Method for detecting and positioning leakage of oil-gas pipeline by utilizing autonomous navigation robot

Abstract

The invention relates to a method for detecting and positioning the leakage of an oil-gas pipeline by utilizing an autonomous navigation robot. The method comprises a robot pipeline line-tracking detection method and a terminal computer detection positioning method; marking lines and correcting nodes are painted on the road surface near the pipeline along the axial direction of the pipeline; the robot navigation system adopts the photoelectric coding and correcting node identification method for navigation and line-tracking detection; a data acquisition combiner is formed by an ultrasonic sensor and a smell sensor to acquire a signal of the oil-gas pipeline, the signal passes an amplifying-filtering circuit and a control module, undergoes analog / digital conversion, modulated by a wireless communication module and sent to the computer; analytic software of the system adopts an algorithm combining the adaptive fuzzy noise detection smoothing algorithm and the multi-scale Gaussian filter algorithm to process data of ultrasonic strength and gas strength; and when the two signals are received at the same time and both higher than the threshold values, the leakage of the pipeline can be determined, and the alarm rings and the leakage can be positioned. The method is applicable for the line-tracking detection and leakage positioning of the oil-gas pipeline in an underground comprehensive pipe ditch.

Description

Technical field [0001] The present invention relates to a method for detecting and locating oil and gas pipeline leaks using an autonomous navigation robot, specifically a method for detecting and locating oil and gas pipeline leaks using a robot, using a combination of ultrasonic waves and olfactory sensors, and a signal pre-prediction method based on binary data fusion. Process and pattern recognition methods for integrated determination and location of oil and gas pipeline leaks. Background technique [0002] Over the past 30 years of reform and opening up, my country's oil and gas industry has made great progress. By the end of 2007, the total length of China's domestic oil and gas pipelines was about 60,000 kilometers. However, due to natural factors and man-made damage, pipeline leakage accidents occurred from time to time, which not only caused huge economic losses and waste of resources to the country, but also caused great harm to the country. People's life and pro...

AI Technical Summary

Problems solved by technology

The crawler is only suitable for pipelines without too many elbows and joints. Its operation requires extensive experience, and it can only work in the non-operating state of the pipeline.

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