A smart system for pipeline inspection and testing

Abstract

This invention provides an intelligent pipeline inspection and testing system, comprising a wirelessly connected surveying instrument and a mapping terminal. The surveying instrument includes a laser ranging module, an attitude sensor module, a GPS positioning module, and a processor. The output of the laser ranging module is connected to the first input of the processor to send the measured distance signal to the processor. The output of the attitude sensor module is connected to the second input of the processor to send the measured pitch angle signal and horizontal azimuth angle signal to the processor. The output of the GPS positioning module is connected to the third input of the processor to send the longitude, latitude, and altitude coordinates of the surveying instrument's location to the processor. This invention obtains the three-dimensional coordinates of the pipeline components (longitude, latitude, and altitude) through the GPS positioning module, and combines this with the infrared ranging function of the surveying instrument to obtain the vertical distance of the pipeline from the installation ground, thus achieving clear differentiation of different levels of pipelines in a three-dimensional intersecting pipeline system.

Description

Technical Field

[0001] This invention relates to the field of pipeline inspection technology, and more particularly to an intelligent system for pipeline inspection and testing. Background Technology

[0002] A pipe isometric drawing is a graphic file used to show the three-dimensional spatial orientation of a piping system, playing a crucial role as an auxiliary drawing in the inspection of pressure pipelines. Inspectors typically use isometric drawings to identify inspection data for various parts of the pipeline, including pipe numbers, weld locations, and inspection conclusions. For older piping systems lacking original isometric drawings, or when the actual spatial orientation of the pipeline differs from the design drawings, on-site isometric drawing becomes an indispensable part of the inspection process.

[0003] In existing technologies, the on-site drawing of isometric diagrams for pressure pipelines generally adopts a two-stage operation mode: first, a hand-drawn draft, and then computer-aided drafting. Inspectors first arrive at the pipeline site with draft paper and measuring tools. They manually measure and visually sketch the pipeline's direction, the positions and connections of components such as bends, tees, and valves on the draft paper, manually recording the length of each pipe section, inspection data, and pipe number. After completing the on-site data collection, the inspectors return to the office to convert the draft sketches into editable electronic isometric diagrams using computer-aided design software, and then input the inspection data into the electronic drawing. In recent years, some portable electronic mapping devices have emerged, capable of quickly mapping pipeline directions and generating electronic isometric diagrams using laser rangefinders and attitude sensors. However, inspectors still need to manually mark pipe numbers and inspection data, and after the inspection, return to the office to print paper labels before returning to the site to affix them.

[0004] The aforementioned existing technologies have the following shortcomings. First, the traditional method of hand-drawing combined with computer-aided drafting is cumbersome and inefficient. From on-site drawing to final archiving, it often takes several hours or even days, and the limited space on draft paper makes it easy for inspection data to be misrecorded or omitted. Second, although existing electronic surveying equipment improves drawing efficiency, it lacks accurate recording of the spatial location of pipelines. Axonometric drawings themselves cannot provide geographical coordinate information such as longitude, latitude, and altitude of pipeline components. In large industrial parks or complex pipeline networks, it is difficult to accurately locate the actual spatial position of pipelines based solely on axonometric drawings, which brings difficulties to later maintenance, modification, and emergency response. Third, the correspondence between inspection data and on-site pipelines still relies on manually marking pipeline numbers. Inspectors need to manually record the numbers on-site and then enter them into the system later. This process is prone to numbering errors or correspondence confusion and is not conducive to data traceability. Fourth, the on-site labeling process is inefficient. After inspection, labels need to be affixed to the pipelines to indicate the inspection status, inspection date, and other information. The traditional method requires inspectors to first return to the office to print the labels and then bring them back to the site to affix them, resulting in a significant waste of travel time. Fifth, in multi-pipe systems with three-dimensional intersections, existing technologies struggle to accurately distinguish the spatial relationships between different pipes, especially the hierarchical relationships between upper and lower pipes, making positioning and management in complex pipe networks even more difficult. Summary of the Invention

[0005] To address the aforementioned technical problem of lacking accurate records of pipeline spatial locations, this invention provides an intelligent pipeline inspection and testing system. This invention primarily utilizes a GPS positioning module and attitude sensor integrated into a surveying instrument, combined with laser ranging data, to calculate the precise three-dimensional geographic coordinates of pipeline components, thereby achieving the effect of accurately locating the geographical position of each pipeline component.

[0006] The technical means employed in this invention are as follows:

[0007] A smart pipeline inspection and testing system includes a wirelessly connected surveying instrument and a plotting terminal. The surveying instrument includes a laser ranging module, an attitude sensor module, a GPS positioning module, and a processor. The output of the laser ranging module is connected to the first input of the processor to send the measured distance signal to the processor. The output of the attitude sensor module is connected to the second input of the processor to send the measured pitch angle signal and horizontal azimuth angle signal to the processor. The output of the GPS positioning module is connected to the third input of the processor to send the longitude, latitude, and altitude coordinates of the surveying instrument's location to the processor. The first output of the processor is connected to the input of a wireless communication module to calculate the three-dimensional spatial coordinates of the pipeline target point based on the received distance signal, pitch angle signal, azimuth angle signal, and coordinate signals. The three-dimensional spatial coordinates, along with the pipeline component type identifier and orientation data, are encapsulated into a surveying data packet and then transmitted externally through the wireless communication module. The drawing terminal includes a wireless receiving module, a location data processing module, an inspection data recording module, a label content editing module, a printing control module, and a drawing execution module. The output of the wireless receiving module is connected to the input of the location data processing module and the first input of the drawing execution module, respectively, for distributing the received surveying data packets to the location data processing module and the drawing execution module. The output of the location data processing module is connected to the second input of the drawing execution module and the first input of the label content editing module, for extracting three-dimensional spatial coordinates from the surveying data packets, associating and binding the three-dimensional spatial coordinates with the corresponding pipe elements in the isometric drawing, and sending the bound coordinate data to the drawing execution module and the label content editing module. The editing module and the inspection data recording module have their output connected to the second input of the label content editing module. The output of the label content editing module is used to send the entered pipeline inspection date, inspection conclusion, and pipeline number to the label content editing module. The output of the label content editing module is connected to the input of the printing control module of the label printing device. The output of the label content editing module is used to generate label content containing a QR code based on the received coordinate data and inspection data, and send the label content to the printing control module. The output of the printing control module is connected to the thermal print head. The output of the drawing execution module is connected to the display module. The output of the drawing execution module is used to generate a pipeline isometric drawing based on the received surveying data package and coordinate association data, and display it on the display module.

[0008] Furthermore, the GPS positioning module is a multi-mode global navigation satellite system module. The multi-mode global navigation satellite system module receives raw satellite observation data and differential corrections, and outputs positioning data containing positioning status identifiers. The positioning status identifiers include three states: single-point solution, floating solution, and fixed solution.

[0009] Furthermore, the processor performs the following coordinate acquisition steps before calculating the three-dimensional spatial coordinates: In response to the trigger signal of the positioning button, the GPS positioning module is configured to high-frequency output mode, and the control status indicator device is put into the acquisition state. Continuously read multiple frames of data output by the GPS positioning module, parse the positioning status identifier in each frame, determine only the data frames with a fixed identifier as valid data frames, and store the longitude, latitude, elevation, horizontal accuracy factor and number of satellites in the valid data frames into the cache queue. When the number of valid data frames in the buffer queue reaches a preset threshold, the average horizontal precision factor and the average number of satellites of all valid data frames are calculated. If the average horizontal precision factor is less than the first preset threshold and the average number of satellites is greater than the second preset threshold, the arithmetic mean of the longitude, latitude and elevation of all valid data frames in the buffer queue is calculated to obtain the final average coordinate value; otherwise, the buffer queue is cleared and data is collected again. The average coordinate values, corresponding accuracy information, number of satellites, and timestamps are encapsulated into a structured data packet, which is then uploaded to the drawing terminal via a wireless communication module. At the same time, the control status indicator is switched to a successful state.

[0010] Furthermore, the attitude sensor module includes a three-axis accelerometer and a three-axis gyroscope, used to measure the linear acceleration and angular velocity of the surveying instrument in three orthogonal directions. After being calculated by the processor, the pitch angle of the surveying instrument pointing to the target point of the pipeline and the horizontal azimuth angle relative to true north are obtained.

[0011] Furthermore, the method by which the processor calculates the three-dimensional spatial coordinates of the pipeline target point is as follows: A three-dimensional rectangular coordinate system is established with the location of the surveying instrument as the origin. In the three-dimensional rectangular coordinate system, the X-axis points east, the Y-axis points north, and the Z-axis points to the zenith. Based on the distance d measured by the laser ranging module, the pitch angle θ measured by the attitude sensor module, and the horizontal azimuth angle φ, the relative coordinates of the pipeline target point are calculated according to the following formula: X=d×cosθ×sinφ Y=d×cosθ×cosφ Z=d×sinθ The longitude, latitude, and altitude of the surveying instrument, measured using a GPS positioning module, are converted from relative coordinates to absolute geographic coordinates through coordinate transformation.

[0012] Furthermore, the processor is also used to calculate the length of the pipe segment, in the following steps: After aligning the surveying instrument with the start and end points of the pipeline and triggering the distance measurement button twice, the relative coordinates of the start point A (Ax, Ay, Az) and the relative coordinates of the end point B (Bx, By, Bz) are obtained. The length L of the pipeline segment is then calculated using the three-dimensional distance formula. .

[0013] Furthermore, the outer casing of the surveying instrument is also equipped with multiple pipe component type buttons, including straight pipe buttons, bend buttons, valve buttons, flange buttons, tee buttons, and reducer buttons; the output terminal of each type button is connected to the fourth input terminal of the processor. The processor generates a corresponding pipe component type identifier based on the pressed type button and encapsulates the identifier into the surveying data package; the processor also records the angle signal output by the attitude sensor module at the moment the button is pressed, and encapsulates this angle as the installation orientation of the pipe component into the surveying data package.

[0014] Furthermore, the method for generating a QR code by the label content editing module is as follows: The pipe number, GPS coordinates, inspection date, inspection conclusion, and storage path of the pipe component in the drawing terminal are encoded into a Uniform Resource Identifier (URI). The URI is then converted into a QR code image using a QR code generation algorithm. Scanning the QR code will redirect the user to the corresponding inspection report page or retrieve the complete inspection data.

[0015] Furthermore, the drawing terminal also includes a data upload module. The input end of this module is connected to the output end of the location data processing module and the output end of the inspection data recording module. It is used to package the associated pipeline location database and all inspection data and upload them to the cloud server.

[0016] Furthermore, the location data processing module also includes a geographic location query unit. The geographic location query unit receives the current geographic location coordinates input by the inspector on the drawing terminal, calculates the planar distance and azimuth between the current geographic location and the GPS coordinates of each pipeline component in the database, and displays the calculation results on the display module after sorting them in ascending order of distance.

[0017] Compared with the prior art, the present invention has the following advantages: The precise spatial location recording function for pipelines provided by this invention calculates the three-dimensional geographic coordinates of each pipeline component by integrating a GPS positioning module into the surveying instrument and using laser ranging and attitude sensor data. The coordinates are then associated with the pipeline components in the isometric drawing to establish a location database, achieving centimeter-level positioning of the longitude, latitude, and altitude of the pipeline components. This solves the problem of missing spatial location information when old pipelines lack isometric drawings or the drawings do not match the actual situation, providing accurate geographic basis for later maintenance, renovation, and emergency response.

[0018] The present invention provides a multi-pipe differentiation and positioning function in complex pipe networks. It obtains the three-dimensional coordinates of longitude, latitude and altitude of pipe elements through a GPS positioning module, and obtains the vertical distance of the pipe from the installation ground by combining the infrared ranging function of a surveying instrument. This enables clear differentiation of pipes at different levels in a three-dimensional intersecting pipe system, and solves the defect of existing technology that is difficult to accurately distinguish the spatial position relationship between upper and lower pipes. It provides a reliable spatial layering capability for pipe management in complex industrial parks and dense pipe corridors. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a schematic diagram of the modules of the surveying instrument of the present invention; Figure 2 This is a schematic diagram of the drawing terminal module of the present invention; Figure 3 This is a flowchart of the location data processing of the present invention; Figure 4 A schematic diagram of the pipeline for this invention; Detailed Implementation It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0021] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the present invention or its application or use. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0022] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0023] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps described in these embodiments do not limit the scope of the invention. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following figures denote similar items; therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0024] In the description of this invention, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is generally based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this invention and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this invention. The directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0025] For ease of description, spatial relative terms such as "above," "over," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation besides the orientation of the device as described in the figures. For example, if the device in the figures is inverted, a device described as "above" or "above" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0026] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore should not be construed as limiting the scope of protection of this invention.

[0027] like Figure 1 and Figure 2 As shown, a pipeline inspection and testing intelligent system includes a wirelessly connected surveying instrument and a drawing terminal.

[0028] The surveying instrument integrates a laser ranging module, an attitude sensor module, a GPS positioning module, and a processor. The output of the laser ranging module is connected to the first input of the processor to send the measured distance signal. The output of the attitude sensor module is connected to the second input of the processor to send the measured pitch and azimuth signals. The attitude sensor module preferably includes a three-axis accelerometer and a three-axis gyroscope to measure the linear acceleration and angular velocity of the surveying instrument in three orthogonal directions. After processing, the processor calculates the pitch angle of the surveying instrument pointing towards the pipeline target point and the horizontal azimuth angle relative to true north. The output of the GPS positioning module is connected to the third input of the processor to send the longitude, latitude, and altitude coordinates of the surveying instrument's location to the processor. The GPS positioning module uses a multi-mode global navigation satellite system module. This module receives raw satellite observation data and differential corrections, and outputs positioning data containing positioning status identifiers, which include three states: single-point solution, floating solution, and fixed solution. The processor's first output is connected to the input of the wireless communication module. It is used to calculate the three-dimensional spatial coordinates of the pipeline target point based on the received distance signal, elevation angle signal, azimuth angle signal, and coordinate signal. The three-dimensional spatial coordinates, along with the pipeline component type identifier and direction data, are encapsulated into a mapping data packet and then sent out through the wireless communication module.

[0029] Before calculating 3D spatial coordinates, the processor performs a high-precision coordinate acquisition step. Responding to the trigger signal of the positioning button, the processor configures the GPS positioning module to high-frequency output mode and simultaneously controls the status indicator to enter the acquisition state. It continuously reads multiple frames of data output from the GPS positioning module, parses the positioning status identifier in each frame, and only determines data frames with a fixed identifier as valid data frames. The longitude, latitude, elevation, horizontal precision factor, and satellite count of the valid data frames are stored in a buffer queue. When the number of valid data frames in the buffer queue reaches a preset threshold, the average horizontal precision factor and average satellite count of all valid data frames are calculated. If the average horizontal precision factor is less than a first preset threshold and the average satellite count is greater than a second preset threshold, the longitude, latitude, and elevation of all valid data frames in the buffer queue are arithmetically averaged to obtain the final average coordinate value; otherwise, the buffer queue is cleared and acquisition is restarted. Subsequently, the average coordinate value, corresponding precision information, satellite count, and timestamp are encapsulated into a structured data packet and uploaded to the rendering terminal via a wireless communication module, while the status indicator switches to a success state.

[0030] The processor calculates the three-dimensional spatial coordinates of the pipeline target point as follows: A three-dimensional rectangular coordinate system is established with the location of the surveying instrument as the origin. In this system, the X-axis points east, the Y-axis points north, and the Z-axis points to the zenith. Based on the distance d measured by the laser ranging module, the pitch angle θ measured by the attitude sensor module, and the horizontal azimuth angle φ, the relative coordinates of the pipeline target point are calculated using the following formula: X = d × cosθ × sinφ Y = d × cosθ × cosφ Z = d × sinθ The longitude, latitude, and altitude measured by the GPS positioning module are used to convert relative coordinates into absolute geographic coordinates through coordinate transformation. The processor can also be used to calculate pipeline section lengths, as follows: After aligning the surveying instrument with the start and end points of the pipeline and triggering the distance measurement button twice, the relative coordinates of the start point A (Ax, Ay, Az) and the relative coordinates of the end point B (Bx, By, Bz) are obtained. The length L of the pipeline segment is then calculated using the three-dimensional distance formula. .

[0031] The surveyor's casing also features multiple pipe component type buttons, including straight pipe buttons, bend buttons, valve buttons, flange buttons, tee buttons, and reducer buttons. The output of each type button is connected to the processor's fourth input. The processor generates a corresponding pipe component type identifier based on the pressed button and encapsulates this identifier into the survey data package. Simultaneously, the processor records the angle signal output by the attitude sensor module at the moment the button is pressed, and uses this angle as the pipe component's installation orientation, also encapsulating it into the survey data package.

[0032] The mapping terminal includes a wireless receiving module, a location data processing module, an inspection data recording module, a label content editing module, a print control module, and a drawing execution module. The output of the wireless receiving module is connected to the input of the location data processing module and the first input of the drawing execution module, respectively, for distributing the received mapping data packets to these modules. The output of the location data processing module is connected to the second input of the drawing execution module and the first input of the label content editing module, for extracting three-dimensional spatial coordinates from the mapping data packets, associating and binding these coordinates with the corresponding pipe components in the isometric drawing, and sending the bound coordinate data to the drawing execution module and the label content editing module. The output of the inspection data recording module is connected to the second input of the label content editing module, for sending the entered pipe inspection date, inspection conclusion, and pipe number to the label content editing module. The output of the label content editing module is connected to the input of the print control module of the label printing device, for generating label content containing a QR code based on the received coordinate data and inspection data, and sending this label content to the print control module. The label content editing module generates QR codes by encoding the pipe component's pipe number, GPS coordinates, inspection date, inspection conclusion, and the pipe component's storage path in the drawing terminal into a Uniform Resource Identifier (URI). This identifier is then converted into a QR code image using a QR code generation algorithm. Scanning the QR code redirects to the corresponding inspection report page or retrieves complete inspection data. The output of the printing control module connects to a thermal printhead, driving it to print labels on label paper. The output of the drawing execution module connects to a display module, generating isometric views of the pipe based on the received survey data package and coordinate association data, and displaying these views on the display module.

[0033] The drawing terminal also includes a data upload module. The input of this module connects to the output of the location data processing module and the output of the inspection data recording module. It is used to package and upload the associated pipeline location database and all inspection data to the cloud server. The location data processing module also includes a geographic location query unit. This unit receives the current geographic location coordinates input by the inspector on the drawing terminal, calculates the planar distance and azimuth between the current geographic location and the GPS coordinates of each pipeline component in the database, and displays the calculation results sorted by distance from smallest to largest on the display module to guide the inspector to quickly locate the target pipeline component.

[0034] This system offers the following advantages: First, it records the geographic coordinates of each pipeline component via a GPS module, establishing a pipeline spatial location database for easier maintenance and emergency response. Second, the label printing device is integrated into the mapping terminal, allowing labels to be printed and affixed immediately after inspection, eliminating the need to return to the office and reducing travel time. Third, the QR code on the label links to the complete inspection report and GPS coordinates, enabling users to access detailed pipeline information by scanning the code. Fourth, in multi-level pipeline systems, GPS coordinates combined with the laser ranging function of the surveying instrument accurately distinguish between pipelines at different levels. Fifth, GPS coordinate data can be imported into the mapping terminal software, enabling visualized management of the pipeline network. Operators at the pipeline site can use the geolocation function to calculate their distance and location from the recorded pipe components, facilitating component location and improving inspection efficiency.

[0035] The operation process of this system is described in detail below with specific embodiments.

[0036] Example 1: High-precision geographic information acquisition method This embodiment provides a high-precision geographic coordinate rapid acquisition solution integrated into an intelligent surveying and mapping device. The system hardware includes a main control processor, a location positioning module, a status indication module, a communication module, an attitude recognition module, a drawing module, and a power supply unit. The location positioning module is a multi-mode global navigation satellite system module supporting real-time dynamic differential technology. After receiving raw satellite observation data and differential corrections, it can output positioning data including various states such as single-point solutions, floating solutions, and fixed solutions, with the fixed solution state corresponding to the highest positioning accuracy level. The status indication module includes at least one physical positioning trigger button and a status indication device such as a light or buzzer.

[0037] like Figure 3As shown, the high-precision coordinate acquisition and processing method includes the following steps. The user presses the physical positioning trigger button, the main control processor receives the trigger signal, and immediately sends a command to the high-precision satellite positioning module to configure it to high-frequency output mode at a frequency of 10Hz. Simultaneously, the main control processor controls the status indicator device to enter the acquisition state, and the LED flashes. The main control processor continuously reads multiple frames of data output by the positioning module through the serial communication interface, parses each frame, and extracts the positioning status identifier. The system is set to only determine data frames with a fixed positioning status identifier as valid data frames, and stores the latitude and longitude coordinates, elevation, horizontal accuracy factor, and the number of satellites involved in the calculation into a cache queue of preset length. When the number of valid data frames in the cache queue reaches a preset threshold (set to 10 frames), the processor performs quality verification: calculating the average horizontal accuracy factor of all valid data frames and determining whether it is less than the first preset threshold (set to 2.0); simultaneously calculating the average number of satellites involved in the calculation of all valid data frames and determining whether it is greater than the second preset threshold (set to 10). If all the above verifications pass, the processor performs an arithmetic mean calculation on the latitude, longitude, and elevation coordinates of all valid data frames in the cache queue to obtain a final set of average coordinate values. If the verification fails, the cache queue is cleared, and data collection is restarted. After successful verification and calculation, the main control processor encapsulates the average coordinate values, corresponding accuracy information, number of satellites, and timestamp into a structured data packet. This data packet is then uploaded to the remote data center and mobile terminal via the wireless communication module according to a predetermined protocol. Simultaneously, the main control processor switches the status indicator to a successful state, with an LED light remaining on for 3 seconds and a buzzer sounding once to inform the user that positioning is complete. The structured data packet uses a machine-parseable JSON format. Core fields include longitude, latitude, and altitude under `coordinates`, and positioning calculation status, horizontal and vertical accuracy estimates, number of satellites involved in the calculation, and the UTC timestamp of positioning completion under `metadata`.

[0038] Example 2: Pressure Pipeline Surveying Process by Figure 4 Taking the pipeline as an example, this paper describes the detailed operation steps for drawing isometric drawings on site.

[0039] First, create a new pressure pipeline survey map in the drawing terminal. The inspector holds the surveying instrument, points it towards the direction of the first section of pipeline, presses the straight pipe button, and the drawing terminal draws a straight section of pipeline in that direction.

[0040] When calculating pipeline length, the two endpoints of the pipeline segment must first be determined. Inspectors observe the pressure pipeline to determine the start and end points of the measured pipeline segment. The start point is the initial location of the segment, such as the connection point of a flange or elbow, and the end point is the connection point of the next pipeline component. The inspector holds a measuring instrument, aligns the laser spot with the start point of the pipeline, and presses the distance measurement button. The laser distance measurement module emits a laser beam, which reflects back after hitting the start point of the pipeline and is captured by the receiver. A distance indicator light in the status indicator module illuminates continuously for 3 seconds to indicate successful recording. The central processing unit calculates the round-trip time of the laser beam, obtaining the distance d1. Simultaneously, the attitude sensor module records the pitch angle θ1 and horizontal azimuth angle φ1 of the measuring instrument pointing towards the start point of the pipeline. Subsequently, the inspector rotates the measuring instrument, aligns the laser spot with the end point of the pipeline, and presses the distance measurement button, similarly obtaining the distance d2, pitch angle θ2, and horizontal azimuth angle φ2.

[0041] A three-dimensional rectangular coordinate system is established with the surveyor's position as the origin, the X-axis pointing east, the Y-axis pointing north, and the Z-axis pointing to the zenith. The relative coordinates of the starting point are calculated based on distance and angle: Ax = d1 × cosθ1 × sinφ1, Ay = d1 × cosθ1 × cosφ1, Az = d1 × sinθ1. Similarly, the relative coordinates of the ending point are calculated: Bx = d2 × cosθ2 × sinφ2, By = d2 × cosθ2 × cosφ2, Bz = d2 × sinθ2. Then, the pipe length is calculated using the three-dimensional distance formula. .

[0042] When determining the pipeline location, the GPS coordinates of the surveying instrument are first obtained. Pressing the positioning button on the surveying instrument initiates data acquisition via the GPS module, collecting 10 sets of positioning data with 0.1-second intervals. The processor then filters and averages these 10 sets of data to obtain the surveying instrument's longitude λ, latitude φ, and altitude h. Next, the inspector, holding the surveying instrument, walks to the pipeline's starting point, stands near it, presses the positioning button, and repeats the data acquisition and averaging process to obtain the pipeline's starting point's GPS coordinates: longitude λA, latitude φA, and altitude hA. Similarly, the pipeline's ending point's GPS coordinates are obtained: longitude λB, latitude φB, and altitude hB. Additionally, when measuring the vertical distance from the pipeline to the ground, the inspector approaches the pipeline, points the surveying instrument's laser downwards towards the ground, and presses the altitude button. The laser ranging module then measures the vertical distance hG.

[0043] When confirming connection components, inspectors observe the component type at the end of the pipeline and press the corresponding pipeline component button on the plotter. The orientation of the plotter when the button is pressed indicates the orientation of the pipeline after connection. Pipeline component types include elbows, tees, reducers, valves, flanges, etc., each corresponding to a different button. For example, if the pipeline ends at an elbow, pointing the plotter towards the elbow and pressing the elbow button will draw the elbow component with the corresponding orientation.

[0044] After each pipeline section is measured, the label editing and printing module in the drawing terminal automatically reads the survey data for that section, automatically calls the preset label template, automatically fills in the pipeline number, length, and the orientation and location information of the start and end points, and automatically generates a QR code. The drawing terminal can preview the label content, and inspectors can also manually supplement or modify the label content. After confirmation, the label content is sent to the label printing device for printing, and inspectors affix the printed labels to the corresponding pipeline components. By scanning the QR code, detailed survey information for the corresponding pipeline section can be retrieved, facilitating subsequent inspection management, maintenance, and data archiving.

[0045] Repeat the above process for drawing a section of the pipeline until the entire pipeline has been mapped. For any other pipeline data not automatically recorded, inspectors can manually edit the corresponding pipeline segment in the drawing terminal to supplement the record. Finally, the complete pipeline data is uploaded to the cloud via the data upload module of the drawing terminal for easy access to historical information and to generate a summary label for the entire pipeline for viewing.

[0046] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An intelligent system for pipeline inspection and testing, characterized in that, Including wirelessly connected surveying instruments and drawing terminals: The surveying instrument includes a laser ranging module, an attitude sensor module, a GPS positioning module, and a processor. The output of the laser ranging module is connected to the first input of the processor to send the measured distance signal to the processor. The output of the attitude sensor module is connected to the second input of the processor to send the measured pitch angle signal and horizontal azimuth angle signal to the processor. The output of the GPS positioning module is connected to the third input of the processor to send the longitude, latitude, and altitude coordinates of the surveying instrument's location to the processor. The first output of the processor is connected to the input of a wireless communication module to calculate the three-dimensional spatial coordinates of the pipeline target point based on the received distance signal, pitch angle signal, azimuth angle signal, and coordinate signals. The three-dimensional spatial coordinates, along with the pipeline component type identifier and orientation data, are encapsulated into a surveying data packet and then transmitted externally through the wireless communication module. The drawing terminal includes a wireless receiving module, a location data processing module, an inspection data recording module, a label content editing module, a printing control module, and a drawing execution module. The output of the wireless receiving module is connected to the input of the location data processing module and the first input of the drawing execution module, respectively, for distributing the received survey data packets to the location data processing module and the drawing execution module. The output of the location data processing module is connected to the second input of the drawing execution module and the first input of the label content editing module, for extracting three-dimensional spatial coordinates from the survey data packets, associating and binding the three-dimensional spatial coordinates with the corresponding pipe elements in the isometric drawing, and sending the bound coordinate data to the drawing execution module and the label content editing module. The output of the inspection data recording module is connected to the second input of the label content editing module, for sending the entered pipe inspection date, inspection conclusion, and pipe number to the label content editing module. The output of the label content editing module is connected to the input of the printing control module of the label printing device. It is used to generate label content containing QR codes based on the received coordinate data and inspection data, and send the label content to the printing control module. The output of the printing control module is connected to the thermal printhead, which drives the thermal printhead to print labels on the label paper; the output of the drawing execution module is connected to the display module, which generates the pipeline isometric drawing based on the received survey data package and coordinate association data and displays it on the display module.

2. The intelligent pipeline inspection and testing system according to claim 1, characterized in that, The GPS positioning module is a multi-mode global navigation satellite system module. The multi-mode global navigation satellite system module receives raw satellite observation data and differential corrections, and outputs positioning data containing positioning status identifiers. The positioning status identifiers include three states: single-point solution, floating solution, and fixed solution.

3. The intelligent pipeline inspection and testing system according to claim 1, characterized in that, The processor performs the following coordinate acquisition steps before calculating the three-dimensional spatial coordinates: In response to the trigger signal of the positioning button, the GPS positioning module is configured to high-frequency output mode, and the control status indicator device is put into the acquisition state. Continuously read multiple frames of data output by the GPS positioning module, parse the positioning status identifier in each frame, determine only the data frames with a fixed identifier as valid data frames, and store the longitude, latitude, elevation, horizontal accuracy factor and number of satellites in the valid data frames into the cache queue. When the number of valid data frames in the buffer queue reaches a preset threshold, calculate the average horizontal precision factor and the average number of satellites of all valid data frames. If the average horizontal precision factor is less than the first preset threshold and the average number of satellites is greater than the second preset threshold, then perform an arithmetic mean operation on the longitude, latitude and elevation of all valid data frames in the buffer queue to obtain the final average coordinate value. Otherwise, clear the cache queue and re-collect; The average coordinate values, corresponding accuracy information, number of satellites, and timestamps are encapsulated into a structured data packet, which is then uploaded to the drawing terminal via a wireless communication module. At the same time, the control status indicator is switched to a successful state.

4. The intelligent pipeline inspection and testing system according to claim 1, characterized in that, The attitude sensor module includes a three-axis accelerometer and a three-axis gyroscope, which are used to measure the linear acceleration and angular velocity of the surveying instrument in three orthogonal directions. After being processed by the processor, the pitch angle of the surveying instrument pointing to the target point of the pipeline and the horizontal azimuth angle relative to true north are obtained.

5. The intelligent pipeline inspection and testing system according to claim 1, characterized in that, The method by which the processor calculates the three-dimensional spatial coordinates of the pipeline target point is as follows: A three-dimensional rectangular coordinate system is established with the location of the surveying instrument as the origin. In the three-dimensional rectangular coordinate system, the X-axis points east, the Y-axis points north, and the Z-axis points to the zenith. Based on the distance d measured by the laser ranging module, the pitch angle θ measured by the attitude sensor module, and the horizontal azimuth angle φ, the relative coordinates of the pipeline target point are calculated according to the following formula: X=d×cosθ×sinφ Y=d×cosθ×cosφ Z=d×sinθ The longitude, latitude, and altitude of the surveying instrument, measured using a GPS positioning module, are converted from relative coordinates to absolute geographic coordinates through coordinate transformation.

6. The intelligent pipeline inspection and testing system according to claim 5, characterized in that, The processor is also used to calculate the length of the pipe segment, as follows: After aligning the surveying instrument with the start and end points of the pipeline and triggering the distance measurement button twice, the relative coordinates of the start point A (Ax, Ay, Az) and the relative coordinates of the end point B (Bx, By, Bz) are obtained. The length L of the pipeline segment is then calculated using the three-dimensional distance formula. 。 7. The intelligent pipeline inspection and testing system according to claim 1, characterized in that, The surveying instrument's casing is also equipped with multiple pipe component type buttons, including straight pipe buttons, bend buttons, valve buttons, flange buttons, tee buttons, and reducer buttons. The output of each type button is connected to the fourth input of the processor. The processor generates a corresponding pipe component type identifier based on the pressed button and encapsulates the identifier into the surveying data package. The processor also records the angle signal output by the attitude sensor module at the moment the button is pressed, and encapsulates this angle as the installation orientation of the pipe component into the surveying data package.

8. The intelligent pipeline inspection and testing system according to claim 1, characterized in that, The method for generating a QR code using the label content editing module is as follows: The pipe number, GPS coordinates, inspection date, inspection conclusion, and storage path of the pipe component in the drawing terminal are encoded into a Uniform Resource Identifier (URI). The URI is then converted into a QR code image using a QR code generation algorithm. Scanning the QR code will redirect the user to the corresponding inspection report page or retrieve the complete inspection data.

9. The intelligent pipeline inspection and testing system according to claim 1, characterized in that, The drawing terminal also includes a data upload module. The input end of this module is connected to the output end of the location data processing module and the output end of the inspection data recording module. It is used to package the associated pipeline location database and all inspection data and upload them to the cloud server.

10. The intelligent pipeline inspection and testing system according to claim 1, characterized in that, The location data processing module also includes a geographic location query unit. The geographic location query unit receives the current geographic location coordinates input by the inspector on the drawing terminal, calculates the planar distance and azimuth between the current geographic location and the GPS coordinates of each pipeline component in the database, and displays the calculation results on the display module after sorting them by distance from smallest to largest.

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