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

A technology for oil and gas pipelines, positioning methods, applied in the direction of detecting the presence of fluid at the leak point, piping systems, liquid tightness measurement using liquid/vacuum degree, etc.

Inactive Publication Date: 2009-10-21
CHINA UNIV OF GEOSCIENCES (WUHAN)
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Problems solved by technology

The crawler is only suitable for pipelines without too many elbows and joints. Its operation r

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

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Embodiment 1

[0055] Embodiment 1: A method for detecting and locating oil and gas pipeline leakage using an autonomous navigation robot according to the present invention. A vehicle-mounted autonomous navigation robot is installed, and a small car body with wheels; self-loading power supply, navigation system, data acquisition combiner and wireless communication module, the navigation system includes a small car body with 2 pairs of wheels, and 3 infrared photoelectric sensors , control module, motor controller and motor. The reflective infrared photoelectric sensor ST188 is used; the control module uses TI's MSP430F169 single-chip microcomputer as the core device, the integrated module is rich, the number of I / O ports is objective, and the work is stable and reliable; the motor controller adopts the constant voltage and constant current bridge produced by S6S company Formula 2A driver chip L298. The walking status of the robot patrol line is as follows: figure 1 shown. When the robot 1...

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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...

Claims

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Application Information

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IPC IPC(8): F17D5/06G01M3/24
Inventor 刘羽飞殷蔚明李应刚张立欣何东郭磊磊郭行定马士超
Owner CHINA UNIV OF GEOSCIENCES (WUHAN)
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