Pipeline trafficability detection device and data acquisition method and detection method thereof

Abstract

The invention discloses a pipeline trafficability detection device and a data acquisition method and a detection method thereof, and relates to the technical field of pipeline detection equipment. The key points of the technical scheme are as follows: the device comprises a shell, wherein an embedded FPGA (Field Programmable Gate Array) chip and an inertial navigation module, an odometer module, a frequency conversion sampling module, a timing module, an SATA (Serial Advanced Technology Attachment) storage module, a data reading module and a data analysis module which are in electric signal connection with an embedded FPG are arranged in the shell; a switch which is in electric signal connection with the embedded FPGA chip is arranged on the surface of the machine shell, and all the modules are controlled to be powered on and powered off synchronously by controlling opening and closing of the switch. The invention aims to provide a pipeline trafficability detection device and a data acquisition method and a detection method thereof.

Description

Technical Field

[0001] The present invention relates to pipeline detection equipment, and more specifically, to a pipeline passability detection device, a data acquisition method and a detection method thereof. Background Art

[0002] In the actual application of pipelines, before conducting internal testing on a pipeline, in order to prevent blockage, it is necessary to determine whether the pipeline's passing performance meets the passing requirements of the detector to be used. There are two main factors that cause detector blockage: one is pipe deformation, and the other is that the radius of curvature of the pipe elbow is too small or the radius of curvature of the straight pipe section is too small due to reasons such as site settlement.

[0003] The current method is to measure the diameter of the pipe and investigate the pipeline. However, the diameter measuring pipe cleaner can only make a preliminary judgment on the deformation of the pipeline. In addition, for some old pipelines, the pipeline information may be incomplete or the construction may not be standardized, so the minimum curvature radius of the pipeline cannot be obtained, resulting in an inaccurate judgment of the pipeline's passing performance, which may cause blockage and cause great economic losses to the inspection unit and the owner.

[0004] Therefore, a new technical solution is urgently needed to solve the above technical problems. Summary of the invention

[0005] In view of the deficiencies in the prior art, the object of the present invention is to provide a pipeline passability detection device and a data acquisition method and a detection method thereof.

[0006] The above technical objectives of the present invention are achieved through the following technical solutions: A pipeline passability detection device, comprising a housing, wherein an embedded FPGA chip and an inertial navigation module, an odometer module, a variable frequency sampling module, a timing module, a SATA storage module, a data reading module, and a data analysis module are arranged in the housing;

[0007] The housing surface is provided with a switch whose electrical signal is connected to the embedded FPGA chip. By controlling the opening and closing of the main switch, all modules can be powered on and off synchronously.

[0008] The present invention is further configured as follows: the odometer module includes a plurality of movable rods arranged on the peripheral side of the rear end of the casing, one end of the movable rod is hinged to the rear end of the casing, and the other end is provided with a roller and an odometer sensor for detecting the mileage of the roller rotation, and the rear end of the casing is also provided with a driving component for controlling the opening angle of the movable rod.

[0009] The present invention is further configured as follows: the driving assembly includes a connecting rod arranged at the center of the rear end of the casing, a sliding sleeve is sleeved and slidably connected to the connecting rod, each of the movable rods is hinged with a hinged rod on one side facing the connecting rod, the other end of the hinged rod is hinged to the sliding sleeve, and a driving member for driving the sliding sleeve is also provided on the connecting rod.

[0010] The present invention is further configured as follows: the connecting rod is provided with a sliding groove running through its end, a driving rod is arranged in the sliding groove, an outer surface of the driving rod is provided with an external thread, an inner wall of the sliding groove is provided with an internal thread matching the external thread, a fixing plate is provided at the end of the driving rod, a contact rod is provided on the surface of the fixing plate facing the sliding sleeve, the end of the contact rod is abutted against the end of the sliding sleeve, and the connecting rod is located between the sliding sleeve and the rear end of the casing and is sleeved and fixedly connected with a spring.

[0011] The present invention is further configured as follows: the inertial navigation module specifically adopts an inertial measurement unit of model KT-EX6-16.

[0012] The present invention is further configured as follows: the timing module specifically adopts a real-time clock chip of model SD8568.

[0013] The present invention is further configured as follows: the embedded FPGA chip specifically adopts an embedded chip of model XC7Z020-1CLG400C.

[0014] The present invention is further configured as follows: the variable frequency sampling module crystal oscillator module has five specifications of crystal oscillators placed therein, and the operating frequencies are 6 MHz, 10 MHz, 20 MHz, 50 MHz, and 100 MHz respectively.

[0015] A data collection method for the pipeline passability detection device comprises the following steps:

[0016] S1. Turn on the switch, all modules are powered on synchronously, set the delay acquisition to 5s, and start collecting data after each module is stable;

[0017] S2, the inertial navigation module sends the inertial navigation data to the embedded FPGA chip receiving signal pin;

[0018] S3, multiple odometer sensors send multiple mileage data to the embedded FPGA chip receiving signal pin;

[0019] S4, the embedded FPGA chip receives and analyzes the data of the odometer sensor, activates the corresponding variable frequency sampling module according to the current detector running speed, selects the appropriate sampling frequency, and sends the activated sampling clock signal to the embedded FPGA chip receiving signal pin;

[0020] S5, the timing module sends the data of year, month, day, hour, minute, second, etc. to the receiving signal pin of the embedded FPGA chip;

[0021] S6, the embedded FPGA chip receives and processes the inertial navigation data, mileage data and timing data, and then stores them in the SATA storage module;

[0022] S7, after the detector is finished detecting, turn off the switch;

[0023] S8, transmitting the data of the SATA storage module to the data analysis module via a USB cable;

[0024] S9, the data analysis module analyzes the acquired data to obtain information such as mileage, three-axis acceleration, angular velocity, etc. during the operation of the device. By extracting the operating posture information of the detection device, the positions such as elbows and deformations that may affect the passing performance of the detector can be screened out;

[0025] S10. Detailed analysis is performed on the selected locations that affect the pipeline passing performance to obtain the pipeline passing performance.

[0026] A detection method for the pipeline passability detection device comprises the following steps:.

[0027] S1. Select the pipeline to be tested;

[0028] S2, start the switch on the detection device to start working;

[0029] S3, placing the detection device into the pipeline to be detected, and the detection device advances in the pipeline using the pipeline medium pressure difference and collects data during the operation;

[0030] S4. After the test is completed, the test device is taken out, the test data is copied, and the pipeline passing performance is analyzed using the data analysis system.

[0031] The present invention has the following beneficial effects: during the detection process, the roller rolls on the inner wall of the pipe, and the mileage of the roller rolling is calculated by the mileage sensor, so as to detect the movement mileage of the device. By setting a mileage sensor, the integral cumulative error of the inertial navigation is corrected to reduce the error. When calculating the mileage of the device, the error is reduced by taking the average of the group mileage meters. Before the detection, the opening angle of the movable rod can be controlled by the driving component, so as to facilitate the detection of pipes of different diameters. The internal situation of the pipe is reflected by the inertial navigation module, and its passability is accurately judged. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 is a schematic diagram of the three-dimensional structure of the detection device in specific embodiment 1;

[0033] Figure 2 is a system block diagram of the detection device in specific embodiment 1;

[0034] Figure 3 is a schematic diagram of the structure of the odometer module in specific embodiment 1;

[0035] Figure 4 It is a schematic diagram of the data collection process of the detection device in specific embodiment 1;

[0036] Figure 5 This is a schematic diagram of data transmission of the detection device in specific embodiment 1;

[0037] Figure 6 Schematic diagram of data processing flow of the detection method in specific embodiment 2;

[0038] Figure 7 This is a schematic diagram of the pipeline passability detection data processing flow.

[0039] Description of the drawings: 1. Casing; 2. Embedded FPGA chip; 3. Inertial navigation module; 4. Odometer module; 5. Frequency conversion sampling module; 6. Timing module; 7. SATA storage module; 8. Data reading module; 9. Data analysis module; 10. Switch; 11. Movable rod; 12. Roller; 13. Connecting rod; 14. Sliding sleeve; 15. Articulated rod; 16. Driving rod; 17. Fixed plate; 18. Abutment rod; 19. Spring. DETAILED DESCRIPTION

[0040] The present invention is further described in detail below in conjunction with the accompanying drawings.

[0041] The same parts are denoted by the same reference numerals. It should be noted that the words "front", "rear", "left", "right", "upper" and "lower" used in the following description refer to directions in the drawings, and the words "bottom" and "top", "inner" and "outer" refer to directions toward or away from the geometric center of a specific component, respectively. Specific embodiment 1:

[0043] like Figure 1 and Figure 2 As shown, a pipeline passability detection device includes a casing 1, in which an embedded FPGA chip 2 and an inertial navigation module 3, an odometer module 4, a variable frequency sampling module 5, a timing module 6, a SATA storage module 7, a data reading module 8, a data analysis module 9 and a regulated power supply are arranged. The regulated power supply module supports a DC voltage input of 9 to 30 V and a voltage output of 5 V. A variety of power supply chips are placed according to needs to reduce the voltage from 5 V to 3.3 V, 2.5 V, and 1.2 V to power the chip.

[0044] The housing 1 is made of polyurethane foam material, which has high throughput performance. The housing 1 is provided with a switch 10 whose electrical signal is connected to the embedded FPGA chip 2. By controlling the opening and closing of the switch 10, all modules can be powered on and off synchronously.

[0045] like Figure 1 and Figure 3 As shown, the odometer module 4 includes four movable rods 11 arranged on the peripheral side of the rear end of the casing 1. One end of the movable rod 11 is hinged to the rear end of the casing 1, and the other end is provided with a roller 12 and an odometer sensor (not shown in the figure) for detecting the rotation mileage of the roller 12. The mileage sensor is specifically an angle sensor, which is used to detect the rotation angle of the roller 12 to obtain the rolling mileage of the roller 12. The rear end of the casing 1 is also provided with a driving component for controlling the opening angle of the movable rod 11.

[0046] During the detection process, the roller 12 rolls on the inner wall of the pipe, and the mileage sensor is used to calculate the mileage of the roller 12, so as to detect the movement mileage of the device. By setting up four mileage sensors, the integral cumulative error of the inertial navigation is corrected to reduce the error. When calculating the mileage of the device, the error is reduced by taking the average of the four groups of mileage meters. Before the detection, the opening angle of the movable rod 11 can be controlled by the driving component, so as to facilitate the detection of pipes of different diameters.

[0047] like Figure 3 As shown, the driving assembly includes a connecting rod 13 arranged at the center of the rear end of the casing 1, a sliding sleeve 14 is sleeved and slidably connected on the connecting rod 13, each movable rod 11 is hinged with a hinged rod 15 on one side facing the connecting rod 13, and the other end of the hinged rod 15 is hinged to the sliding sleeve 14, and a driving member for driving the sliding sleeve 14 is also provided on the connecting rod 13. The sliding sleeve 14 is driven by the driving member to slide along the connecting rod 13, and the opening angle of each movable rod 11 is adjusted under the action of the hinged rod 15.

[0048] The connecting rod 13 is provided with a sliding groove running through its end, and a driving rod 16 is arranged in the sliding groove. The outer surface of the driving rod 16 is provided with an external thread, and the inner wall of the sliding groove is provided with an internal thread matching the external thread. A fixing plate 17 is provided at the end of the driving rod 16, and an abutting rod 18 is provided on the surface of the fixing plate 17 facing the sliding sleeve 14, and the end of the abutting rod 18 abuts against the end of the sliding sleeve 14. The connecting rod 13 is located between the sliding sleeve 14 and the rear end of the casing 1 and is sleeved and fixedly connected with a spring 19. The driving rod 16 is twisted to control the telescopic amount between it and the connecting rod 13. When the telescopic amount between the driving rod 16 and the connecting rod 13 is reduced, the abutting rod 18 pushes the sliding sleeve 14, so that the spring 19 is compressed. Under the elastic force of the spring 19, the roller 12 can stably roll on the inner wall of the pipe, thereby improving the detection accuracy of the mileage sensor.

[0049] The timing module 6 specifically adopts a real-time clock chip of model SD8568. The timing module 6 provides accurate timing for the device, including information such as year, month, day, hour, minute, and second. By accumulating time on the odometer, the running mileage and total mileage of the detector in a certain period of time can be calculated. During the real-time sampling process, the real-time clock requests an interrupt from the processor at a certain frequency. After receiving the interrupt request, the processor enters the interrupt handling program to complete the timing sampling.

[0050] The embedded FPGA chip 2 specifically adopts an embedded chip of model XC7Z020-1CLG400C, which is a system-level chip combining FPGA and embedded processor, and realizes high-performance hardware acceleration and flexible software development while having low power consumption.

[0051] The inertial navigation module 3 specifically adopts an inertial measurement unit of model KT-EX6-16, which is composed of a three-axis gyroscope and a three-axis accelerometer. The inertial measurement unit is combined with the inertial navigation algorithm to become an inertial navigation module 3, which can output the position, speed, attitude angle and other data of the detection device in the pipeline.

[0052] The frequency conversion sampling module 5 includes a crystal oscillator module, which is equipped with five specifications of crystal oscillators with operating frequencies of 6 MHz, 10 MHz, 20 MHz, 50 MHz, and 100 MHz, respectively. The corresponding crystal oscillator is activated according to the operating speed of the detection device to achieve the purpose of frequency conversion and realize the function of collecting 1000 data points within every meter.

[0053] The SATA storage module 7 refers to using a SATA hard disk as a storage medium, which can store the data collected by the detector and provide high-speed writing and reading capabilities.

[0054] The data reading module 8 refers to a SATA to serial port circuit module, which transmits the data in the SATA hard disk to the data analysis system via a USB connection line.

[0055] The data analysis module 9 refers to a system that processes and analyzes the data acquired by the acquisition device to obtain the pipeline passing performance.

[0056] like Figure 4 As shown, the odometer data received by the embedded FPGA chip 2 is used to calculate the speed of the detection device at this time, and the circuit activation is selected according to the calculated speed. When the speed is slow, the crystal oscillator with a low frequency is activated, and when the speed is fast, the crystal oscillator with a high frequency is activated. If the device speed is in the range of (0, 0.5] m / s, the 6MHz crystal oscillator is activated, and if the device running speed is above 5 m / s, the 100MHz crystal oscillator is activated. The activated crystal oscillator is fed back to the embedded FPGA chip 2 to enable the embedded FPGA chip 2 to work normally.

[0057] After the embedded FPGA chip 2 completes the processing, the data is sent to the storage module for storage. The embedded FPGA chip 2 is provided with an interface directly connected to the SATA hard disk, which needs to be bridged by the XSTA chip. The data collected by the detection device is finally saved to the SATA hard disk.

[0058] like Figure 5 As shown, the inertial navigation module 3, the odometer module 4, and the timing module 6 send data to the embedded FPGA chip 2 according to the communication protocol, receive the data bit by bit, and send it by byte after processing. The embedded FPGA chip 2 has available internal storage, and the data is cached to a preset value before being sent out. The data is sent to the SATA hard disk storage according to the PCIe protocol, and is sent to the data processing system via USB after the detection is completed. Specific embodiment 2:

[0060] like Figure 6 and Figure 7 As shown, a data collection method for the above pipeline passability detection device comprises the following steps:

[0061] S1. Turn on switch 10, all modules are powered on synchronously, set a 5s delay for acquisition, and start collecting data after each module is stable;

[0062] S2, the inertial navigation module 3 sends the inertial navigation data to the embedded FPGA chip 2 receiving signal pin;

[0063] S3, multiple odometer sensors send multiple mileage data to the receiving signal pin of the embedded FPGA chip 2;

[0064] S4, the embedded FPGA chip 2 receives and analyzes the data of the odometer sensor, activates the corresponding variable frequency sampling module 5 according to the current detector running speed, selects a suitable sampling frequency, and sends the activated sampling clock signal to the embedded FPGA chip 2 receiving signal pin;

[0065] S5, the timing module 6 sends the data of year, month, day, hour, minute, second, etc. to the receiving signal pin of the embedded FPGA chip 2;

[0066] S6, the embedded FPGA chip 2 receives and processes the inertial navigation data, mileage data and timing data, and then stores them in the SATA storage module 7;

[0067] S7, after the detector is finished detecting, the switch 10 is turned off;

[0068] S8, transmitting the data of the SATA storage module 7 to the data analysis module 9 via a USB cable;

[0069] S9, the data analysis module 9 analyzes the acquired data to obtain information such as mileage, three-axis acceleration, angular velocity, etc. during the operation of the device. By extracting the operating posture information of the detection device, the positions such as elbows and deformations that may affect the passing performance of the detector can be screened out;

[0070] S10. Detailed analysis is performed on the selected locations that affect the pipeline passing performance to obtain the pipeline passing performance.

[0071] The mileage, time, inertial navigation data (acceleration data, gyroscope data), etc. obtained by the detection device, the double integral of acceleration calculation can obtain the displacement value, and the integral of angular velocity can obtain the direction angle and pitch angle. Since the odometer, inertial navigation data, and time information are collected at the same time, the data can be mapped and unified to obtain the heading angle, pitch angle, mileage position and other information at a certain position of the pipeline. The calculation method of the curvature radius of a certain point, the pitch angle change between two points on the pipeline is ΔL (according to the characteristics of pipeline laying, ΔL shall not be greater than 0.5m) is Δα, the heading angle change is Δβ, and the curvature in the vertical direction is Horizontal curvature The radius of curvature is The passability index of internal detectors in the industry is provided as multiples of D. At present, the minimum passability index of commonly used internal pipeline detectors is generally 1.5D (D is the outer diameter of the pipeline). The calculated curvature radius is compared with the passability index of the detector to be adopted. When the passability index of the detector to be adopted is greater than the curvature radius at a certain position of the pipeline, the detector cannot pass. The owner can accurately locate the location where the curvature radius does not meet the requirements through mileage information and take corresponding measures to eliminate the detection risk. Specific embodiment 3:

[0073] A detection method for the above pipeline passability detection device comprises the following steps:.

[0074] S1. Select the pipeline to be tested;

[0075] S2, start the switch 10 on the detection device to start working;

[0076] S3, placing the detection device into the pipeline to be detected, and the detection device advances in the pipeline using the pipeline medium pressure difference and collects data during the operation;

[0077] S4. After the test is completed, the test device is taken out, the test data is copied, and the pipeline passing performance is analyzed using the data analysis system.

[0078] The specific embodiments are merely explanations of the present invention and are not limitations of the present invention. After reading this specification, those skilled in the art may make modifications to the embodiments without any creative contribution as needed. However, such modifications are protected by the patent law as long as they are within the scope of the claims of the present invention.

Claims

1. A pipeline passability detection device, characterized in that: The invention comprises a housing (1), wherein an embedded FPGA chip (2) and an inertial navigation module (3) whose electrical signals are connected to the embedded FPGA chip (2), an odometer module (4), a variable frequency sampling module (5), a timing module (6), a SATA storage module (7), a data reading module (8), and a data analysis module (9) are arranged in the housing (1); The surface of the housing (1) is provided with a switch (10) whose electrical signal is connected to the embedded FPGA chip (2), and all modules are controlled to be powered on and off synchronously by controlling the opening and closing of the switch (10).

2. A pipeline passability detection device according to claim 1, characterized in that: The odometer module (4) comprises a plurality of movable rods (11) arranged on the peripheral side of the rear end of the housing (1); one end of the movable rod (11) is hinged to the rear end of the housing (1); the other end is provided with a roller (12) and an odometer sensor for detecting the rotation mileage of the roller (12); the rear end of the housing (1) is also provided with a driving component for controlling the opening angle of the movable rod (11).

3. A pipeline passability detection device according to claim 1, characterized in that: The driving assembly comprises a connecting rod (13) arranged at the center of the rear end of the casing (1), a sliding sleeve (14) is sleeved on and slidably connected to the connecting rod (13), each of the movable rods (11) is hingedly connected to a hinged rod (15) on one side facing the connecting rod (13), the other end of the hinged rod (15) is hingedly connected to the sliding sleeve (14), and a driving member for driving the sliding sleeve (14) is also arranged on the connecting rod (13).

4. A pipeline passability detection device according to claim 1, characterized in that: The connecting rod (13) is provided with a sliding groove penetrating through its end, a driving rod (16) is arranged in the sliding groove, an outer surface of the driving rod (16) is provided with an external thread, an inner wall of the sliding groove is provided with an internal thread matched with the external thread, a fixing plate (17) is provided at the end of the driving rod (16), a contact rod (18) is provided on the surface of the fixing plate (17) facing the sliding sleeve (14), the end of the contact rod (18) is in contact with the end of the sliding sleeve (14), and the connecting rod (13) is located between the sliding sleeve (14) and the rear end of the housing (1), and is sleeved and fixedly connected with a spring (19).

5. A pipeline passability detection device according to claim 1, characterized in that: The inertial navigation module (3) specifically adopts an inertial measurement unit of model KT-EX6-16.

6. A pipeline passability detection device according to claim 1, characterized in that: The timing module (6) specifically adopts a real-time clock chip of model SD8568.

7. A pipeline passability detection device according to claim 1, characterized in that: The embedded FPGA chip (2) specifically adopts an embedded chip of model XC7Z020-1CLG400C.

8. A pipeline passability detection device according to claim 1, characterized in that: The variable frequency sampling module (5) is a crystal oscillator module, and the crystal oscillator module is equipped with crystal oscillators of five specifications, and the operating frequencies are 6 MHz, 10 MHz, 20 MHz, 50 MHz and 100 MHz respectively.

9. A data collection method for the pipeline passability detection device according to claims 1-8, characterized in that: The steps include: S1. Turn on the switch (10), all modules are powered on synchronously, set a 5s delay for data collection, and start data collection after each module is stable; S2, the inertial navigation module (3) sends the inertial navigation data to the receiving signal pin of the embedded FPGA chip (2); S3, multiple odometer sensors send multiple mileage data to the embedded FPGA chip (2) receiving signal pin; S4, the embedded FPGA chip (2) receives and analyzes the data of the odometer sensor, activates the corresponding variable frequency sampling module (5) according to the current detector running speed, selects a suitable sampling frequency, and sends the activated sampling clock signal to the embedded FPGA chip (2) receiving signal pin; S5, the timing module (6) sends the data of year, month, day, hour, minute, second, etc. to the receiving signal pin of the embedded FPGA chip (2); S6, the embedded FPGA chip (2) receives and processes the inertial navigation data, mileage data and timing data, and then stores them in the SATA storage module (7); S7, after the detector has completed the detection, turn off the switch (10); S8, transmitting the data of the SATA storage module (7) to the data analysis module (9) via a USB cable; S9, the data analysis module (9) analyzes the acquired data to obtain information such as mileage, three-axis acceleration, angular velocity, etc. during the operation of the device, and by extracting the operating posture information of the detection device, it is possible to screen out positions such as bends and deformations that may affect the passing performance of the detector; S10. Detailed analysis is performed on the selected locations that affect the pipeline passing performance to obtain the pipeline passing performance.

10. A detection method for the pipeline passability detection device according to claims 1-8, characterized in that: The steps include: S1. Select the pipeline to be tested; S2, start the switch (10) on the detection device to start working; S3, placing the detection device into the pipeline to be detected, and the detection device advances in the pipeline using the pipeline medium pressure difference and collects data during the operation; S4. After the test is completed, the test device is taken out, the test data is copied, and the pipeline passing performance is analyzed using the data analysis system.

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