula is used for normalization after each update of the quaternion: in, Indicates the normalized quaternion at the mth sampling moment; 2.1.2) Then, according to the conversion relationship between quaternions and Euler angles in the following formula, the offset angles (γ _m , θ _m , ψ _m ): Among them, ψ _m , θ _m , and γ _m represent the calculated rotation angles of the spherical device around the z-axis, y-axis, and x-axis at the mth sampling moment; 2.1.3) Then, according to the acceleration data (a _xm , a _ym , a _zm ) collected by the gyroscope moving along each coordinate axis direction, it is calculated that the gyroscope is moving along each coordinate axis direction at the current mth The three-axis movement distance (Δx _m , Δy _m , Δz _m ) of each sampling moment relative to the initial sampling moment: Among them, V _x(m-1) , V _y(m-1) and V _z(m-1) represent the velocity components of the motion velocity of the spherical device on the three-dimensional coordinate axis at the mth sampling moment, and t is the time variable ; 2.2) Put the distance (Δx _m , Δy _m , Δz _m ) and offset angle (γ _m , θ _m , ψ _m ) into the following formula to obtain the transfer matrix T _m of the gyroscope: