Rapid positioning and detecting method for high-precision pipeline route

Abstract

The invention relates to a rapid positioning detection method for a high-precision pipeline route. The method comprises the following steps: S1, firstly, putting a detection device into a pipeline along the flowing direction of a fluid medium; s2, starting a measuring instrument of the head mechanism, performing data fusion by a Kalman filter, and transmitting the data to a control center of the head mechanism in real time; s3, opening a fan plate, and then starting propellers on the head mechanism and the propelling mechanism: the two mechanisms work together to realize the swimming and steering movement of the detection device in the pipeline, and detecting the condition in the pipeline by using a sensor; s4, when the head mechanism detects that the flow velocity in the pipeline changes suddenly, the sector plate is withdrawn, the position and range of the flow velocity change are recorded, a warning signal is sent out through a control center of the head mechanism, and then other parts in the pipeline continue to be detected; and if the signal cannot be sent, ending detection and immediately returning. According to the invention, the pipeline can be automatically, efficiently and automatically detected, the accuracy is high, the real-time performance is good, the labor cost is reduced, and the manual operation risk is reduced.

Description

Technical Field

[0001] The invention belongs to the technical field of underwater pipeline positioning and detection, and particularly relates to a high-precision pipeline route rapid positioning and detection method. Background Art

[0002] Traditional underwater pipelines mainly rely on divers for manual inspections. However, due to the particularity of the underwater environment, divers face difficulties such as limited vision and harsh working environment when working underwater, and the operation is difficult and risky. The current development of underwater pipeline detection technology is primarily due to the innovation and application of remote sensing technology, sonar systems, underwater robots (ROVs) and autonomous underwater vehicles (AUVs). Sonar, as the core technology of underwater detection, detects underwater objects by emitting sound waves and receiving their reflected waves. It can penetrate seawater and realize non-contact detection of underwater topography and pipeline distribution. The rise of multi-beam sonar technology has greatly improved the resolution and coverage of detection, and can construct detailed three-dimensional seabed topographic maps, providing strong support for underwater pipeline routing and positioning.

[0003] Modern underwater pipeline routing detection systems use advanced signal processing algorithms to automatically identify and classify underwater targets. However, in extreme or complex water environments, such as high turbidity and strong current areas, current technologies cannot meet the needs of rapid pipeline positioning and detection. Therefore, it is necessary to design a more efficient, safe and reliable underwater pipeline positioning and detection method. Summary of the invention

[0004] The present invention provides a high-precision pipeline route rapid positioning detection method to solve the technical problems existing in the known technology, which can independently, efficiently and automatically detect pipelines, reduce labor costs and reduce manual operation risks.

[0005] The present invention includes the following technical solutions:

[0006] A high-precision pipeline route rapid positioning detection method comprises the following steps:

[0007] S1. First, place the detection device into the pipeline along the flow direction of the fluid medium. The detection device includes a head mechanism and a propulsion mechanism. The head mechanism and the propulsion mechanism are connected by a universal coupling and a connecting pipe. The control center of the head mechanism stores the pipeline map and the planned detection route map. The detection device starts the detection work after confirming the starting point coordinates and the detection route through the satellite positioning unit.

[0008] S2. After starting the detection work, the acoustic Doppler flow profiler of the head mechanism is synchronously started to measure the flow velocity in the pipeline, the laser distance measuring device, the acoustic distance measuring device, the attitude meter and the obstacle avoidance radar auxiliary device are moved, the ultra-low frequency electromagnetic wave locator is used to locate the detection device in the pipeline, and the diffuse silicon pressure sensor is used to measure the pressure in the pipeline in real time. The Kalman filter is used for data fusion, and the data is transmitted to the control center of the head mechanism in real time for local storage, and obstacles and abnormal data are marked on the pipeline map through the graphics processing module;

[0009] S3. The control center adjusts the posture and detection route of the detection device according to the processed data; the main part of the head mechanism is the head cabin, and the four sides of the head cabin are designed with a rotating shaft and a rotating shaft hinged fan plate. The fan plate rotates around the axis and assists the detection device to move forward by changing the angle of the force of the flowing medium. Four screw propellers are installed on the fan plate. The fan plate is opened to start the screw propeller of the head mechanism and the four axial screw propellers on the propulsion mechanism: the control center balances its own weight and the axial thrust of the fluid medium calculated by the flow velocity of the fluid medium in the pipeline measured by the acoustic Doppler flow profiler by adjusting the angle of the rotating shaft, controlling the speed of the screw propeller blades, and controlling the speed of the axial screw propeller blades. The head mechanism and the propulsion mechanism work together to realize the swimming and turning movement of the detection device in the pipeline; the actual detection route is marked on the planned detection route map through the graphics processing module and stored locally in the control center. The marked pipeline map and the planned detection route map are sent to the background workstation once every specified time;

[0010] S4. When the head mechanism detects a sudden change in flow velocity in the pipeline, it retracts the fan plate, hovers for a certain period of time to confirm the situation, and records the position and range of the sudden change in flow velocity on the pipeline map through the graphics processing module of the control center. The graphics processing module of the control center draws a schematic diagram of the pipeline breach range based on the data of the pressure sensor, acoustic Doppler flow profiler, laser ranging device, sonic ranging device and the image of the camera, and superimposes the ranges in multiple schematic diagrams to obtain the maximum range and the minimum range. The communication module of the control center sends out a warning signal and the breach information obtained by detection, and then continues to detect other parts of the pipeline; if the signal cannot be sent, the detection is terminated and the return is made immediately.

[0011] After superposition, the maximum range and the minimum range are defined to cover the largest amount of data, providing more reference for formulating repair strategies in the future. It can also verify the degree of data deviation of different detection components underwater, and prepare for the next step of equipment improvement.

[0012] Furthermore, the positioning process using the ultra-low frequency electromagnetic wave locator in S2 is as follows: S2-1, calculating the propagation speed c of the electromagnetic wave in the medium 电 , c is the speed of light in vacuum (3×108 m / s), n is the relative permittivity of the medium, μr is the relative magnetic permeability of the medium; S2-2, measure the distance and calculate d 电 =c 电 *t 电 , t 电 is the propagation time of electromagnetic waves, c 电 is the propagation speed of electromagnetic waves in the medium; S2-3. For the time difference positioning algorithm (TDOA), the target position can be calculated using the following formula: Where (x i ,y i ,z i ) is the position of the i-th receiver, (x, y, z) is the target position, d i It is the distance from the target to the receiver calculated based on the time difference. The present invention uses an ultra-low frequency electromagnetic wave locator to achieve rapid positioning in the pipeline. As the depth of detection increases, the satellite positioning unit is affected by various environmental factors and is likely to fail. The ultra-low frequency electromagnetic wave locator and pipeline map are the fastest way to record positioning during the detection process.

[0013] Furthermore, the distance measurement formula of the laser distance measuring device used in S2 is: Among them, d 激光 is the measured distance, c 光 is the speed of light, t1 is the round trip time of the light pulse, and n is the refractive index of the medium; the distance measurement formula using the acoustic wave ranging device is: Where E is the elastic modulus, ρ is the density of the medium, and d 声波 is the measured distance, c 声波 is the propagation speed of sound waves in the medium, and t2 is the round-trip time of the sound wave.

[0014] Furthermore, when the diffused silicon pressure sensor is used in S2 to measure the pressure, its output voltage is: Where V out is the output voltage of the sensor, V ref is the reference voltage or the excitation voltage of the bridge, β is the initial resistance ratio when the bridge is balanced, ΔR is the resistance change due to pressure, and R0 is the value of the initial resistance in the bridge; ΔR / R0 represents the ratio of resistance change, which is proportional to the applied pressure; when ΔR is represented by the piezoresistive coefficient k, the formula can be written as: ΔR=kPR0, which is a constant of the bridge, and P is the pressure being measured. Where k is related to the piezoresistance coefficient of silicon material. The flow medium in S3 pushes the fan plate to give the detection device an overall acceleration of: Where m is the weight of the entire detection device, C Tis the thrust coefficient, which depends on the shape of the object and the flow characteristics of the fluid, ρ represents the density of the fluid medium, A 总 It is the area where the object contacts the fluid, including the maximum cross-sectional area of ​​the main body of the detection device and the area of ​​the fan plate impacted by the fluid medium. v1 is the velocity of the fluid medium flow relative to the fan plate.

[0015] Furthermore, the thrust F1 provided by the lower screw propeller of the head mechanism in S3 equal to the gravity of the detection device is: where F 螺 1 is the force provided by a lower propeller, ω1 is the angular velocity provided by the lower propeller, D is the diameter of the lower propeller, the number of blades is N, the blade width is b, the blade spacing is s, and the propulsion efficiency is η.

[0016] Furthermore, the radial screw propellers on the left and right sides of the bow mechanism in S3 provide a steering thrust F2 of: where F 螺 2 is the force provided by a radial propeller, ω2 is the angular velocity provided by the radial propeller, D is the diameter of the radial propeller, the number of blades is N, the blade width is b, the blade spacing is s, and the propulsion efficiency is η.

[0017] Furthermore, the steering thrust F3 provided by the four axial screw propellers on the propulsion mechanism in S3 is: F3 = 4F 螺3 =Nηρbsω3 2 D 2 , where F 螺3 is the force provided by an axial screw propeller, ω3 is the angular velocity provided by the axial screw propeller, D is the diameter of the axial screw propeller, the number of blades is N, the blade width is b, the blade spacing is s, and the propulsion efficiency is η.

[0018] Furthermore, the flow velocity detected in S4 suddenly changes to exceed the normal flow velocity by 10%, and the duration of the sudden change is 10 milliseconds; the sudden change flow velocity is the breach flow velocity v 破口 , specifically:

[0019] Among them, P 管内 is the pressure inside the pipe, P 管外 is the pressure outside the pipe, v 流 body is the fluid medium velocity, and ρ is the fluid medium density.

[0020] Furthermore, the v in S4 流体 Calculated using an acoustic Doppler flow profiler: Δf = f r -f0, Where Δf is the Doppler frequency shift, f0 is the frequency of the transmitted sound wave, and f ris the frequency of the received sound wave, θ is the angle between the sound wave and the fluid flow direction, and λ is the wavelength of the sound wave.

[0021] The present invention has the advantages and positive effects:

[0022] 1. The head mechanism of the present invention integrates a variety of detection elements, such as acoustic Doppler flow profiler, pressure sensor, temperature sensor, camera, obstacle avoidance radar, etc. These elements can obtain key information in the pipeline in real time, such as water flow velocity, temperature distribution, internal conditions of the pipeline, etc.; due to the complex underwater environment, the data collected by the detection elements are transmitted to the control center of the head mechanism in real time after data noise reduction through the Kalman filter, and the control center adjusts the motion posture and movement route of the entire device according to the processed data; the processing of the Kalman filter enables the device to perceive the pipeline environment more accurately, thereby significantly improving the operating efficiency and safety. At the same time, based on the collaborative work of multiple detection elements, it can save calibration time and realize autonomous, efficient and automated detection of pipelines.

[0023] 2. During the movement of the present invention, the control center adjusts the angle of the fan plate and the speed of the blades of the propeller to offset the deadweight of the device and the axial thrust of the fluid medium, thereby controlling the rising, falling and left and right turning movements of the device in the pipeline, detecting along the planned route and avoiding obstacles in time on the way.

[0024] 3. The present invention is equipped with a satellite positioning unit and an ultra-low frequency electromagnetic wave locator and stores pipeline maps and planned detection route maps in the control center, so that the device can mark abnormal conditions such as obstacles in the pipeline, pipeline diversion or displacement, pipeline damage, etc. during the detection process and send marking maps, warning signals and acquired detection information to the background workstation when communication conditions are met; when the satellite positioning unit fails, the ultra-low frequency electromagnetic wave locator can still be used for rapid positioning; the application of the present invention can increase the frequency of information updates on the status of underwater pipelines, and provide effective data support for the subsequent expansion of the scope of underwater task processing.

[0025] 4. The control center of the present invention is embedded with a graphics processing module. After a pipeline breach is found, the graphics processing module draws schematic diagrams of the pipeline breach range based on the data collected by multiple detection elements and quickly defines the breach range by superimposing multiple schematic diagrams. This information fusion rapid positioning technology is used to provide data support for subsequent repair work. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0027] Figure 2 It is a structural schematic diagram of the head mechanism of the present invention;

[0028] Figure 3 is a structural sectional view of the bow cabin of the present invention;

[0029] Figure 4 is a schematic structural diagram of the propulsion mechanism of the present invention;

[0030] Figure 5 It is a schematic diagram of the information processing and control flow of the present invention;

[0031] In the figure: 1 is a universal coupling, 2 is a connecting pipe; 100 is a bow mechanism, 101 is a bow cabin, 102 is a pressure sensor, 103 is a fan plate, 104 is a propeller, 105 is a rotating shaft, 106 is an acoustic Doppler flow profiler, 107 is a temperature sensor, 108 is a laser ranging device, 109 is a sound wave ranging device, 110 is a lighting lamp, 111 is a camera, 115 is an ultra-low frequency electromagnetic wave locator, 116 is a satellite positioning unit, 117 is a communication module, 118 is an attitude indicator, and 119 is an obstacle avoidance radar; 200 is a propulsion mechanism, 201 is a propulsion cabin, 202 is an axial propeller, and 203 is a power source. DETAILED DESCRIPTION

[0032] In order to further disclose the content, features and effects of the present invention, the following examples are given and described in detail with reference to the accompanying drawings.

[0033] In the description of the following embodiments, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing this patent and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on this patent.

[0034] In the description of the following embodiments, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", and "set" should be understood in a broad sense, for example, it can be fixedly connected or set, or it can be detachably connected or set, or connected or set in one piece. For ordinary technicians in this field, the specific meanings of the above terms in this patent can be understood according to specific circumstances.

[0035] Example: See attached Figure 1-5A high-precision pipeline route rapid positioning detection method includes the following steps: S1. First, a detection device is placed into the pipeline along the flow direction of the fluid medium. The detection device includes a head mechanism 100 and a propulsion mechanism 200; the head mechanism 100 and the propulsion mechanism 200 are connected by a universal coupling 1 and a connecting pipe 2; the control center of the head mechanism 100 stores a pipeline map and a planned detection route map, and the detection device starts detection work after confirming the starting point coordinates and the detection route through a satellite positioning unit.

[0036] S2. After starting the detection work, the acoustic Doppler flow profiler 106 of the head mechanism 100 is synchronously started to measure the flow velocity in the pipeline. The laser distance measuring device 108, the acoustic distance measuring device 109, the attitude meter 118 and the obstacle avoidance radar 119 assist the movement of the detection device. The ultra-low frequency electromagnetic wave locator 115 is used to locate the detection device in the pipeline, and the diffused silicon pressure sensor 102 measures the pressure in the pipeline in real time. The Kalman filter performs data fusion, transmits the data to the control center of the head mechanism 100 in real time for local storage, and marks obstacles and abnormal data on the pipeline map through the graphics processing module;

[0037] The positioning process of using the ultra-low frequency electromagnetic wave locator 115 in S2 is as follows: S2-1. Calculate the propagation speed c of the electromagnetic wave in the medium. 电 , c is the speed of light in vacuum (3×10 8 m / s), n is the relative permittivity of the medium, μ r is the relative magnetic permeability of the medium; S2-2, measure the distance and calculate d 电 =c 电 *t 电 , t 电 is the propagation time of electromagnetic waves, c 电 is the propagation speed of electromagnetic waves in the medium; S2-3. For the time difference positioning algorithm (TDOA), the target position can be calculated using the following formula: Where (xi,yi,zi) is the position of the i-th receiver, (x,y,z) is the target position, and di is the distance from the target to the receiver calculated based on the time difference. The ultra-low frequency electromagnetic wave locator 115 and the satellite positioning unit complement each other. By running the above steps S2-1 to S2-2 through the ultra-low frequency electromagnetic wave locator 115, rapid positioning in the pipeline can be achieved. The satellite positioning unit plays a vital role in determining the starting point coordinates and loading the planned detection route map. However, as the depth of detection increases, the satellite positioning unit is affected by various environmental factors and is likely to fail. The ultra-low frequency electromagnetic wave locator 115 and the pipeline map are the fastest way to record positioning during the detection process.

[0038] The prediction step of the Kalman filter is x k|k-1=Fx k-1|k-1 +Bu k , P k|k-1 =FP k-1|k-1 F T +Q, where x k|k-1 is the prior state estimate at time k, F is the state transfer matrix, B is the control matrix, and u k is the control input, P k-1|k-1 F T is the prior state covariance, and Q is the process noise covariance.

[0039] The update step is K k =P k|k- 1H T (HP k|k-1 H T +R) -1 , x k|k =x k|k-1 +K k (z k -Hx k|k-1 ), P k|k =(1-K k H)*P k|k-1 , where K k is the Kalman gain, z k is the observation vector at time k, H is the observation matrix, R is the observation noise covariance, P k|k is the posterior state covariance.

[0040] The following formula is used when using the laser distance measuring device 108 and the sonic distance measuring device 109 to measure the distance: Among them, d 激光 is the measured distance, c 光 is the speed of light, t1 is the round trip time of the light pulse, and n is the refractive index of the medium; the formula for acoustic wave ranging is: Where E is the elastic modulus, ρ is the density of the medium, and d 声波 is the measured distance, c 声波 is the propagation speed of sound waves in the medium, and t2 is the round-trip time of the sound wave.

[0041] The pressure is measured using a diffused silicon pressure sensor 102, and its output voltage is:

[0042] Where V out is the output voltage of the sensor, V refis the reference voltage or the excitation voltage of the bridge, β is the initial resistance ratio when the bridge is balanced, usually close to 1 (bridge balance state), ΔR is the resistance change due to pressure, R0 is the value of the initial resistance in the bridge; ΔR / R0 represents the ratio of resistance change, which is proportional to the applied pressure and is a temperature compensation term used to correct the output voltage change caused by temperature change. If we express the resistance change ΔR with the piezoresistive coefficient k, then the formula can be written as: ΔR = kPR0, Where k is a constant related to the piezoresistance of the silicon material and P is the pressure being measured.

[0043] S3. The control center adjusts the posture and detection route of the detection device according to the processed data; the main part of the bow mechanism 100 is the bow cabin 101, and the bow cabin 101 is designed with a rotating shaft 105 on the four sides of the upper, lower, left and right sides. The rotating shaft 105 is hinged to the fan plate 103, and the fan plate 103 rotates around the axis and assists the detection device to move forward by changing the angle of the force of the flowing medium. Four screw propellers 104 are installed on the fan plate 103. The fan plate 103 is opened, and then the screw propeller 104 of the bow mechanism 100 and the four axial screw propellers 202 on the propulsion mechanism 200 are started: the control center adjusts the angle of the rotating shaft 105, controls the speed of the blades of the screw propeller 104, and controls the speed of the blades of the axial screw propeller 202 to balance The head mechanism 100 and the propulsion mechanism 200 work together to realize the swimming and turning movement of the detection device in the pipeline by weighing its own weight and measuring the flow velocity of the fluid medium in the pipeline through the acoustic Doppler flow profiler 106; the propulsion direction of the four axial screw propellers 202 located on the propulsion mechanism 200 is the axial direction, and together with the axial thrust of the fluid medium received by the device, they provide the device with axial force to make the device move along the flow direction of the fluid medium; the upper and lower screw propellers 104 located on the head mechanism 100 provide thrust to support the device to float and control the device to float and dive; the left and right screw propellers 104 located on the head mechanism 100 provide thrust to support the device to swing left and right and realize steering. The actual detection route is marked on the planned detection route map through the graphics processing module and stored locally in the control center; the marked pipeline map and the planned detection route map are sent to the background workstation once every specified time;

[0044] The flow medium in S3 pushes the fan plate 103 to give the detection device an overall acceleration of:

[0045] Where m is the weight of the entire detection device, C T is the thrust coefficient, which depends on the shape of the object and the flow characteristics of the fluid, ρ represents the density of the fluid medium, A 总It is the area where the object contacts the fluid, including the maximum cross-sectional area of ​​the main body of the detection device and the area of ​​the fan plate 103 impacted by the fluid medium, and v1 is the speed of the fluid medium flow relative to the fan plate. Since the axial thrust of the fluid medium received by the four axial propellers 202 provides an axial force for the device to move along the flow direction of the fluid medium, the acceleration of the flowing medium given to the device is calculated in time to facilitate the adjustment of the blade speed of the four axial propellers 202, thereby ensuring that the actual operating speed of the detection device is controlled within the planned range.

[0046] The thrust F1 provided by the lower screw propeller 104 of the head mechanism 100 in S3 is equal to the gravity of the detection device: where F 螺 1 is the force provided by a lower screw propeller 104, ω1 is the angular velocity provided by the lower screw propeller 104, D is the diameter of the lower screw propeller 104, the number of blades is N, the blade width is b, the blade spacing is s, and the propulsion efficiency is η.

[0047] The radial screw propellers 104 on the left and right sides of the head mechanism 100 in S3 provide a steering thrust F2 of: where F 螺 2 is the force provided by a radial propeller 104, ω2 is the angular velocity provided by the radial propeller 104, D is the diameter of the radial propeller 104, the number of blades is N, the blade width is b, the blade spacing is s, and the propulsion efficiency is η.

[0048] The steering thrust F3 provided by the four axial screw propellers 202 on the propulsion mechanism 200 in S3 is: F3 = 4F 螺3 =Nηρbsω3 2 D 2 , where F 螺3 is the force provided by an axial screw propeller 202, ω3 is the angular velocity provided by the axial screw propeller 202, D is the diameter of the axial screw propeller 202, the number of blades is N, the blade width is b, the blade spacing is s, and the propulsion efficiency is η.

[0049] S4. When the head mechanism 100 detects a sudden change in flow velocity in the pipeline, the fan plate 103 is retracted and hovered for 15 seconds to confirm the situation. The position of the sudden change in flow velocity is recorded on the pipeline map through the graphic processing module of the control center. The graphic processing module of the control center draws a schematic diagram of the pipeline breach range based on the data of the pressure sensor 102, the acoustic Doppler flow profiler 106, the laser ranging device 108, the sound wave ranging device 109 and the image of the camera 111, and the ranges in multiple schematic diagrams are superimposed to obtain the maximum range and the minimum range. A warning signal and the breach information obtained by detection are sent out through the communication module 117 of the control center, and then other parts of the pipeline are continued to be detected; if the signal cannot be sent, the detection is terminated and the ship returns immediately; it should be noted that in this step, due to limited underwater visibility, the image provided by the camera 111 is usually only used as a base map, and the specific breach range is still determined based on the data of the detection element.

[0050] In the S4, it is detected that the flow rate suddenly changes to 10% higher than the normal flow rate, and the duration of the sudden change is 10 milliseconds, wherein the normal flow rate can be obtained by those skilled in the art through existing detection methods, which will not be described in detail here.

[0051] The sudden flow velocity is the break flow velocity v 破口 , the specific calculation process is:

[0052] The Bernoulli equation is used to calculate the relationship between the pressure, velocity and height potential energy of the fluid in the pipeline. The expression is:

[0053]

[0054] Among them, P is the pressure inside the pipe, v 流 body is the velocity of the fluid medium, ρ is the density of the fluid medium, g is the acceleration due to gravity, and h is the height.

[0055] Assuming that the height of the horizontal pipe where the device is initially placed is the reference point height, when the height of the damaged opening is the same as the initial pipe height, the height h of the damaged opening can also be 0, and the Bernoulli equation can be simplified to:

[0056]

[0057] Among them, P 管内 Measured by diffused silicon pressure sensor, P 管外 is the external pressure of the pipe, which is a known condition.

[0058] Then, the breach velocity can be calculated as:

[0059]

[0060] The S4 v 流体Using the acoustic Doppler flow profiler 106, calculate: Δf = f r -f0, Where Δf is the Doppler frequency shift, f0 is the frequency of the transmitted sound wave, and f r is the frequency of the received sound wave, θ is the angle between the sound wave and the fluid flow direction, and λ is the wavelength of the sound wave.

[0061] like Figure 2-Figure 3 As shown, the head structure 100 is in the shape of a bionic snake head. The front bottom of the head cabin 101 is equipped with an acoustic Doppler flow profiler 106, a temperature sensor 107 and an obstacle avoidance radar 119. The two sides of the main body of the head cabin 101 are equipped with attitude meters 118 for identifying the movement of the device. The head cabin 101 is equipped with a pressure sensor 102, a laser ranging device 108, an acoustic ranging device 109, a lighting lamp 110, a camera 111, a control center, a Kalman filter, an ultra-low frequency electromagnetic wave locator 115, a satellite positioning unit 116, and a communication module 117. The communication module 117 includes a Beidou communication system, a 433MHz wireless communication system, and a WiFi communication system.

[0062] like Figure 4 As shown, the propulsion mechanism 200 is cylindrical as a whole, including a propulsion cabin 201 and a propeller 202. Four propellers 202 are loaded on the outer side of the rear end of the propulsion cabin 201. The propulsion cabin 201 has a built-in power source 203 to provide power for the propeller 202.

[0063] like Figure 5 As shown, a graphics processing module and a communication module are embedded in the control center, and the control center directly controls the operation of the lighting lamp 110 , the camera 111 , the power source 203 , the rotating shaft 105 , the propeller 104 and the axial propeller 202 .

[0064] Although the preferred embodiments of the present invention are described above, the present invention is not limited to the above specific embodiments, which are merely illustrative and not restrictive. Under the guidance of the present invention, a person skilled in the art can make many forms without departing from the scope of the present invention and the claims. All of these belong to the protection scope of the present invention.

Claims

1. A high-precision pipeline route rapid positioning detection method, characterized in that: The following steps are involved: S1. First, a detection device is placed into a pipeline along the flow direction of a fluid medium, wherein the detection device comprises a head mechanism (100) and a propulsion mechanism (200); the head mechanism (100) and the propulsion mechanism (200) are connected via a universal coupling (1) and a connecting pipe (2); a pipeline map and a planned detection route map are stored in a control center of the head mechanism (100); the detection device starts detection work after confirming the starting point coordinates and the detection route through a satellite positioning unit (116); S2, after starting the detection work, synchronously start the acoustic Doppler flow profiler (106) of the head mechanism (100) to measure the flow velocity in the pipeline, use the laser distance measuring device (108), the acoustic distance measuring device (109), the attitude meter (118) and the obstacle avoidance radar (119) to assist the movement of the detection device, use the ultra-low frequency electromagnetic wave locator (115) to locate the detection device in the pipeline, and use the diffused silicon pressure sensor (102) to measure the pressure in the pipeline in real time. The Kalman filter performs data fusion, transmits the data in real time to the control center of the head mechanism (100) for local storage, and marks obstacles and abnormal data on the pipeline map through the graphics processing module; S3, the control center adjusts the posture and detection route of the detection device according to the processed data; the main part of the bow mechanism (100) is the bow cabin (101), and the bow cabin (101) is designed with a rotating shaft (105) on the four sides of the top, bottom, left and right, and the rotating shaft (105) is hinged to the fan plate (103). The fan plate (103) rotates around the axis and assists the detection device to move forward by changing the angle of the force of the flowing medium. The fan plate (103) is equipped with four screw propellers (104). The fan plate (103) is opened, and then the screw propeller (104) of the bow mechanism (100) and the four axial screw propellers (202) on the propulsion mechanism (200) are started: control The control center balances its own weight by adjusting the angle of the rotating shaft (105), controlling the speed of the blades of the screw propeller (104), and controlling the speed of the blades of the axial screw propeller (202), and the axial thrust of the fluid medium calculated by measuring the flow velocity of the fluid medium in the pipeline by the acoustic Doppler flow profiler (106). The head mechanism (100) and the propulsion mechanism (200) work together to realize the swimming and turning movement of the detection device in the pipeline; the actual detection route is marked on the planned detection route map through the graphic processing module and stored locally in the control center, and the marked pipeline map and the planned detection route map are sent to the background workstation once every specified time; S4. When the head mechanism (100) detects a sudden change in flow velocity in the pipeline, the fan plate (103) is retracted and hovered for a certain period of time to confirm the situation. The position of the sudden change in flow velocity is recorded on the pipeline map through the graphics processing module of the control center. The graphics processing module of the control center draws a schematic diagram of the pipeline breach range based on the data of the pressure sensor (102), the acoustic Doppler flow profiler (106), the laser ranging device (108), the sonic ranging device (109) and the image of the camera (111), and the ranges in multiple schematic diagrams are superimposed to obtain the maximum range and the minimum range. A warning signal and the breach information obtained by detection are sent out through the communication module (117) of the control center, and then other parts of the pipeline are detected. If the signal cannot be sent, the detection is terminated and the flight is returned immediately.

2. The high-precision pipeline route rapid positioning detection method according to claim 1 is characterized in that: The positioning process of using the ultra-low frequency electromagnetic wave locator (115) in S2 is as follows: S2-1, calculating the propagation speed c of the electromagnetic wave in the medium 电 , c is the speed of light in vacuum (3×10 8 m / s), n is the relative permittivity of the medium, μr is the relative magnetic permeability of the medium; S2-2, measure the distance and calculate d 电 =c 电 *t 电 , t 电 is the propagation time of electromagnetic waves, c 电 is the propagation speed of electromagnetic waves in the medium; S2-3. For the positioning algorithm based on time difference, the target position can be calculated using the following formula: where (xi,yi,zi) is the position of the i-th receiver, (x,y,z) is the target position, and d i It is the distance from the target to the receiver calculated based on the time difference.

3. The high-precision pipeline route rapid positioning detection method according to claim 1 is characterized in that: The distance measurement formula of the laser distance measuring device (108) used in S2 is: Among them, d 激光 is the measured distance, c 光 is the speed of light, t1 is the round trip time of the light pulse, and n is the refractive index of the medium; the distance measurement formula using the acoustic wave distance measuring device (109) is: Where E is the elastic modulus, ρ is the density of the medium, and d 声波 is the measured distance, c 声波 is the propagation speed of sound waves in the medium, and t2 is the round-trip time of the sound wave.

4. The high-precision pipeline route rapid positioning detection method according to claim 1 is characterized in that: When the diffused silicon pressure sensor (102) is used in S2 to measure pressure, its output voltage is: Where V out is the output voltage of the sensor, V ref is the reference voltage or the excitation voltage of the bridge, β is the initial resistance ratio when the bridge is balanced, ΔR is the resistance change due to pressure, and R0 is the value of the initial resistance in the bridge; ΔR / R0 represents the ratio of resistance change, which is proportional to the applied pressure; when ΔR is expressed by the piezoresistive coefficient k, the formula can be written as: ΔR = kPR0, Where k is a constant related to the piezoresistance of the silicon material and P is the pressure being measured.

5. The high-precision pipeline route rapid positioning detection method according to claim 1 is characterized in that: The flow medium in S3 pushes the fan plate (103) to give the detection device an overall acceleration of: Where m is the weight of the entire detection device, C T is the thrust coefficient, which depends on the shape of the object and the flow characteristics of the fluid, ρ represents the density of the fluid medium, A 总 is the area where the object contacts the fluid, including the maximum cross-sectional area of ​​the main body of the detection device and the area of ​​the fan plate (103) impacted by the fluid medium, and v1 is the velocity of the fluid medium flow relative to the fan plate.

6. The high-precision pipeline route rapid positioning detection method according to claim 1 is characterized in that: The thrust F1 provided by the lower screw propeller (104) of the head mechanism in S3 is equal to the gravity of the detection device: where F 螺 1 is the force provided by a lower screw propeller (104), ω1 is the angular velocity provided by the lower screw propeller (104), D is the diameter of the lower screw propeller (104), the number of blades is N, the blade width is b, the blade spacing is s, and the propulsion efficiency is η.

7. The high-precision pipeline route rapid positioning detection method according to claim 1 is characterized in that: The radial screw propellers (104) on the left and right sides of the head mechanism (100) in S3 provide a steering thrust F2 of: where F 螺 2 is the force provided by a radial screw propeller (104), ω2 is the angular velocity provided by the radial screw propeller (104), D is the diameter of the radial screw propeller (104), the number of blades is N, the blade width is b, the blade spacing is s, and the propulsion efficiency is η.

8. The high-precision pipeline route rapid positioning detection method according to claim 1 is characterized in that: The steering thrust F3 provided by the four axial screw propellers (202) on the propulsion mechanism (200) in S3 is: F3 = 4F 螺3 =Nηρbsω3 2 D 2 , where F 螺 3 is the force provided by an axial screw propeller (202), ω3 is the angular velocity provided by the axial screw propeller (202), D is the diameter of the axial screw propeller (202), the number of blades is N, the blade width is b, the blade spacing is s, and the propulsion efficiency is η.

9. The high-precision pipeline route rapid positioning detection method according to claim 1 is characterized in that: The flow velocity mutation detected in S4 is 10% higher than the normal flow velocity, and the duration of the mutation is 10 milliseconds; the mutation flow velocity is the breach flow velocity v 破口 , specifically: Where P 管内 is the pressure inside the pipe, P 管外 is the pressure outside the pipe, v 流体 is the fluid medium velocity, and ρ is the fluid medium density.

10. The high-precision pipeline route rapid positioning detection method according to claim 9 is characterized in that: The S4 v 流体 Calculated using an acoustic Doppler flow profiler: Δf = f r -f0, Where Δf is the Doppler frequency shift, f0 is the transmitted sound wave frequency, and f r is the frequency of the received sound wave, θ is the angle between the sound wave and the fluid flow direction, and λ is the wavelength of the sound wave.

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