Ground markers and ground marking systems

Abstract

The present invention provides a ground marker and a ground marking system. The ground marker is set at a ground calibration point and is used to locate and track a pipeline magnetic leakage internal detector. The ground marker includes a control module and a sensing module, a GPS module and a wireless communication module connected to the control module, wherein: the sensing module includes a plurality of three-axis Hall sensors distributed in a ring array, which are used to determine whether the pipeline magnetic leakage internal detector has passed; the GPS module is used to execute the acquisition instructions of the control module, obtain the position information of the ground calibration point and the time information of the pipeline magnetic leakage internal detector passing; the wireless communication module is used to execute the communication instructions of the control module, and send the position information and time information to a cloud server. The sensing module detects whether the pipeline magnetic leakage internal detector is passed, and the GPS module sends the position information and the time information of the passing to the cloud server in real time. There is no need to arrange a follow-up person, and the communication is fast and convenient, saving human and financial resources.

Description

Technical Field

[0001] The invention relates to the technical field of pipeline magnetic leakage internal detection, and in particular to a ground marker and a ground marking system. Background Art

[0002] Pipeline magnetic leakage internal detection is to use the magnetization system in the detection device to perform local magnetization of the pipeline without affecting the normal transportation of oil and gas pipeline media. The pipeline magnetic leakage internal detection detector is driven by the pressure difference of the medium in the pipeline to detect metal corrosion defects on the inner and outer walls of the pipeline and locate the position of the defects in the pipeline.

[0003] Pipelines are usually buried underground. Due to geological changes (landslides, collapses, debris flows, earthquakes, subsidence, seabed movement), anchor dragging, floods, and third-party damage, pipelines may be deformed, displaced, or bent. In actual pipeline magnetic leakage internal detection projects, due to the actual displacement of pipelines, in order to improve the positioning accuracy of pipeline internal detection defects, it is necessary to arrange a marker box at a certain distance (usually 1 km) on the ground as a ground calibration point.

[0004] Due to pipeline deformation, displacement or bending, the pipeline magnetic leakage internal detector is prone to jamming when running in the pipeline, affecting the normal use of the pipeline, causing major safety hazards and serious economic losses. Therefore, in the process of pipeline magnetic leakage internal detection, a low-frequency signal transmitter is often installed on the pipeline magnetic leakage internal detector, and the pipeline magnetic leakage internal detector is located and tracked by the follower holding a low-frequency signal receiver. In the follow-up stage, it is necessary to reasonably set up the tracking group according to the pipeline information, and the team members are selected from personnel who are familiar with the road conditions and pipelines along the way. Each tracking group is equipped with a follower and a driver. The follower carries a low-frequency signal receiver and places it at the ground calibration point. When the follower receives the passing signal of the magnetic leakage internal detector, the wireless intercom method is used to notify the centralized mobilization center of the passing status and current time of the pipeline magnetic leakage internal detector in real time, and immediately drives to the next ground calibration point several kilometers away to continue following the ball, and so on, to effectively avoid the jamming accident of the pipeline magnetic leakage internal detector. However, this method requires a large number of followers and a low degree of automation, resulting in a huge waste of manpower and financial resources. Summary of the invention

[0005] The purpose of the present invention is to provide a ground marker and a ground marking system, which can send the position information of the ground marker and the time information of the pipeline leakage magnetic detector passing through to the cloud server in real time. There is no need to arrange followers to communicate, the communication is fast and convenient, and manpower and financial resources are saved.

[0006] In order to achieve the above-mentioned object, as one aspect of the present invention, the present invention provides a ground marker, which is arranged at a ground calibration point and is used to locate and track a pipeline magnetic leakage internal detector, comprising a control module and a sensing module, a GPS module and a wireless communication module connected to the control module, wherein:

[0007] The sensing module includes a plurality of three-axis Hall sensors distributed in a ring array, and the three-axis Hall sensors are used to obtain magnetic field signals within a certain range, and judge whether the pipeline magnetic leakage internal detector passes according to the magnetic field signals, and send a signal to the control module when the pipeline magnetic leakage internal detector passes;

[0008] The GPS module is used to execute the acquisition instruction of the control module to obtain the position information of the ground calibration point and the time information of the pipeline magnetic leakage internal detector passing through;

[0009] The wireless communication module is used to execute the communication instructions of the control module and send the location information and the time information to the cloud server.

[0010] Optionally, the number of the three-axis Hall sensors is not less than 12.

[0011] Optionally, the three-axis Hall sensor is an MLX90393 Hall sensor.

[0012] Optionally, the control module is a CC3235 wireless microcontroller.

[0013] Optionally, the wireless communication module includes a radio frequency duplexer, a 5GHz filter, a 2.4GHz filter and an antenna, the radio frequency duplexer is connected to the control module through the 5GHz filter and the 2.4GHz filter, and the antenna is connected to the radio frequency duplexer to send and receive WIFI signals.

[0014] Optionally, the control module, the sensing module, the GPS module and the wireless communication module are integrated on a circuit board, and the control module, the GPS module and the wireless communication module are located on one side of the circuit board, and the sensing module is located on the other side of the circuit board.

[0015] Optionally, the ground marker further includes a box body, and the circuit board is arranged in the box body.

[0016] As another aspect of the present invention, the present invention provides a ground marking system, including a cloud server, a device terminal and at least two ground markers as described above, the ground marker is connected to the cloud server to send the location information of the ground marker and the time information of the pipeline leakage magnetic detector passing through to the cloud server, and the device terminal is connected to the cloud server to receive the location information and the time information.

[0017] Optionally, a plurality of the ground markers are arranged above the pipeline at set intervals along the extension direction of the pipeline.

[0018] Optionally, the device terminal includes a computer and a mobile phone.

[0019] The present invention provides a ground marker and a ground marking system. By arranging a plurality of three-axis Hall sensors in a circular array, no matter how the ground marker is placed, it can be ensured that at least in a certain direction there is a three-axis Hall sensor parallel to the direction of the pipeline. The amplitude and phase of the Bx component of the three-axis Hall sensor can be used to determine whether the pipeline leakage magnetic internal detector has passed, which provides greater flexibility for on-site inspection engineers and can greatly reduce the measurement error caused by the placement of the ground marker. In addition, by setting a GPS module and a wireless communication module, the present invention can send the location information of the ground marker and the time information of the pipeline leakage magnetic internal detector passing to a cloud server in real time, without arranging personnel to communicate with the ball, and the communication is fast and convenient, saving manpower and financial resources. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Those skilled in the art will appreciate that the accompanying drawings are provided for a better understanding of the present invention and do not constitute any limitation on the scope of the present invention.

[0021] Figure 1 A schematic diagram of a magnetic field mode of a ground marker provided by an embodiment of the present invention;

[0022] Figure 2 Waveform diagram of Bx component, By component and Bz component of the three-axis Hall sensor provided by the embodiment of the present invention;

[0023] Figure 3 A structural block diagram of a ground marker provided by an embodiment of the present invention;

[0024] Figure 4 An array layout diagram of a three-axis Hall sensor provided in an embodiment of the present invention;

[0025] Figure 5 A network topology diagram of the ground marking system provided in an embodiment of the present invention.

[0026] In the attached figure:

[0027] 1- Ground marker; 2- Pipeline magnetic leakage detector; 3- Permanent magnet N pole; 4- Permanent magnet S pole;

[0028] 10-control module; 20-sensing module; 30-GPS module; 40-wireless communication module; 41-RF duplexer; 42-5GHz filter; 43-2.4GHz filter; 44-antenna; 50-power management chip; 60-JTAG interface; 70-40MHz crystal oscillator; 80-32.768KHz crystal oscillator; 90-power supply;

[0029] 100- cloud server; 200- device terminal; 300- ground marker. DETAILED DESCRIPTION

[0030] The Hall sensor is a magnetic field sensor made based on the Hall effect, and the three-axis Hall sensor can sense all three components of magnetic flux at a single point, and can output highly accurate linear absolute position signals in multiple modes, enabling 1D, 2D, and 3D control.

[0031] For details, please refer to Figure 1 , Figure 1 A schematic diagram of the magnetic field mode of the ground marker provided in an embodiment of the present invention, when the ground marker 1 is placed directly above the pipeline magnetic leakage internal detector 2 in the pipeline, the direction of the magnetic field is from the permanent magnet N pole 3 to the permanent magnet S pole 4, and the magnetic field passes through the three-axis Hall sensor in the ground marker 1, forming a horizontal Bx component, a vertical By component and a vertical Bz component. Assume that the ground marker 1 is placed directly above the pipeline and parallel to the extension direction of the pipeline. If the pipeline magnetic leakage internal detector 2 in the pipeline passes through the ground marker 1, the Bx component of the three-axis Hall sensor will first have a negative peak and then a positive peak, and the By component and the Bz component will only have positive peaks, such as Figure 2 As shown, Figure 2 The three-axis Hall sensor provided in the embodiment of the present invention has waveforms of Bx component, By component and Bz component. Since the pipeline network is laid underground, crossing rivers, lakes, roads and fields, etc., the ground marker 1 will be subject to various interferences when it is placed, among which the most influential is the stray magnetic field interference of high-voltage lines and cars. Therefore, through the waveform of the Bx component, it can be distinguished whether the pipeline leakage magnetic internal detector 2 has passed.

[0032] However, since it is impossible to determine the specific direction of the pipeline during on-site inspection, the ground marker 1 cannot be placed completely parallel to the direction of the pipeline, resulting in the Bx waveform not necessarily having a negative peak first and a positive peak later when the pipeline leakage magnetic internal detector 2 passes through the ground marker 1. Therefore, the present invention provides a ground marker, which arranges multiple three-axis Hall sensors in a ring array, so that no matter how the ground marker is placed, it can be guaranteed that there is a three-axis Hall sensor parallel to the direction of the pipeline in at least a certain direction. The amplitude and phase of the Bx component of the three-axis Hall sensor can be used to determine whether the pipeline leakage magnetic internal detector has passed, which provides greater flexibility for on-site inspection engineers and can greatly reduce the measurement error caused by the placement of the ground marker. In addition, the present invention can send the location information of the ground marker and the time information of the pipeline leakage magnetic internal detector passing through to the cloud server in real time by setting a GPS module and a wireless communication module, without arranging a follow-up personnel for communication, and the communication is fast and convenient, saving manpower and financial resources.

[0033] In order to make the purpose, advantages and features of the present invention clearer, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that the drawings are all in a very simplified form and are not drawn to scale, and are only used to conveniently and clearly assist in explaining the purpose of the embodiments of the present invention. In addition, the structure shown in the drawings is often a part of the actual structure. In particular, the emphasis of each drawing is different, and sometimes different scales are used.

[0034] As used in the present invention, the singular forms "one", "an", and "the" include plural objects, unless the content clearly indicates otherwise. As used in the present invention, the term "or" is generally used in a sense that includes "and / or", unless the content clearly indicates otherwise. As used in the present invention, the term "several" is generally used in a sense that includes "at least one", unless the content clearly indicates otherwise. As used in the present invention, the term "at least two" is generally used in a sense that includes "two or more", unless the content clearly indicates otherwise. In addition, the terms "first", "second", and "third" are used only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, the features defined as "first", "second", and "third" may explicitly or implicitly include one or at least two of the features.

[0035] Please refer to Figure 3 , Figure 3This is a structural block diagram of a ground marker provided in an embodiment of the present invention. This embodiment provides a ground marker, which is set at a ground calibration point and is used to locate and track a pipeline magnetic leakage internal detector, including a control module 10 and a sensing module 20, a GPS module 30 and a wireless communication module 40 connected to the control module 10, wherein:

[0036] The sensing module 20 includes a plurality of three-axis Hall sensors distributed in a ring array, and the three-axis Hall sensors are used to obtain magnetic field signals within a certain range, and judge whether the pipeline magnetic leakage internal detector passes according to the magnetic field signals, and send a signal to the control module 10 when the pipeline magnetic leakage internal detector passes;

[0037] The GPS module 30 is used to execute the acquisition instruction of the control module 10 to obtain the position information of the ground calibration point and the time information of the pipeline magnetic leakage internal detector passing through;

[0038] The wireless communication module 40 is used to execute the communication instructions of the control module 10 and send the location information and the time information to the cloud server.

[0039] It should be understood that the ground marker is set at a ground calibration point, which should be understood as a ground position set above the pipeline along the extension direction of the pipeline or the running direction of the pipeline magnetic leakage internal detector. The ground marker is used to detect whether the pipeline magnetic leakage internal detector passes through the pipeline corresponding to the ground calibration point, so as to realize the positioning and tracking of the pipeline magnetic leakage internal detector. For the same section of pipeline, a ground calibration point is usually set at intervals of several kilometers.

[0040] Specifically, the sensing module 20 includes a plurality of three-axis Hall sensors distributed in a circular array, and the three-axis Hall sensor is used to obtain a magnetic field signal within a certain range, and judge whether the pipeline magnetic leakage internal detector passes according to the magnetic field signal, and send a signal to the control module 10 when the pipeline magnetic leakage internal detector passes.

[0041] In this embodiment, the three-axis Hall sensor is an MLX90393 sensor. The MLX90393 sensor is an independent sensor chip using TriaxisTM (three-axis) Hall technology. It can sense both the magnetic field strength in the vertical direction and the magnetic field strength parallel to the chip surface, making it convenient to capture the position of the pipeline leakage magnetic detector through the magnetic field with the ground marker, thereby improving the system's anti-interference ability.

[0042] Preferably, the number of the three-axis Hall sensors is not less than 12. Figure 4As shown, at least 12 three-axis Hall sensors are arranged in a circular array, so that no matter how the ground marker is placed, it can be ensured that at least three sensors are parallel to the direction in which the pipeline extends in a certain direction. The amplitude and phase of the Bx component of the three three-axis Hall sensors can accurately determine whether the pipeline leakage magnetic internal detector has passed, providing greater flexibility for on-site detection engineers.

[0043] In this embodiment, the control module 10 is, for example, a CC3235 wireless microcontroller, which is a single-chip security solution and wireless microcontroller (MCU) that integrates user application-specific -M4 MCU and network processor running 2.4GHz and 5GHz dual-band Wi-Fi protocol and Internet security protocol. The MLX90393 sensor uses SPI bus to communicate with CC3235 wireless microcontroller.

[0044] When the pipeline magnetic flux leakage internal detector passes, the sensing module 20 sends a signal to the control module 10. The control module 10 issues a collection instruction to the GPS module 30, and obtains the location information of the ground marker and the time information of the pipeline magnetic flux leakage internal detector passing through the GPS module 30. Then the location information and the time information are sent to the cloud server through the wireless communication module 40. With such a configuration, it is only necessary to place a ground marker at a certain interval, and place multiple ground markers within the mileage range of the detection pipeline to simulate the running track of the pipeline magnetic flux leakage internal detector, and realize the positioning and tracking of the pipeline magnetic flux leakage internal detector.

[0045] The GPS module 30 adopts a UBLOX module based on a NEO-6 chip, and is connected to the CC3235 microcontroller via a serial port.

[0046] Specifically, the wireless communication module 40 includes a radio frequency duplexer 41, a 5GHz filter 42, a 2.4GHz filter 43 and an antenna 44. The radio frequency duplexer 41 is connected to the control module 10 through the 5GHz filter 42 and the 2.4GHz filter 43, and the antenna 44 is connected to the radio frequency duplexer 41 to receive and send WIFI signals. In this embodiment, the radio frequency duplexer 41 adopts DPX165950DT, which is used to mix the functions of two different frequency signals of 2.4GHz and 5GHz bands. The 5GHz filter 42 is used to separate the 5GHz signal from other frequency bands, and the 2.4GHz filter 43 is used to separate the 2.4GHz signal from other frequency bands. The antenna 44 is used to receive WIFI signals, such as China Mobile WLAN signals. The WLAN wireless communication method is used to facilitate the ground marker to perform network operations in the area covered by the China Mobile WLAN network in the country.

[0047] The control module 10, the sensing module 20, the GPS module 30 and the wireless communication module 40 are integrated on a circuit board, and the control module 10, the GPS module 30 and the wireless communication module 40 are located on one side of the circuit board, and the sensing module 20 is located on the other side of the circuit board. This arrangement can greatly save the space occupied by the circuit board, reduce the size of the circuit board, and achieve better transmission effect.

[0048] Of course, other electronic components may also be arranged on the circuit board, and this application does not impose any limitation on this.

[0049] For example:

[0050] The power management chip 50, as a step-down switching voltage regulator, can output the voltage level required by the ground marker;

[0051] JTAG interface 60, used for program download and debugging;

[0052] 40MHz crystal oscillator 70 provides stable pulse output for CC3235 wireless microcontroller.

[0053] The 32.768KHz crystal oscillator 80 provides a stable clock pulse for the CC3235 wireless microcontroller. It should be understood that when the GPS module first establishes communication with the satellite, the current initial time can be obtained. At this time, the 32.768KHz crystal oscillator 80 also enters the working state. The clock pulse sent by the 32.768KHz crystal oscillator 80 can obtain the working time. Then, when the pipeline magnetic leakage internal detector passes, the GPS module 30 can obtain the time information of the pipeline magnetic leakage internal detector passing according to the sum of the initial time and the working time.

[0054] The ground marker also includes a power supply 90, which is composed of 6 1.5V No. 5 batteries, which are easy to replace and convenient for field operation.

[0055] In this embodiment, the ground marker further includes a box body, and the circuit board is arranged in the box body to protect the circuit board. The box body is, for example, a rectangular parallelepiped, and this application does not impose any limitation on this.

[0056] Based on this, Figure 5 , Figure 5 This is a network topology diagram of a ground marking system provided in an embodiment of the present invention. The present invention also provides a ground marking system, including a cloud server 100, a device terminal 200 and at least two ground markers 300, wherein the ground marker 300 is connected to the cloud server 100 to send the position information of the ground marker 300 and the time information of the pipeline magnetic leakage detector passing through to the cloud server 100, and the device terminal 200 is connected to the cloud server 100 to receive the position information and the time information.

[0057] Preferably, a plurality of the ground markers 300 are arranged above the pipeline at set intervals along the extension direction of the pipeline. By arranging the ground markers 300 on the ground directly above the pipeline, placing a ground marker 300 at set intervals (e.g., one kilometer), the ground markers 300 are provided with a GPS module 30. When the pipeline magnetic flux leakage internal detector passes through, the passing time and GPS geographic location information are sent to the cloud server 100 through the wireless communication module 40. The centralized dispatching personnel read the time information and location information sent by each ground marker 300 in the cloud server 100 through the device terminal 200, and can know the passing time of the pipeline magnetic flux leakage internal detector, and can draw the motion trajectory of the pipeline magnetic flux leakage internal detector according to the GPS coordinate information, and then determine whether there is a jamming phenomenon inside, so as to realize the positioning and tracking of the pipeline magnetic flux leakage internal detector.

[0058] Preferably, the present invention adopts a Wifi connection method and designs a star network topology. In the star topology, all ground markers 300 in the pipeline detection routine are connected to the cloud server 100, the cloud server 100 serves as a central node, and the ground markers 300 and various device terminals 200 serve as sub-nodes, which greatly improves the real-time performance of the pipeline detection. In this embodiment, the device terminal 200 includes a mobile phone and a computer of a centralized dispatcher.

[0059] In summary, the embodiments of the present invention provide a ground marker and a ground marking system, which arranges a plurality of three-axis Hall sensors in a circular array, so that no matter how the ground marker is placed, it can be ensured that there is at least a three-axis Hall sensor parallel to the direction of the pipeline in a certain direction. The amplitude and phase of the Bx component of the three-axis Hall sensor can be used to determine whether the pipeline leakage magnetic internal detector has passed, which provides greater flexibility for on-site inspection engineers and can greatly reduce the measurement error caused by the placement of the ground marker. In addition, the present invention can send the location information of the ground marker and the time information of the pipeline leakage magnetic internal detector passing through to the cloud server in real time by setting a GPS module and a wireless communication module. There is no need to arrange for a follow-up person to communicate, and the communication is fast and convenient, saving manpower and financial resources.

[0060] The above is only a preferred embodiment of the present invention and does not limit the present invention in any way. Any technician in the relevant technical field, without departing from the scope of the technical solution of the present invention, makes any form of equivalent replacement or modification to the technical solution and technical content disclosed in the present invention, which does not depart from the content of the technical solution of the present invention and still falls within the protection scope of the present invention.

Claims

1. A ground marker, arranged at a ground calibration point, and used to locate and track a pipeline magnetic leakage internal detector, characterized in that: It includes a control module and a sensing module, a GPS module and a wireless communication module connected to the control module, wherein: The sensing module includes a plurality of three-axis Hall sensors distributed in a ring array, and the three-axis Hall sensors are used to obtain magnetic field signals within a certain range, and judge whether the pipeline magnetic leakage internal detector passes according to the magnetic field signals, and send a signal to the control module when the pipeline magnetic leakage internal detector passes; The GPS module is used to execute the acquisition instruction of the control module to obtain the position information of the ground calibration point and the time information of the pipeline magnetic leakage internal detector passing through; The wireless communication module is used to execute the communication instructions of the control module and send the location information and the time information to the cloud server.

2. The ground marker according to claim 1, characterized in that The number of the three-axis Hall sensors is not less than 12.

3. The ground marker according to claim 1 or 2, characterized in that: The three-axis Hall sensor is an MLX90393 Hall sensor.

4. The ground marker according to claim 1, characterized in that The control module is a CC3235 wireless microcontroller.

5. The ground marker according to claim 1, characterized in that: The wireless communication module includes a radio frequency duplexer, a 5GHz filter, a 2.4GHz filter and an antenna. The radio frequency duplexer is connected to the control module through the 5GHz filter and the 2.4GHz filter. The antenna is connected to the radio frequency duplexer to send and receive WIFI signals.

6. The ground marker according to claim 1, characterized in that: The control module, the sensing module, the GPS module and the wireless communication module are integrated on a circuit board, and the control module, the GPS module and the wireless communication module are located on one side of the circuit board, and the sensing module is located on the other side of the circuit board.

7. The ground marker according to claim 6, characterized in that The ground marker also includes a box body, and the circuit board is arranged in the box body.

8. A ground marking system, characterized in that: It includes a cloud server, a device terminal and at least two ground markers as described in any one of claims 1 to 7, wherein the ground marker is connected to the cloud server to send the position information of the ground marker and the time information of the pipeline leakage magnetic detector passing through to the cloud server, and the device terminal is connected to the cloud server to receive the position information and the time information.

9. The ground marking system according to claim 8, characterized in that: A plurality of ground markers are arranged above the pipeline at set intervals along the extending direction of the pipeline.

10. The ground marking system according to claim 8, characterized in that: The equipment terminals include computers and mobile phones.

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