Unmanned aerial vehicle for detecting magnetic stress of buried metal pipeline

Abstract

The invention provides an unmanned aerial vehicle for detecting the magnetic stress of a buried metal pipeline, and the innovation point of the design mainly lies in improving the accuracy, efficiency and safety of the magnetic stress detection of the pipeline, and ensuring the adaptability and portability of the unmanned aerial vehicle in various complex environments. The device hovers at a specific position of a buried pipeline to be measured through an unmanned aerial vehicle, and carries a non-contact scanning magnetometer to measure signals related to a surface magnetic field of the buried pipeline to be measured. By transmitting the signals to ground equipment in real time and processing and analyzing the signals, the stress distribution condition of the buried pipeline to be tested can be determined. According to the unmanned aerial vehicle for detecting the magnetic stress of the buried metal pipeline, efficient, accurate and safe detection of the magnetic stress of the buried metal pipeline is realized by integrating a high-precision magnetic stress sensor, an advanced flight control system, real-time data processing and analysis capability and a compact and light fuselage design; and powerful support is provided for pipeline maintenance and management. The device provided by the invention can be applied to various situations requiring buried pipeline magnetic stress detection, such as urban water supply pipelines, natural gas pipelines and the like. By adopting the mode that the unmanned aerial vehicle carries the non-contact scanning magnetometer, the device can realize non-contact, efficient and accurate buried pipeline stress detection, and a convenient and reliable solution is provided.

Description

Technical Field

[0001] This patent relates to the field of drone technology and metal pipeline detection, specifically a drone for magnetic stress detection of buried metal pipelines. Background Art

[0002] Currently, magnetic stress detection of buried metal pipelines relies primarily on manual inspections and ground-based equipment. These methods suffer from low efficiency, poor accuracy, and high safety risks. With the development of drone technology, the use of drones for pipeline inspections has become a trend, but existing drones still have many shortcomings in magnetic stress detection. Therefore, there is an urgent need for a drone that can efficiently and accurately detect magnetic stress in buried metal pipelines.

[0003] Invention patent content

[0004] This patent provides a drone for magnetic stress detection of buried metal pipelines. The design and innovation of the drone are mainly focused on improving the accuracy, efficiency and safety of pipeline magnetic stress detection, while ensuring the adaptability and portability of the drone in various complex environments. The details are as follows:

[0005] (1) High-precision magnetic stress detection capability:

[0006] The drone is equipped with a high-precision magnetic stress sensor designed specifically for buried metal pipelines. With its high sensitivity and low noise, the sensor can accurately capture and measure minute magnetic stress changes around the pipeline in real time. The sensor layout has been optimized to ensure it is always in the optimal detection position during flight, thereby improving the accuracy of detecting pipeline magnetic stress anomalies.

[0007] (2) Advanced flight control and navigation systems:

[0008] The drone integrates advanced flight control systems and navigation technologies. The flight control system utilizes a stable flight algorithm, enabling automatic takeoff, autonomous cruise, fixed-point hovering, and automatic return. The navigation system combines GPS, an inertial measurement unit (IMU), and possibly a vision-assisted system to ensure the drone can accurately navigate complex terrain and environments and automatically avoid obstacles, significantly improving inspection efficiency and flight safety.

[0009] (3) Real-time data processing and analysis capabilities:

[0010] The drone is equipped with a high-performance data processing unit and analysis system. This system receives and processes data from magnetic stress sensors in real time, filtering, correcting, and analyzing it using pre-set algorithms. If abnormal data is detected, the system immediately generates an alert and wirelessly transmits the data and alert to a ground control station or designated mobile device in real time, enabling operators to respond promptly.

[0011] (4) Compact and lightweight body design:

[0012] The drone's fuselage structure has been carefully designed, utilizing lightweight materials and modular construction to minimize overall weight while maintaining structural strength. Its compact size and foldable design make it easy to carry and transport. Furthermore, the drone boasts excellent environmental adaptability, enabling stable operation in diverse climates and terrains, including but not limited to complex terrains such as mountains, swamps, and deserts.

[0013] In summary, the drone for magnetic stress detection of buried metal pipelines provided by this patent integrates high-precision magnetic stress sensors, advanced flight control systems, real-time data processing and analysis capabilities, and a compact and lightweight body design, thereby achieving efficient, accurate, and safe detection of magnetic stress of buried metal pipelines, providing strong support for pipeline maintenance and management. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without creative work.

[0015] Figure 1 The drone's overall structural design is shown, including ① the fuselage, ② the arms, ③ the motors / propellers, and ④ the landing gear. The drone features a compact and lightweight design to accommodate long-duration flights and complex environments. The following is a detailed explanation of the drone's main components:

[0016] ① Body

[0017] Definition: A highly integrated, fully functional drone system that combines multiple sensors, modules, and flight control technologies with the airframe. This system is designed to provide stable and efficient flight performance while meeting various application requirements.

[0018] Airframe function: As the main structure of the drone, the airframe carries all electronic components, batteries, and other key parts, providing structural support and protection. It also needs to have certain aerodynamic properties to ensure flight stability and efficiency.

[0019] Sensor and Module Functions: The sensors and modules onboard a drone are responsible for environmental perception, positioning, navigation, and flight control. For example, a GPS receiver provides location information, an inertial measurement unit (IMU) monitors flight attitude, and a camera captures photos and videos. These sensors and modules work together to enable the drone to fly autonomously and complete its missions.

[0020] Design considerations (body part):

[0021] Lightweight: The body design needs to be lightweight to reduce the overall weight of the drone and improve flight efficiency and endurance.

[0022] Strength and rigidity: The aircraft structure needs to have sufficient strength and rigidity to withstand various stresses and environmental impacts during flight and ensure flight stability and safety.

[0023] Aerodynamic characteristics: The design of the aircraft should optimize aerodynamic characteristics, reduce flight resistance and improve flight efficiency.

[0024] Material selection: Choose appropriate materials, such as carbon fiber, aluminum alloy, etc., to balance the needs of lightness, strength and durability.

[0025] Design considerations (sensor and module parts):

[0026] Integration: Sensors and modules should be highly integrated with the body structure to ensure the compactness and stability of the overall system.

[0027] Accuracy and reliability: The accuracy and reliability of sensors and modules are crucial to the flight performance and safety of drones. Therefore, when selecting and using these components, ensure that they meet relevant quality and technical standards.

[0028] Power consumption management: The power consumption of sensors and modules should be effectively managed to extend the flight time of the drone.

[0029] Scalability: Sensors and modules should be designed with scalability in mind so they can be upgraded or have new features added in the future based on demand.

[0030] ②Arm

[0031] Definition: The arm is the component that connects the fuselage to the motor / propeller, usually a slender rod-shaped structure.

[0032] Function: The main function of the arms is to support the motors / propellers and keep them in a stable position during flight. Their length and shape affect the stability and controllability of the drone.

[0033] Design considerations: The arms must be designed to provide sufficient strength and rigidity to withstand the thrust and torque generated by the motors / propellers. To reduce weight, they are typically made of lightweight materials such as carbon fiber or aluminum alloy.

[0034] ③ Motor / propeller

[0035] Definition: The motor / propeller is the key component for generating lift for drones, usually consisting of blades and a hub.

[0036] Function: When the motor drives the propeller to rotate, the blades compress and repel the air, generating upward lift. By changing the propeller speed and direction, the drone's flight altitude and direction can be controlled.

[0037] Type and selection: Motors / propellers come in a variety of sizes and shapes, and the selection should take into account factors such as the size, weight, and flight performance of the drone, as well as the power and speed of the motor.

[0038] ④ Landing gear

[0039] Definition: The landing gear is the structure used to support the drone when it is parked on the ground, taking off and landing.

[0040] Function: The main function of the landing gear is to absorb the impact energy during landing and protect the aircraft and internal components from damage. It also helps the drone maintain stability on the ground, making it easier to control and transport.

[0041] Design considerations: The landing gear must be designed to provide adequate strength and cushioning. Common landing gear types include fixed and retractable, the latter of which can be retracted during flight to reduce air resistance.

[0042] Figure 2 The location layout of the sensors and modules on the fuselage is shown in detail.

[0043] ⑤The first layer of the body

[0044] The first layer is the aircraft's basic structural layer, primarily consisting of wireless antennas responsible for wireless communication between the aircraft and the ground control station. Furthermore, the flight control motherboard module is a core component of this layer, responsible for flight control and mission management. The flight recording module records flight data for subsequent analysis and processing. The electronic gyroscope module provides flight attitude stability and control.

[0045] ⑥ Second layer of the body

[0046] The second layer is the aircraft's energy and navigation system. The lithium battery module provides a continuous power supply, ensuring the smooth execution of various tasks. The Beidou chip module utilizes the Beidou satellite navigation system to provide precise positioning and navigation services. The inertial navigation module uses built-in inertial sensors to measure the aircraft's acceleration and angular velocity, thereby inferring its position and attitude. The omnidirectional ultrasonic sensor module is used to sense obstacles around the aircraft and implement obstacle avoidance.

[0047] ⑦The third layer of the body

[0048] The third layer is the detection and data recording layer of the machine. The three-axis magnetometer module is used to measure the magnetic field strength around the pipeline, thereby detecting the pipeline's magnetic stress. The detection data recording module is responsible for storing and recording the data collected by the three-axis magnetometer module for subsequent analysis and processing.

[0049] Figure 3 The process of pipeline magnetic stress detection using a drone system is demonstrated.

[0050] ⑧ Ground drone remote control

[0051] The ground-based drone remote control is a handheld device used by operators to control the drone. Using the joystick and buttons on the remote control, operators can control the drone's takeoff, landing, flight direction, speed, and other actions. The remote control is also equipped with a display that can display the drone's flight status and detection data in real time.

[0052] ⑨Ground

[0053] The ground component is the supporting infrastructure for the drone system, primarily consisting of a drone takeoff and landing platform and a ground control station. The platform is used for drone takeoff and landing, ensuring safe takeoff and landing. It connects to the drone via wireless communication, enabling remote control and monitoring of the drone.

[0054] ⑩Pipeline magnetic stress signal

[0055] Pipeline magnetic stress signals are the magnetic field changes generated by a pipeline under the influence of external forces or internal factors. These signals can be detected and measured by the three-axis magnetometer module on the drone, reflecting the stress state and changes in the pipeline.

[0056] Normal pipeline

[0057] A normal pipeline refers to a pipeline that is not affected by obvious damage or defects, and its magnetic field distribution and magnetic field line direction are relatively stable and uniform.

[0058] Normal magnetic field lines of a normal pipe

[0059] The normal magnetic lines of force of a normal pipeline are those formed by the magnetic field generated by the pipeline itself, without any external forces or internal factors. These lines of force have a regular distribution and direction, and are an important basis for determining the pipeline's condition.

[0060] Abnormal pipeline

[0061] Abnormal pipelines refer to pipelines affected by defects such as damage, corrosion, and deformation. These defects can cause changes in the magnetic field distribution and direction of magnetic lines of force in the pipeline, thereby generating abnormal magnetic stress signals.

[0062] Abnormal magnetic lines of force in abnormal pipelines

[0063] Abnormal magnetic lines of force in an abnormal pipeline are those generated by the magnetic field of a defective pipeline. These lines of force exhibit irregular distribution and orientation, significantly different from those in a normal pipeline, and serve as a key indicator of pipeline abnormality.

[0064] Minor defects in pipelines

[0065] Minor pipeline defects refer to defects that have little impact on the pipeline structure and function, such as slight corrosion and scratches. Although these defects will not have a serious impact on the normal operation of the pipeline, they also need to be detected and repaired in a timely manner to prevent them from further developing into major defects.

[0066] Major pipeline defects

[0067] Major pipeline defects are those that significantly impact the structure and function of a pipeline, such as severe corrosion, deformation, and cracks. These defects can severely impact the safe operation and service life of the pipeline and require timely detection and repair.

[0068] The specific description of the key functions mentioned above is as follows: the time sequence and conditions for the functions to be performed:

[0069] (1) Pipeline route coordinate tracking function

[0070] Time sequence: After the drone takes off, the pipeline route coordinate tracking function is first activated.

[0071] Prerequisites: An autonomous navigation system typically consists of GPS, an inertial measurement unit (IMU), and other sensors that provide real-time information about the drone's position, velocity, and attitude. Before flight, the drone's flight path can be planned using a ground control station or remote control device and uploaded to the drone's flight control system.

[0072] (2) Pipeline magnetic stress inspection function

[0073] Time sequence: After the drone flies stably and tracks the pipeline, the pipeline magnetic stress inspection function is started.

[0074] Condition: There must be a magnetic stress field around the pipeline and the three-axis magnetic stress detection module must be able to work normally.

[0075] Once the drone has stably tracked a pipeline, it activates its onboard three-axis magnetic stress detection module to capture real-time changes in magnetic stress around the pipeline. By analyzing this magnetic stress data, the drone can promptly identify potential pipeline defects and safety hazards, such as corrosion and cracks. This capability is crucial for preventing pipeline accidents, providing timely warnings and enabling appropriate repair and maintenance measures.

[0076] (3) Constant altitude flight function above pipeline

[0077] Time sequence: While the drone starts the magnetic stress inspection function, it maintains a constant altitude flight.

[0078] Condition: The ultrasonic altimeter must be able to work properly and measure the distance to the ground in real time.

[0079] To ensure consistent pipeline data acquisition in diverse terrain and environments, the drone uses an onboard ultrasonic altimeter to measure its distance to the ground in real time and maintain a constant flight altitude. This feature enables the drone to obtain consistent pipeline data at varying altitudes, improving data accuracy and comparability. Constant flight altitude also helps minimize the risk of collisions with the ground or other obstacles.

[0080] (4) Automatic return function

[0081] Time sequence: When the drone's battery is low, the automatic return function is activated.

[0082] Condition: The Beidou navigation module and the remaining power monitoring function must be working properly.

[0083] During flight, the drone continuously monitors its remaining battery life and, combined with location information provided by the Beidou navigation module, determines whether to activate the automatic return function. When the battery level falls below a preset threshold, the drone automatically returns to its takeoff point, minimizing the risk of flight accidents and data loss. This feature effectively ensures the drone's safe return and the successful completion of inspection missions.

[0084] (5) Autonomous navigation function

[0085] Time sequence: When there is no pipeline path signal or other tasks need to be performed, the autonomous navigation function is activated.

[0086] Condition: The information provided by the Beidou navigation module and the barometer module must be valid.

[0087] In certain situations, such as when pipeline signal transmission is interrupted or other missions are required, the drone can rely on information provided by its onboard Beidou navigation module and barometer module for autonomous flight. Using location information provided by the Beidou navigation module and altitude information from the barometer module, the drone can plan an appropriate flight path and complete its mission. Upon mission completion, the drone will automatically return to its takeoff point based on pre-set instructions or operator control. This feature enhances the drone's adaptability and flexibility, enabling it to excel in diverse environments and missions.

[0088] (6) Active obstacle avoidance function

[0089] Time sequence: Activate the active obstacle avoidance function when encountering an obstacle during flight.

[0090] Condition: The ultrasonic sensor must be able to work properly and sense surrounding obstacles.

[0091] To improve flight safety and reduce collision risks, the drone activates its active obstacle avoidance feature when encountering an obstacle during flight. Using its onboard ultrasonic sensors to sense the distance and location of surrounding obstacles, the drone proactively adjusts its altitude to avoid them and ensure safe flight. This feature effectively prevents collisions and improves flight stability and reliability. DETAILED DESCRIPTION

[0092] The specific implementation of this patent involves the design and implementation of several key aspects, including the design of the drone body, the selection and layout of sensors, the design of the flight control system, and the design of the data processing and analysis system. The specific content and implementation steps of these aspects are detailed below.

[0093] (1) UAV body design

[0094] The airframe design must ensure a compact structure, lightweight, and high strength to adapt to complex and changing flight environments and terrain conditions. Lightweight materials such as carbon fiber composites are used to construct the airframe frame, reducing overall weight while maintaining sufficient structural rigidity. The airframe is modular, facilitating disassembly and assembly for transportation, as well as subsequent maintenance and upgrades.

[0095] (2) Sensor selection and layout

[0096] Sensor selection is crucial for accurately measuring magnetic stress in pipelines. Magnetic stress sensors with high precision, high sensitivity, and low noise should be selected to detect subtle magnetic field variations around the pipeline. Sensor placement requires careful planning to ensure optimal detection positions throughout the drone's flight. Sensors are typically mounted below or to the side of the drone, allowing for close proximity to the pipeline surface for measurement.

[0097] (3) Flight control system design

[0098] The flight control system is the drone's "brain," responsible for key functions such as navigation, attitude control, and mission execution. This system should integrate stable flight algorithms and advanced navigation technologies, such as GPS, IMU (Inertial Measurement Unit), and possibly visual assistance systems (such as cameras and LiDAR), to enable complex maneuvers such as autonomous flight, automatic obstacle avoidance, and fixed-point hovering. Furthermore, the flight control system must be capable of real-time communication with a ground control station or mobile device, allowing operators to remotely monitor and control the drone.

[0099] (4) Data processing and analysis system design

[0100] The data processing and analysis system is the drone's "intelligent core," responsible for real-time processing and analysis of sensor data. This system should be equipped with high-performance computing units and storage devices to rapidly receive and process data from the magnetic stress sensors. Using pre-set algorithms, it filters, corrects, and analyzes the data to extract useful magnetic stress information. Upon detecting abnormal data or potential risks, the system should immediately generate an alert and wirelessly transmit it to the ground control station or a designated mobile device. The system should also include data recording and storage capabilities for subsequent analysis and report generation.

[0101] In summary, the specific implementation of this patent achieves efficient and accurate detection of magnetic stress in buried metal pipelines through the careful design of the drone body, sensor selection and layout, flight control system, and data processing and analysis system. These design and implementation steps fully consider practical application requirements and operational convenience, providing strong support for pipeline maintenance and management.

[0102] Advantages and effects

[0103] The use of this patented drone for magnetic stress detection of buried metal pipelines can bring a series of significant advantages and beneficial effects, which are specifically manifested in the following aspects:

[0104] (1) Improve detection efficiency and accuracy

[0105] Traditional pipeline magnetic stress detection methods often rely on manual inspections or the use of ground-based equipment, which are not only inefficient but also difficult to guarantee accurate detection. In contrast, the patented drone is capable of autonomous flight and automatic obstacle avoidance, enabling rapid and accurate pipeline inspections. Its high-precision magnetic stress sensor collects real-time magnetic stress data around the pipeline and uses advanced processing algorithms to instantly process and analyze this data, providing precise detection results. This efficient and accurate detection method significantly improves the efficiency and accuracy of pipeline magnetic stress detection.

[0106] (2) Reduce security risks

[0107] Pipeline inspections often involve working at height, in complex terrain, and in harsh environments, all of which pose significant safety risks to inspectors. This patented drone replaces manual inspections in these high-risk areas, effectively preventing direct exposure to hazardous environments and significantly reducing safety risks. The drone's autonomous flight capabilities and automatic obstacle avoidance further enhance its safety in complex environments.

[0108] (3) Easy to carry and transport

[0109] Traditional pipeline inspection equipment is typically bulky and heavy, making it difficult to carry and transport. However, the patented drone is compact and lightweight, making it easy to carry and transport to various complex terrains and environments. This portability allows the drone to be quickly deployed to the pipeline site in need of inspection, greatly improving the flexibility and responsiveness of inspection work.

[0110] (4) Provide timely warning information

[0111] By processing and analyzing collected magnetic stress data in real time, the drone in this patent can promptly detect pipeline anomalies (such as magnetic stress anomalies and deformation) and potential risks (such as corrosion and cracks). Upon detecting an anomaly or potential risk, the drone immediately generates an early warning message and wirelessly transmits this information in real time to a ground control station or designated mobile device. This real-time early warning mechanism provides strong support for pipeline maintenance and management, helping to promptly identify and resolve issues and prevent them from escalating.

Claims

1. A drone pipeline inspection system. The system includes: a. Pipeline route coordinate tracking module, used to track the pipeline route coordinates after the UAV takes off. This module relies on real-time position, speed, and attitude information provided by GPS, inertial measurement unit (IMU), and other sensors. b. Pipeline magnetic stress inspection module, activated after the UAV stabilizes its flight and tracks the pipeline, is used to capture real-time magnetic stress changes around the pipeline and analyze magnetic stress data to promptly identify potential defects and safety hazards in the pipeline. c. Constant altitude flight control module, activated simultaneously with the pipeline magnetic stress inspection module, uses an ultrasonic altimeter to measure the distance to the ground in real time to maintain the UAV flying at a constant altitude above the pipeline. d. Automatic return module, activated when the UAV battery is low, combines the location information and remaining battery monitoring function provided by the Beidou navigation module to automatically return to the take-off point. e. Autonomous navigation module, activated when there is no pipeline path signal or when other tasks need to be performed, relies on information provided by the Beidou navigation module and barometer module for autonomous flight and return to the take-off point. f. Active obstacle avoidance module, activated when encountering an obstacle during flight, uses ultrasonic sensors to sense the distance and position information of surrounding obstacles and actively adjusts the flight altitude to avoid collision.

2. The UAV pipeline inspection system according to claim 1, wherein the pipeline route coordinate tracking module can plan the flight route of the UAV through a ground control station or remote control device before the flight, and upload it to the flight control system of the UAV.

3. The UAV pipeline inspection system according to claim 1, wherein the pipeline magnetic stress inspection module uses a three-axis magnetic stress detection module to capture the magnetic stress changes around the pipeline in real time and analyze the magnetic stress data to detect defects such as corrosion and cracks in the pipeline.

4. The UAV pipeline inspection system according to claim 1, wherein the constant altitude flight control module uses an ultrasonic altimeter to measure the distance to the ground in real time, ensuring that the UAV can obtain stable pipeline information in different terrains and environments.

5. The UAV pipeline inspection system according to claim 1, wherein the automatic return module is activated when the UAV battery level falls below a preset threshold, and automatically returns to the take-off point based on the location information provided by the Beidou navigation module.

6. The UAV pipeline inspection system according to claim 1, wherein the autonomous navigation module is activated when the pipeline path signal is interrupted or other tasks need to be performed, and autonomous flight is performed based on information provided by the Beidou navigation module and the barometer module.

7. The UAV pipeline inspection system according to claim 1, wherein the active obstacle avoidance module senses the distance and position information of surrounding obstacles through ultrasonic sensors and actively adjusts the flight altitude to ensure safe flight.

8. A method for pipeline inspection using a drone, the method comprising the following steps: Start the drone and track the pipeline route coordinates; after the drone is flying stably and tracking the pipeline, start the pipeline magnetic stress inspection; keep the drone flying at a constant altitude above the pipeline; when the drone battery is low, start the automatic return function; when there is no pipeline path signal or other tasks need to be performed, start the autonomous navigation function; when encountering obstacles during flight, start the active obstacle avoidance function.

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