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

Abstract

This invention discloses a pipeline passability detection device, its data acquisition method, and its detection method, relating to the technical field of pipeline inspection equipment. The key technical points are: it includes a housing, within which are installed an embedded FPGA chip and an inertial navigation module, an odometer module, a frequency conversion sampling module, a timing module, a SATA storage module, a data reading module, and a data analysis module electrically connected to the embedded FPGA chip; a switch electrically connected to the embedded FPGA chip is provided on the surface of the housing, and by controlling the opening and closing of the switch, all modules are synchronously powered on and off. The purpose of this invention is to provide a pipeline passability detection device, its data acquisition method, and its detection method.

Description

Technical Field

[0001] This invention relates to pipeline inspection equipment, and more specifically, to a pipeline throughput testing device, its data acquisition method, and its testing method. Background Technology

[0002] In practical applications of pipelines, before conducting internal testing on a particular pipeline, it is necessary to determine whether the pipeline's throughput meets the requirements of the detector to be used in order to prevent blockage. 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 bend is too small, or the radius of curvature of the straight pipe section is too small due to ground settlement or other reasons.

[0003] The current methods used are caliper pigging and pipeline surveys. However, caliper pigging can only make a preliminary judgment on pipeline deformation. In addition, for some old pipelines, there may be incomplete pipeline data or non-standard construction, which makes it impossible to obtain the minimum radius of curvature of the pipeline. This leads to an inaccurate judgment of the pipeline's flow performance and may cause blockages, resulting in significant economic losses for the inspection unit and the owner.

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

[0005] To address the shortcomings of existing technologies, the present invention aims to provide a pipeline throughput detection device, its data acquisition method, and its detection method.

[0006] The above-mentioned technical objective of the present invention is achieved through the following technical solution: a pipeline passability detection device, comprising a housing, wherein an embedded FPGA chip and an inertial navigation module, an odometer module, a frequency conversion sampling module, a timing module, a SATA storage module, a data reading module, and a data analysis module are disposed within the housing and connected to the embedded FPGA by electrical signals;

[0007] The surface of the housing is equipped with a switch that is electrically connected to the embedded FPGA chip. By controlling the opening and closing of the main switch, all modules can be controlled to power on and off synchronously.

[0008] The present invention is further configured such that: the odometer module includes a plurality of movable rods disposed on the periphery of the rear end of the housing, one end of the movable rod is hinged to the rear end of the housing, and the other end is provided with a roller and an odometer sensor for detecting the rotation distance of the roller, and the rear end of the housing is also provided with a drive assembly for controlling the opening angle of the movable rods.

[0009] The present invention is further configured such that: the driving assembly includes a connecting rod disposed at the center of the rear end of the housing, a sliding sleeve is sleeved and slidably connected to the connecting rod, each of the movable rods is hinged to a hinge rod on the side facing the connecting rod, the other end of the hinge rod is hinged to the sliding sleeve, and the connecting rod is also provided with a driving component for driving the sliding sleeve.

[0010] The invention is further configured such that: the connecting rod has a sliding groove extending through its end; a driving rod is disposed within the sliding groove; the outer surface of the driving rod has an external thread; the inner wall of the sliding groove has an internal thread that mates with the external thread; a fixing plate is disposed at the end of the driving rod; an abutting rod is disposed on the surface of the fixing plate facing the sliding sleeve; the end of the abutting rod abuts against the end of the sliding sleeve; and a spring is sleeved and fixedly connected to the connecting rod between the sliding sleeve and the tail end of the housing.

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

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

[0013] The present invention is further configured such that the embedded FPGA chip specifically adopts an embedded chip with model number XC7Z020-1CLG400C.

[0014] The present invention is further configured such that: the frequency conversion sampling module includes a crystal oscillator module, wherein the crystal oscillator module contains five types of crystal oscillators with operating frequencies of 6MHz, 10MHz, 20MHz, 50MHz and 100MHz respectively.

[0015] A data acquisition method for the pipeline throughput detection device includes the following steps:

[0016] S1. Turn on the switch. All modules will power on and start working synchronously. Set a 5-second delay for data acquisition. Start data acquisition after each module has stabilized.

[0017] S2. The inertial navigation module sends inertial navigation data to the embedded FPGA chip's receive signal pin.

[0018] S3: Multiple odometer sensors send multiple mileage data to the embedded FPGA chip's receive signal pin;

[0019] S4. The embedded FPGA chip receives and analyzes the data from the odometer sensor, activates the corresponding frequency conversion sampling module according to the current detector operating speed, selects an appropriate sampling frequency, and sends the activated sampling clock signal to the embedded FPGA chip's receiving signal pin.

[0020] S5. The timing module sends the year, month, day, hour, minute, and second data to the embedded FPGA chip's receive signal pin.

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

[0022] S7. After the detector completes the detection, turn off the switch;

[0023] S8. Transfer data from the SATA storage module to the data analysis module via a USB cable;

[0024] S9. The data analysis module parses the acquired data to obtain the mileage, triaxial acceleration and angular velocity information of the device during operation. By extracting the operating attitude information of the detection device, the bends and deformation positions that affect the detector's performance can be screened out.

[0025] S10. Conduct a detailed analysis of the locations that affect the pipeline's throughput performance, and determine the pipeline's throughput performance.

[0026] A detection method for the pipeline throughput detection device includes the following steps:

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

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

[0029] S3. Place the detection device into the pipeline to be tested. The detection device advances in the pipeline using the pressure difference of the medium in the pipeline and collects data during the operation.

[0030] S4. After the test is completed, remove the testing device, copy the test data, and use the data analysis system to analyze the pipeline's performance.

[0031] This invention offers the following advantages: During the inspection process, the roller rolls against the inner wall of the pipe. A mileage sensor calculates the distance the roller travels, thus detecting the device's mileage. By using multiple mileage sensors, the integral accumulation error of the inertial navigation system is corrected, reducing overall error. When calculating the device's mileage, the average value of the group of mileage meters is taken to further reduce error. Before inspection, the opening angle of the movable rod can be controlled via a drive assembly, facilitating the inspection of pipes with different diameters. The inertial navigation module reflects the internal condition of the pipe, allowing for accurate judgment of its passability. Attached Figure Description

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

[0033] Figure 2 This is a system block diagram of the detection device in Specific Embodiment 1;

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

[0035] Figure 4 This is a schematic diagram of the data acquisition 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 This is a schematic diagram of the data processing flow of the detection method in Specific Embodiment 2;

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

[0039] Figure Descriptions: 1. Housing; 2. Embedded FPGA Chip; 3. Inertial Navigation Module; 4. Odometer Module; 5. Variable Frequency 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. Hinge Rod; 16. Drive Rod; 17. Fixing Plate; 18. Abutment Rod; 19. Spring. Detailed Implementation

[0040] The present invention will be further described in detail below with reference to the accompanying drawings.

[0041] Identical parts are indicated by the same reference numerals. It should be noted that the terms "front," "rear," "left," "right," "up," and "down" used in the following description refer to directions in the accompanying drawings, while the terms "bottom surface," "top surface," "inner," and "outer" refer to directions toward or away from the geometric center of a specific part, respectively. Specific Implementation Example 1:

[0043] like Figure 1 and Figure 2 As shown, a pipeline throughput detection device includes a housing 1. Inside the housing 1, there is an embedded FPGA chip 2 and an inertial navigation module 3, an odometer module 4, a frequency conversion 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 connected to the embedded FPGA chip 2 via electrical signals. The regulated power supply module supports DC voltage input of 9~30V and voltage output of 5V. As needed, various power chips are placed to step down the voltage from 5V to 3.3V, 2.5V, and 1.2V to power the chip.

[0044] The housing 1 is made of polyurethane foam material, giving it high permeability. A switch 10 with an electrical signal connected to the embedded FPGA chip 2 is provided on the surface of the housing 1. By controlling the opening and closing of the switch 10, all modules are controlled to power on and off synchronously.

[0045] like Figure 1 and Figure 3 As shown, the odometer module 4 includes four movable rods 11 disposed on the periphery of the rear end of the housing 1. One end of each movable rod 11 is hinged to the rear end of the housing 1, and the other end is provided with a roller 12 and an odometer sensor (not shown in the figure) for detecting the rotation distance of the roller 12. The odometer sensor is specifically an angle sensor used to detect the rotation angle of the roller 12 in order to obtain the rolling distance of the roller 12. The rear end of the housing 1 is also provided with a drive assembly for controlling the opening angle of the movable rods 11.

[0046] During the inspection process, the roller 12 rolls against the inner wall of the pipe. A mileage sensor calculates the distance the roller 12 travels, thus detecting the device's mileage. Four mileage sensors are used to correct for the inertial navigation system's integration error, reducing overall error. When calculating the device's mileage, the average of the four mileage sensors is taken to further reduce error. Before inspection, the opening angle of the movable rod 11 can be controlled via a drive assembly, facilitating inspection of pipes with different diameters.

[0047] like Figure 3 As shown, the drive assembly includes a connecting rod 13 located at the center of the rear end of the housing 1. A sliding sleeve 14 is sleeved on and slidably connected to the connecting rod 13. Each movable rod 11 is hinged to a hinge rod 15 on the side facing the connecting rod 13. The other end of the hinge rod 15 is hinged to the sliding sleeve 14. The connecting rod 13 is also provided with a drive component for driving the sliding sleeve 14. The drive component drives the sliding sleeve 14 to slide along the connecting rod 13. Under the action of the hinge rod 15, the opening angle of each movable rod 11 is adjusted.

[0048] The connecting rod 13 has a sliding groove extending through its end. A driving rod 16 is installed 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 that matches the external thread. A fixing plate 17 is provided at the end of the driving rod 16. An abutment rod 18 is provided on the surface of the fixing plate 17 facing the sliding sleeve 14. The end of the abutment rod 18 abuts against the end of the sliding sleeve 14. A spring 19 is sleeved and fixedly connected between the connecting rod 13 and the tail end of the housing 1. The extension and retraction of the driving rod 16 and the connecting rod 13 can be controlled by turning the driving rod 16. When the extension and retraction between the driving rod 16 and the connecting rod 13 decreases, the abutment rod 18 pushes the sliding sleeve 14, causing the spring 19 to be compressed. Under the elastic force of the spring 19, the roller 12 can roll stably on the inner wall of the pipe, thereby improving the detection accuracy of the mileage sensor.

[0049] The timing module 6 specifically uses a real-time clock chip of model SD8568. The timing module 6 provides accurate timing for the device, including year, month, day, hour, minute and second information. 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 and completes the timing sampling.

[0050] The embedded FPGA chip 2 specifically uses the XC7Z020-1CLG400C embedded chip, which is a system-on-a-chip that combines FPGA and embedded processor, achieving high-performance hardware acceleration and flexible software development while maintaining low power consumption.

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

[0052] The frequency conversion sampling module 5 includes a crystal oscillator module, which contains five different crystal oscillators with operating frequencies of 6MHz, 10MHz, 20MHz, 50MHz, and 100MHz. The corresponding crystal oscillator is activated according to the operating speed of the detection device to achieve frequency conversion and enable the collection of 1000 data points per meter.

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

[0054] Data reading module 8 refers to the SATA to serial port circuit module, which transmits data from the SATA hard drive to the data analysis system via a USB connection cable.

[0055] Data analysis module 9 refers to the system that processes and analyzes the data acquired by the acquisition device to obtain the pipeline's throughput performance.

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

[0057] After the data is processed by the embedded FPGA chip 2, it is sent to the storage module for storage. The embedded FPGA chip 2 has an interface for direct connection to the SATA hard drive, which needs to be bridged through the XSTA chip. The data collected by the detection device is finally saved to the SATA hard drive.

[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. The data is received bit by bit, processed, and then sent byte by byte. The embedded FPGA chip 2 has available internal storage. The data is cached to a preset value before being sent out. The data is sent to the SATA hard drive for storage according to the PCIe protocol. After the detection is completed, the data is sent to the data processing system via USB. Specific Implementation Example 2:

[0060] like Figure 6 and Figure 7 As shown, a data acquisition method for the aforementioned pipeline throughput detection device includes the following steps:

[0061] S1. Turn on switch 10. All modules will power on and start working synchronously. Set a 5-second delay for data acquisition. Start data acquisition after each module has stabilized.

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

[0063] S3, Multiple odometer sensors send multiple mileage data to the embedded FPGA chip 2's receive signal pin;

[0064] S4. Embedded FPGA chip 2 receives and analyzes the data from the odometer sensor, activates the corresponding frequency conversion sampling module 5 according to the current detector running speed, selects an appropriate sampling frequency, and sends the activated sampling clock signal to the receiving signal pin of embedded FPGA chip 2.

[0065] S5, the timing module 6 sends the year, month, day, hour, minute and second data to the embedded FPGA chip 2 to receive signal pins;

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

[0067] S7. After the detector completes the detection, turn off switch 10;

[0068] S8. Transfer data from SATA storage module 7 to data analysis module 9 via USB cable;

[0069] S9 and data analysis module 9 parse the acquired data to obtain the mileage, triaxial acceleration and angular velocity information of the device during operation. By extracting the operating attitude information of the detection device, the bends and deformation positions that affect the detector's passing performance can be screened out.

[0070] S10. Conduct a detailed analysis of the locations that affect the pipeline's throughput performance, and determine the pipeline's throughput performance.

[0071] By acquiring mileage, time, and inertial navigation data (acceleration data, gyroscope data) through detection devices, the displacement value can be obtained by calculating the double integral of the acceleration, and the heading and pitch angles can be obtained by integrating the angular velocity. Since odometer, inertial navigation, and time information are collected simultaneously, data can be mutually mapped and unified to obtain the heading angle, pitch angle, and mileage position information at a specific location on the pipeline. The method for calculating the radius of curvature at a point is as follows: the pitch angle change between two points on the pipeline with a spacing of ΔL (ΔL should not exceed 0.5m according to the pipeline laying characteristics) is Δα, the heading angle change is Δβ, and the curvature in the vertical direction is... Horizontal curvature The radius of curvature is In the industry, the passability indicators for internal pipe detectors are provided as multiples of D. Currently, the minimum passability indicator for commonly used internal pipe detectors is generally 1.5D (D is the outer diameter of the pipe). The calculated radius of curvature is compared with the passability indicator of the proposed detector. If the passability indicator of the proposed detector is greater than the radius of curvature at a certain location in the pipe, the detector will not pass. Owners can accurately locate the locations where the radius of curvature does not meet the requirements using mileage information and take corresponding measures to eliminate the detection risk. Specific Implementation Example 3:

[0073] A detection method for the aforementioned pipeline throughput detection device includes the following steps:

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

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

[0076] S3. Place the detection device into the pipeline to be tested. The detection device advances in the pipeline using the pressure difference of the medium in the pipeline and collects data during the operation.

[0077] S4. After the test is completed, remove the testing device, copy the test data, and use the data analysis system to analyze the pipeline's performance.

[0078] The specific embodiments are merely illustrative of the present invention and are not intended to limit the invention. After reading this specification, those skilled in the art can make modifications to these embodiments without contributing any inventive step, but such modifications are protected by patent law as long as they are within the scope of the claims of the present invention.

Claims

1. A pipeline throughput testing device, characterized in that: Includes a housing (1), in which an embedded FPGA chip (2) is provided and an inertial navigation module (3), an odometer module (4), a frequency conversion sampling module (5), a timing module (6), a SATA storage module (7), a data reading module (8), and a data analysis module (9) are electrically connected to the embedded FPGA chip (2). The surface of the housing (1) is provided with a switch (10) that is electrically connected to the embedded FPGA chip (2). By controlling the opening and closing of the switch (10), all modules are controlled to be powered on and off synchronously. The detection device uses the pressure difference of the pipeline medium to advance in the pipeline and collect data during the operation. By using the mileage, time, and inertial navigation data obtained by the detection device, the radius of curvature at a certain location in the pipeline is calculated. The calculated radius of curvature is then compared with the performance index of the proposed detector. If the performance index of the proposed detector is greater than the radius of curvature at a certain location in the pipeline, the detector cannot pass through.

2. The pipeline throughput detection device according to claim 1, characterized in that: The odometer module (4) includes several movable rods (11) disposed on the periphery of the rear end of the housing (1). One end of each movable rod (11) is hinged to the rear end of the housing (1), and the other end is provided with a roller (12) and an odometer sensor for detecting the rotation distance of the roller (12). The rear end of the housing (1) is also provided with a drive assembly for controlling the opening angle of the movable rods (11).

3. The pipeline throughput detection device according to claim 2, characterized in that: The drive assembly includes a connecting rod (13) located at the center of the rear end of the housing (1). A sliding sleeve (14) is sleeved and slidably connected to the connecting rod (13). Each movable rod (11) is hinged to a hinge rod (15) on one side facing the connecting rod (13). The other end of the hinge rod (15) is hinged to the sliding sleeve (14). The connecting rod (13) is also provided with a drive component for driving the sliding sleeve (14).

4. The pipeline throughput detection device according to claim 3, characterized in that: The connecting rod (13) has a sliding groove extending through its end. A driving rod (16) is provided in the sliding groove. The outer surface of the driving rod (16) is provided with an external thread. The inner wall of the sliding groove is provided with an internal thread that matches the external thread. A fixing plate (17) is provided at the end of the driving rod (16). An abutting rod (18) is provided on the surface of the fixing plate (17) facing the sliding sleeve (14). The end of the abutting rod (18) abuts against the end of the sliding sleeve (14). A spring (19) is sleeved and fixedly connected between the connecting rod (13) and the tail end of the housing (1).

5. The pipeline throughput 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. The pipeline throughput detection device according to claim 1, characterized in that: The timing module (6) specifically uses a real-time clock chip with the model number SD8568.

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

8. A pipeline throughput testing device according to claim 1, characterized in that: The frequency conversion sampling module (5) includes a crystal oscillator module, which contains five types of crystal oscillators with operating frequencies of 6MHz, 10MHz, 20MHz, 50MHz and 100MHz.

9. A data acquisition method for the pipeline throughput detection device according to any one of claims 1-8, characterized in that: Includes the following steps: S1. Turn on switch (10), all modules are powered on and start working synchronously. Set a 5s delay for data acquisition. Start data acquisition after each module is stable. S2, the inertial navigation module (3) sends inertial navigation data to the embedded FPGA chip (2) receiving signal pin; S3, Multiple odometer sensors send multiple odometer data to the embedded FPGA chip (2) receiving signal pin; S4. The embedded FPGA chip (2) receives and analyzes the data from the odometer sensor, activates the corresponding frequency conversion sampling module (5) according to the current detector running speed, selects an appropriate sampling frequency, and sends the activated sampling clock signal to the signal receiving pin of the embedded FPGA chip (2). S5, the timing module (6) sends the year, month, day, hour, minute and second data to the embedded FPGA chip (2) receiving signal pin; S6. The embedded FPGA chip (2) receives and processes inertial navigation data, mileage data and timing data, and then saves them in the SATA storage module (7). S7. After the detector completes the detection, turn off the switch (10). S8. Transfer the data from 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 the mileage, triaxial acceleration and angular velocity information of the device during operation. By extracting the operating posture information of the detection device, the bends and deformation positions that affect the detector's performance can be screened out. S10. Conduct a detailed analysis of the locations that affect the pipeline's throughput performance, and determine the pipeline's throughput performance.

10. A detection method for a pipeline throughput detection device as described in any one of claims 1-8, characterized in that: Includes the following steps: S1. Select the pipeline to be inspected; S2. Turn on the switch (10) on the detection device to start working; S3. Place the detection device into the pipeline to be tested. The detection device advances in the pipeline using the pressure difference of the medium in the pipeline and collects data during the operation. S4. After the test is completed, remove the testing device, copy the test data, and use the data analysis system to analyze the pipeline's performance.

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