Small-diameter pipeline defect positioning method based on artificial fish swarm algorithm

Abstract

The invention relates to a pipeline surveying and mapping technology, and discloses a small-diameter pipeline defect positioning method based on an artificial fish swarm algorithm, which comprises the following steps: acquiring detection data of a detected pipeline through a pipeline measuring device, wherein the pipeline detection device comprises a shell, a data storage unit, a data processing unit, a strapdown inertial measurement unit and a power module are arranged in the shell, a tracking module, a pipeline defect detection sensor and an odometer are arranged outside the shell, and the odometer is located on the outermost side of the shell and tightly attached to the inner side wall of a pipeline. According to the invention, the detection precision can be improved without increasing any extra hardware cost, the realization of pipeline connector detection does not need to install other sensors in a pipeline measuring device, and the signal for detection is reutilization of inertial sensor data for pipeline detection and positioning.

Description

technical field [0001] The invention relates to the technical field of pipeline surveying and mapping, in particular to a method for locating defects in small-diameter pipelines based on an artificial fish swarm algorithm. Background technique [0002] As a large number of early laid pipelines have reached or exceeded their service periods, the environmental pollution and economic losses caused by pipeline leakage are very serious, and even the safety threat caused by pipeline explosions is incalculable. Therefore, the pipeline can be measured by the pipeline measuring device. The pipeline measuring device is the most effective tool to realize pipeline defect detection and defect location in the pipeline, and has become the first choice for periodic inspection of various pipelines. In addition, natural factors such as debris flow and landslides can also cause pipeline deformation. The use of pipeline measuring devices can effectively measure the coordinates of the detected ...

AI Technical Summary

Problems solved by technology

However, the inertial assisted positioning system composed of small-volume, low-precision MEMS strapdown inertial measurement units has a large divergence of azimuth angle errors. In addition to speed and position error correction, azimuth error correction is also required.

Traditional azimuth detection sensors in small-diameter pipelines will have large errors due to the influence of the inner diameter of the pipeline and the environment inside the pipeline. It is difficult for the inertia-assisted small-diameter pipeline positioning system to provide sufficient positioning accuracy information for pipeline excavation and maintenance.

"A MEMS Inertial Measurement Unit-Based Pipeline Mapping and Defect Location Device and Its Pipeline Mapping and Location Method" mentioned that the orientation of the pipeline is measured by using a magnetometer, but the magnetometer running in the steel pipeline will be affected by the pipeline. Due to the shielding effect of the material, it is difficult to accurately measure the azimuth of the pipeline based on the principle of the magnetometer

Therefore, it is difficult to design and implement in actual pipeline inspection

Images