Pipeline internal detection equipment positioning system based on vibration signals

Abstract

The invention relates to the technical field of equipment positioning, in particular to a pipeline internal detection equipment positioning system based on vibration signals, which comprises a vibration signal acquisition module, a pipeline internal detection equipment positioning module, a pipeline internal detection equipment positioning module and a pipeline internal detection equipment positioning module, the at least two vibration signal acquisition modules are arranged on the pipeline at a preset interval; and the main control module is used for processing the vibration signals of the plurality of vibration signal acquisition modules, and determining the position and / or trend of the detection equipment in the pipeline according to the strength of the vibration signals of the vibration signal acquisition modules. By applying the positioning system, the vibration signals of the pipe wall are collected in real time through the plurality of vibration signal collection modules arranged on the pipeline at intervals, and the position and / or the trend of the detection equipment in the pipeline are / is determined based on the main control module according to the strength of each vibration signal. And the positions of various devices for detecting pipeline defects in the pipeline can be accurately and reliably determined.

Description

Technical Field

[0001] The invention relates to the technical field of equipment positioning, and in particular to a pipeline detection equipment positioning system based on vibration signals. Background Art

[0002] Pipelines exist on land and sea, carrying the important task of transporting energy, and are the "lifeline" of national energy. Once a leak occurs in an oil and gas pipeline, it can lead to serious consequences, so pipeline maintenance and defect detection are particularly critical. Pipeline detection methods can be divided into external pipeline detection and internal pipeline detection. The internal pipeline detection method usually requires positioning the detection equipment in the pipeline. At present, the main positioning methods for internal pipeline detection equipment are: mileage wheel positioning method, machine vision positioning method, extremely low frequency positioning method and fixed-point magnetic mark method, but this type of method has the following defects: 1. The mileage wheel alignment method is prone to slippage, resulting in cumulative errors; 2. The machine vision positioning method has high requirements on the accuracy of pipeline welds. If there are unevenly distributed welds, positioning cannot be achieved; 3. The price of extremely low frequency positioning equipment is very high. Long-distance oil and gas pipeline detection requires more extremely low frequency equipment, which is costly. 4. The fixed-point magnetic marking method is only applicable to pipelines with fixed-point magnetic marks placed during laying, and has a narrow scope of application.

[0003] Therefore, there is an urgent need for a pipeline detection equipment positioning system based on vibration signals to solve the above problems. Summary of the invention

[0004] The purpose of the present invention is to solve the problems existing in the above-mentioned background technology and to provide a pipeline detection equipment positioning system based on vibration signals.

[0005] In order to achieve the above object, the present invention provides a pipeline detection equipment positioning system based on vibration signals, the positioning system comprising: A vibration signal acquisition module, used for real-time acquisition of vibration signals of the pipe wall, wherein the vibration signal acquisition modules include at least two and are arranged on the pipe at preset intervals; The main control module is used to process the vibration signals of the multiple vibration signal acquisition modules, and determine the position and / or direction of the detection equipment in the pipeline according to the strength of the vibration signal of each vibration signal acquisition module.

[0006] Preferably, it also includes a signal preprocessing module; The signal preprocessing module is used to perform offset and gain processing on the collected vibration signal, and input the signal after the offset and gain processing into the main control module.

[0007] Preferably, the signal preprocessing module includes a voltage follower, a high-pass filter and an adder; The voltage follower is used to perform impedance matching on the input vibration signal, and input the impedance matched signal into the high-pass filter, the high-pass filter is used to filter out the DC signal in the signal, and input the AC signal into the adder, and the adder is used to amplify the AC signal.

[0008] Preferably, the preprocessing module further comprises an adjustable voltage source, the adjustable voltage source is electrically connected to the adder, and the adder adjusts the amplification factor of the AC signal according to the input AC signal of the high-pass filter and the input signal of the adjustable voltage source.

[0009] Preferably, the adder adjusts the amplification factor of the AC signal by adjusting the resistance value of the feedback resistor.

[0010] Preferably, the vibration signal acquisition module includes an IEPE sensor.

[0011] Preferably, it also includes a storage module for storing various types of data processed by the main control module.

[0012] Preferably, the storage device includes a USB flash drive and an SD card.

[0013] Preferably, a human-computer interaction module is also included to realize human-computer interaction.

[0014] Preferably, it also includes a power management module for supplying power to each module in the positioning system.

[0015] According to the above technical solution, based on the pipeline detection equipment positioning system based on vibration signals, the vibration signals of the pipe wall are collected in real time through multiple vibration signal acquisition modules arranged at intervals on the pipeline, and the position and / or direction of the pipeline detection equipment are determined based on the strength of each vibration signal based on the main control module. In actual application, the position and / or direction of various types of equipment used to detect pipeline defects in the pipeline can be accurately and reliably determined.

[0016] At the same time, by setting up a signal preprocessing module, the signal preprocessing module is used to perform bias and gain processing on the collected vibration signal, and input the bias and gain processed signal into the main control module, which can effectively adapt to the detection needs of various complex pipeline environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a structural schematic diagram of a pipeline detection equipment positioning system based on vibration signals in a specific implementation manner; Figure 2It is a schematic structural diagram of another specific implementation of a pipeline detection equipment positioning system based on vibration signals; Figure 3 It is a schematic structural diagram of another specific implementation of a pipeline detection equipment positioning system based on vibration signals; Figure 4 It is a hardware structure diagram of a pipeline detection equipment positioning system based on vibration signals in a specific implementation manner; Figure 5 is a structural diagram of a main control module in a specific implementation mode; Figure 6 is a schematic diagram of the structure of a preprocessing module in a specific implementation manner; Figure 7 It is a schematic diagram of the structure of a power management module in a specific implementation manner. DETAILED DESCRIPTION

[0018] The specific implementation of the embodiment of the present invention is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described here is only used to illustrate and explain the embodiment of the present invention, and is not used to limit the embodiment of the present invention.

[0019] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating relative importance or implicitly indicating the number of technical features indicated. Therefore, unless otherwise specified, features defined as "first" and "second" may explicitly or implicitly include one or more of the features; "plurality" means two or more. The term "include" and any variation thereof means non-exclusive inclusion, possible presence or addition of one or more other features, units, components and / or combinations thereof.

[0020] In addition, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be internally connected between two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0021] The present invention provides a pipeline detection equipment positioning system based on vibration signals, such as Figure 1 and 4 As shown, the pipeline detection equipment positioning system based on vibration signals includes: A vibration signal acquisition module, used for real-time acquisition of vibration signals of the pipe wall, wherein the vibration signal acquisition modules include at least two and are arranged on the pipe at preset intervals; The main control module is used to process the vibration signals of the multiple vibration signal acquisition modules, and determine the position and / or direction of the detection equipment in the pipeline according to the strength of the vibration signal of each vibration signal acquisition module.

[0022] In a specific embodiment, Figure 5 As shown, the main control module is the core component of the pipeline detection equipment positioning system, including a main control chip, a clock circuit, a power supply and filter circuit, a power-on self-reset circuit, a download mode selection circuit and a download interface circuit. In a more specific embodiment, the main control module is an STM32 single-chip microcomputer.

[0023] According to the above technical scheme, based on the pipeline detection equipment positioning system based on vibration signals, the vibration signal of the pipe wall is collected in real time through multiple vibration signal acquisition modules arranged at intervals on the pipeline, and the position and / or direction of the pipeline detection equipment is determined based on the strength of each vibration signal by the main control module. In the actual application process, the position and / or direction of various types of equipment used to detect pipeline defects in the pipeline can be accurately and reliably determined. Among them, the principle that the present invention can accurately and reliably determine the position and / or direction of various types of equipment used to detect pipeline defects in the pipeline based on the vibration signal acquisition module and the main control module is that the vibration generated by the friction between the pipeline detection equipment and the pipe wall will pass through at least two of the vibration signal acquisition modules in sequence. Since the vibration signal will be attenuated during the propagation process, the signal intensity is the largest when the internal detection equipment passes directly under the vibration signal acquisition module. Therefore, effective information is extracted from the signal collected by the vibration signal acquisition module, and the waveform is smoothed to clearly distinguish the position where the maximum value points of the two channel data appear. By judging the maximum amplitude points of the two channel data, the running direction of the internal detection equipment can also be obtained. Specifically, the steps of processing the vibration signal by the main control module include discrete wavelet transform, taking the upper envelope of the signal, median filtering and mean filtering.

[0024] In the pipeline detection equipment positioning system based on vibration signals described in the present invention, if Figure 4 As shown, in a preferred case, the vibration signal acquisition module includes an IEPE sensor. By using the IEPE sensor to collect the vibration signal of the pipe wall, the accuracy of collecting the vibration signal of the pipe wall can be effectively improved. And further, by installing a plurality of the vibration signal acquisition modules including the IEPE sensor on the pipe wall at preset intervals, not only can the position of the detection device in the pipeline be determined based on the strength of the vibration signal collected by the IEPE sensors at different positions, but also the moving direction of the detection device in the pipeline can be determined.

[0025] In the pipeline detection equipment positioning system based on vibration signals described in the present invention, if Figure 2 and 4As shown, preferably, it also includes a signal preprocessing module; The signal preprocessing module is used to perform offset and gain processing on the collected vibration signal, and input the signal after the offset and gain processing into the main control module.

[0026] In a specific implementation, the signal preprocessing module includes a voltage follower, a high-pass filter and an adder; The voltage follower is used to perform impedance matching on the input vibration signal, and input the impedance matched signal into the high-pass filter, the high-pass filter is used to filter out the DC signal in the signal, and input the AC signal into the adder, and the adder is used to amplify the AC signal.

[0027] In a more specific embodiment, the preprocessing module further includes an adjustable voltage source, the adjustable voltage source is electrically connected to the adder, and the adder adjusts the amplification factor of the AC signal according to the input AC signal of the high-pass filter and the input signal of the adjustable voltage source. In a specific embodiment, the adder adjusts the amplification factor of the AC signal by adjusting the resistance value of the feedback resistor.

[0028] In the present invention, if Figure 6 As shown, by further setting a signal preprocessing module to perform bias and gain processing on the collected vibration signal, and converting the bias and gain processed signal through an AD conversion chip and inputting it into the main control module, it can effectively adapt to the detection needs of various complex pipeline environments, thereby effectively improving the accuracy and reliability of the positioning of the pipeline detection equipment by the pipeline detection equipment positioning system based on the vibration signal. In a specific embodiment, the AD conversion chip is an AD7606 chip. In another specific embodiment, the AD conversion chip can also be directly integrated on the main control module.

[0029] In the pipeline detection equipment positioning system based on vibration signals described in the present invention, if Figure 4 As shown, preferably, a storage module is also included for storing various types of data processed by the main control module. In a specific implementation, the storage device includes a USB flash drive and an SD card. By using a storage device to store various types of data processed by the main control module, the stored data can be conveniently and flexibly viewed and analyzed in actual applications.

[0030] In the pipeline detection equipment positioning system based on vibration signals described in the present invention, if Figure 3 and 4As shown, preferably, a human-computer interaction module is also included to realize human-computer interaction. In a specific implementation, the human-computer interaction module selects a serial port screen that does not need to occupy too many main controller resources, supports touch and a variety of display effects, including text, pictures, curves, etc., and can easily realize the design of various human-computer interaction interfaces. In another specific implementation, the communication module uses an external USB3300 chip to realize the USB2.0 high-speed communication between the STM32 single-chip microcomputer and the PC end, and its fastest transmission speed can reach 42MB / s, which is enough to meet the needs of high-speed data transmission.

[0031] In the pipeline detection equipment positioning system based on vibration signals described in the present invention, if Figure 7 As shown, preferably, a power management module is also included to supply power to each module in the positioning system.

[0032] In a specific implementation, the power management module is responsible for providing the entire system with various voltages required, including 5V, 3.3V, and ±12V. At the same time, the power management module is one of the important prerequisites for ensuring the stable operation of the system. System power management directly affects the stability and reliability of system operation. It includes a variety of power management and protection functions, which are used to control the on and off of the system power supply and realize overcurrent, short circuit protection and other functions.

[0033] The present invention will be described in detail below through examples, but the protection scope of the present invention is not limited thereto.

[0034] Example 1 Use Figure 1 and 4 The pipeline detection equipment positioning system based on vibration signals is implemented as shown. Specifically, the pipeline detection equipment positioning system based on vibration signals includes: A vibration signal acquisition module, used for real-time acquisition of vibration signals of the pipe wall, wherein the vibration signal acquisition modules include at least two and are arranged on the pipe at preset intervals; A main control module, used for processing the vibration signals of the plurality of vibration signal acquisition modules, and determining the position and / or direction of the detection equipment in the pipeline according to the strength of the vibration signals of each vibration signal acquisition module; Specifically, the main control module is integrated with an indicator light; the vibration signal acquisition module includes an IEPE sensor; it also includes a storage module for storing various types of data processed by the main control module, and the storage device is an SD card; it also includes a power management module for powering each module in the positioning system.

[0035] In actual application, step 1: hang the ring on the driving section of the internal detection device on the hook of the winch and pull it into the entrance of the pipeline; step 2: adsorb two IEPE sensors on the pipe wall 50cm apart, start the winch to move the detection device in the pipeline; step 3: observe the test indicator light of the system. When its blue test indicator light is on, it means that there is a detection device passing under the sensor; step 4: when the detection device is far away from the sensor, the blue indicator light of the system goes out. The specific position and direction of the detection device in the pipeline can be determined by the on and off of the blue indicator lights corresponding to the two sensors.

[0036] Example 2 Implement with reference to Example 1, except that Figure 3 and 4 As shown, it also includes a signal preprocessing module, which is used to perform bias and gain processing on the collected vibration signal, and input the signal after bias and gain processing into the main control module; it also includes a human-computer interaction module for realizing human-computer interaction.

[0037] In actual application, step 1: hang the ring on the driving section of the internal detection device on the hook of the winch and pull it into the entrance of the pipeline; step 2: adsorb two IEPE sensors on the pipe wall 50cm apart, start the winch to move the detection device in the pipeline; step 3: observe the test indicator light of the system. When its blue test indicator light is on, it means that there is a detection device passing under the sensor; step 4: when the detection device is far away from the sensor, the blue indicator light of the system goes out. The specific position and direction of the detection device in the pipeline can be determined by the on and off of the blue indicator lights corresponding to the two sensors.

[0038] Example 3 Referring to Example 2, the difference is that the signal preprocessing module includes a voltage follower, a high-pass filter and an adder; The voltage follower is used to perform impedance matching on the input vibration signal, and input the impedance-matched signal into the high-pass filter, the high-pass filter is used to filter out the DC signal in the signal, and input the AC signal into the adder, and the adder is used to amplify the AC signal; the preprocessing module also includes an adjustable voltage source, the adjustable voltage source is electrically connected to the adder, and the adder adjusts the amplification factor of the AC signal according to the input AC signal of the high-pass filter and the input signal of the adjustable voltage source; the adder adjusts the amplification factor of the AC signal by adjusting the resistance value of the feedback resistor.

[0039] In actual application, step 1: hang the ring on the driving section of the internal detection device on the hook of the winch and pull it into the entrance of the pipeline; step 2: adsorb two IEPE sensors on the pipe wall 50cm apart, start the winch to move the detection device in the pipeline; step 3: observe the test indicator light of the system. When its blue test indicator light is on, it means that there is a detection device passing under the sensor; step 4: when the detection device is far away from the sensor, the blue indicator light of the system goes out. The specific position and direction of the detection device in the pipeline can be determined by the on and off of the blue indicator lights corresponding to the two sensors.

[0040] The vibration signal-based pipeline detection equipment positioning system provided by the present invention collects the vibration signal of the pipe wall in real time through a plurality of vibration signal acquisition modules arranged at intervals on the pipeline, and determines the position and / or direction of the pipeline detection equipment according to the strength of each vibration signal based on the main control module. In actual application, the position and / or direction of various types of equipment used to detect pipeline defects in the pipeline can be accurately and reliably determined.

[0041] The preferred embodiments of the present invention are described in detail above with reference to the accompanying drawings, but the present invention is not limited thereto. Within the technical concept of the present invention, the technical solution of the present invention can be subjected to a variety of simple modifications. In order to avoid unnecessary repetition, the present invention will not further describe various possible combinations. However, these simple modifications and combinations should also be regarded as the contents disclosed by the present invention and belong to the protection scope of the present invention.

Claims

1. A pipeline detection equipment positioning system based on vibration signals, characterized in that: The pipeline detection equipment positioning system based on vibration signals includes: A vibration signal acquisition module, used for real-time acquisition of vibration signals of the pipe wall, wherein the vibration signal acquisition modules include at least two and are arranged on the pipe at preset intervals; The main control module is used to process the vibration signals of the multiple vibration signal acquisition modules, and determine the position and / or direction of the detection equipment in the pipeline according to the strength of the vibration signal of each vibration signal acquisition module.

2. The pipeline detection equipment positioning system based on vibration signals according to claim 1 is characterized in that: Also includes a signal preprocessing module; The signal preprocessing module is used to perform offset and gain processing on the collected vibration signal, and input the signal after the offset and gain processing into the main control module.

3. The pipeline detection equipment positioning system based on vibration signals according to claim 2 is characterized in that: The signal preprocessing module includes a voltage follower, a high-pass filter and an adder; The voltage follower is used to perform impedance matching on the input vibration signal, and input the impedance matched signal into the high-pass filter, the high-pass filter is used to filter out the DC signal in the signal, and input the AC signal into the adder, and the adder is used to amplify the AC signal.

4. The pipeline detection equipment positioning system based on vibration signals according to claim 3 is characterized in that: The preprocessing module also includes an adjustable voltage source, which is electrically connected to the adder. The adder adjusts the amplification factor of the AC signal according to the input AC signal of the high-pass filter and the input signal of the adjustable voltage source.

5. The pipeline detection equipment positioning system based on vibration signals according to claim 3 or 4, characterized in that: The adder adjusts the amplification factor of the AC signal by adjusting the resistance value of the feedback resistor.

6. The pipeline detection equipment positioning system based on vibration signals according to claim 1 is characterized in that: The vibration signal acquisition module includes an IEPE sensor.

7. The pipeline detection equipment positioning system based on vibration signals according to claim 1 is characterized in that: It also includes a storage module for storing various types of data processed by the main control module.

8. The pipeline detection equipment positioning system based on vibration signals according to claim 7 is characterized in that: The storage device includes a USB flash drive and an SD card.

9. The pipeline detection equipment positioning system based on vibration signals according to claim 1 is characterized in that: It also includes a human-computer interaction module for realizing human-computer interaction.

10. The pipeline detection equipment positioning system based on vibration signals according to claim 1, characterized in that: It also includes a power management module for supplying power to various modules in the positioning system.

Images