Full self-determination type underground pipeline measuring systems based on inertia technology

Abstract

The present invention discloses a full-autonomous underground pipeline measurement system based on an inertia technology, and the system consists of an in-pipe measurement unit, an external control unit, and a data information processing unit. The in-pipe measurement unit is arranged into a pipeline being measured and is caused to move along the central axle line of the pipeline, the three dimensional information of the pipeline can be completely gotten through measuring the moving track of the in-pipe measurement unit. The system adopts a strapped-down inertial navigation technology to measure the course heading and the attitude angle of the in-pipe measurement unit (carrier), the angular motion information of the carrier is measured according to the gyro output angle rate, each instant accurate location of the carrier can be analyzed according to the integrated angle and the displacement information, thereby the three dimensional information of the pipeline can be obtained. The operation of the in-pipe measurement unit is irrelevant to the external factor such as depth, location, peripheral electromagnetic field, etc., not limited by other conditions, the integrated course angle, the attitude angle, and the instant location information of a navigation principle are applied to any depth, and the three dimensional information of the pipeline waiting for measuring can be independently measured.

Description

technical field [0001] The present invention relates to a measurement system based on inertial technology, more particularly, refers to a fully autonomous underground pipeline measurement system suitable for already built pipelines with an inner diameter ≥ 80mm. Background technique [0002] With the continuous advancement of urban infrastructure construction, there is an increasingly wide demand for the measurement and positioning of underground pipelines. In engineering, electromagnetic pipeline locator and ground penetrating radar are usually used to measure the plane position and depth of underground pipelines. In principle, these conventional measurement methods have the following defects: [0003] 1) The detection depth is limited (less than 5 meters) [0004] 2) Susceptible to electromagnetic interference, measurement accuracy cannot be guaranteed [0005] 3) Each method is only applicable to a certain type of pipeline [0006] 4) Affect ground traffic [0007] 5...

AI Technical Summary

Problems solved by technology

[0003] 1) The detection depth is limited (less than 5 meters)

[0004] 2) Susceptible to electromagnetic interference, measurement accuracy cannot be guaranteed

[0005] 3) Each method is only applicable to a certain type of pipeline

[0006] 4) Affect ground traffic

[0007] 5) It cannot be measured when there are obstacles on the ground (rivers, buildings)

[0008] 6) Low work efficiency

[0009] 7) The data is not intuitive

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