Digitalized magnetic memory internal detection system for stress damage of long oil and gas conveying pipeline

Abstract

The invention discloses a digitized magnetic memory internal detection system for stress damage of a long oil and gas pipeline. The digitized magnetic memory internal detection system has the characteristics of high detection precision, high adaptability and high intelligent degree. A traditional analog circuit is replaced by a full-digital signal processing system, so that the hardware structure is remarkably simplified, the cost and the power consumption are reduced, and the signal anti-interference capability is improved; 360-degree full-coverage detection and accurate positioning of the stress damage of the pipeline are realized through the circumferential arrangement of a plurality of groups of magnetic memory probes and the cooperative work of the magnetic memory probes and a digital program; through linkage control of the electromagnetic valve and the speed adjusting valve, speed self-adaptive adjustment of the inner detector under complex working conditions is achieved, and stability and reliability of the detection process are guaranteed. Through combination of a trajectory tracking system and a comprehensive analysis algorithm, real-time storage, alarm and remote transmission of damage data are realized, and the intelligent level and operation and maintenance efficiency of pipeline safety monitoring are greatly improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of oil and gas pipeline online detection, in particular to a long-distance oil and gas pipeline stress damage digital magnetic memory internal detection system. BACKGROUND

[0002] With the continuous growth of global energy demand, oil and gas pipelines, as the core infrastructure for energy transportation, their safe operation is directly related to the national energy strategy security and public safety. Pipeline transportation has become an indispensable part of the oil and gas industry with its advantages of high efficiency, low cost and continuous transportation. However, during the long-term service of the pipeline, it is easy to produce stress concentration and micro-damage due to the influence of multiple factors such as material aging, construction defects, corrosion and erosion, and geological changes. If these invisible stress damages cannot be detected in time, they will gradually evolve into macro cracks, structural instability and even sudden rupture, causing leakage or explosion accidents, resulting in serious economic losses and environmental impact. Therefore, non-destructive testing technology plays an increasingly important role in pipeline operation and maintenance. Magnetic memory detection technology, as a new non-destructive testing method, uses the magneto-mechanical properties of ferromagnetic materials under the action of the geomagnetic field to realize non-contact and online detection of stress damage area without the need for coupling medium, which can identify stress concentration areas early and make up for the shortcomings of traditional detection methods in stress damage early warning.

[0003] Although the magnetic memory detection technology has significant advantages, the traditional magnetic memory detection system still has many problems: first, the system generally uses analog signal processing method, relying on a large number of hardware circuits to complete signal amplification, filtering and conversion, resulting in complex system structure, large size, high cost, and not conducive to integration and portability; second, analog signals are easily affected by electromagnetic interference and environmental noise during transmission, with low signal-to-noise ratio, detection accuracy and stability are difficult to guarantee; third, data analysis relies on manual experience, lacks intelligent automatic identification and comprehensive analysis capability, detection efficiency is low, and cannot meet the detection needs of large-scale and high-frequency of long-distance pipelines; in addition, the traditional internal detector has strict requirements for the flowability, pipe diameter and pressure conditions of the pipeline medium, and has limited application scope, making it difficult to achieve comprehensive coverage in complex pipeline network environment. These disadvantages seriously restrict the promotion and application of magnetic memory detection technology in practical engineering.

[0004] Therefore, there is an urgent need in the art to develop a fully digital magnetic memory internal detection system, which can break through the limitations of traditional analog signal processing, realize digital acquisition, filtering, conversion and intelligent analysis of detection signals, improve detection accuracy, efficiency and adaptability, while reducing system complexity and cost, and provide reliable technical support for early detection and early warning of stress damage of oil and gas pipelines. SUMMARY

[0005] The application aims to provide a stress damage digital magnetism memory internal detection system for long oil and gas pipeline, to solve the problems in the prior art.

[0006] To achieve the above-mentioned purpose, the application provides the following solutions. The application provides a stress damage digital magnetism memory internal detection system for long oil and gas pipeline, comprising: A digital analysis processing system installation bin is internally installed with a digital analysis processing system, and is used to form a signal digital calculation analysis main system of the internal detector; An electromagnetic valve is installed at the front end of the speed adjusting valve, and is used to form a speed control system of the internal detector; A speed adjusting valve is connected with the electromagnetic valve, and is used to adjust the running speed of the internal detector in the pipeline; A leather cup is respectively installed at the rear end of the speed adjusting valve and the front end of the sealing protection cover, and is used to isolate the pressure difference before and after the pipeline, to provide the advancing power for the internal detector, and to support the internal detector in the pipeline; A plurality of groups of magnetism memory detection probes are distributed in the middle part of the digital analysis processing system installation bin along the circumference of the pipeline, and are used to collect 360-degree magnetism memory signals of the pipeline; A cabin lock is installed at the rear cover of the digital analysis processing system installation bin, and is used to fix the digital analysis processing system; A supporting wheel is respectively installed at the front end of the speed adjusting valve and the rear end of the sealing protection cover, and is used to buffer the extrusion risk in the running of the internal detector, to ensure stable running; A sealing protection cover is installed at the rear part of the digital analysis processing system installation bin, and is used to protect the internal precise components, to prevent medium leakage and impurity entry; The digital analysis processing system is used to control the plurality of groups of magnetism memory detection probes to collect, digitize, convert and store the magnetism memory signals through digital calling and analysis processing main program, to coordinate the electromagnetic valve and the speed adjusting valve to realize speed control, and to complete the feature extraction, identification, critical value analysis and stress damage early warning of the axial and radial signals by means of axial digital detection signal processing subprogram, radial digital detection signal processing subprogram and detection signal comprehensive analysis processing subprogram.

[0007] Preferably, the digital analysis processing system installation bin comprises a connector, a connection platform, a fixed support, a chip centralized bin and a bin cover; the chip centralized bin is installed in the fixed support, the fixed support is installed on the connection platform, the connector is installed at a specified position of the connection platform, and the bin cover is installed on the chip centralized bin to form a sealing structure; the connector is assembled with the speed adjusting valve, and the rear end of the bin cover is attached with the sealing protection cover.

[0008] Preferably, the digital analysis processing system comprises a single-chip microcomputer, a plurality of groups of magnetic memory sensors, a plurality of groups of hardware filtering systems, a digital-to-analog conversion system, a track tracking system, a fault display lamp system, a fault display system, a reset system, an external storage system and a key control system; the output ports of the plurality of groups of magnetic memory sensors are connected to the input ports of the digital-to-analog conversion system through the plurality of groups of hardware filtering systems, the output port of the digital-to-analog conversion system is connected to the input port of the single-chip microcomputer, the output ports of the track tracking system and the key control system are connected to the input port of the single-chip microcomputer, the output ports of the single-chip microcomputer are connected to the input ports of the fault display lamp system, the fault display system and the external storage system respectively, and the output port of the reset system is connected to the input port of the single-chip microcomputer.

[0009] Preferably, the electromagnetic valve comprises a piston, a flow guide hole, a static iron core, an electromagnetic coil and a moving iron core; the flow guide hole is installed in the piston, the piston assembly is installed in the shell, the static iron core is fixed in the shell, the electromagnetic coil is wound on the static iron core, the moving iron core is matched with the static iron core and can freely slide, connects the piston and the moving iron core, and is subjected to sealing performance, movement flexibility and performance tests.

[0010] Preferably, the speed regulating valve comprises an armature, a coil, a push rod, a magnetic conductor, a spring, a valve body and a valve core; the armature is installed on the push rod, the coil is installed on the magnetic conductor, the spring is installed in the valve body, the valve core is installed in the valve body and matched with the spring, the magnetic conductor is installed on the valve body, the push rod is installed on the valve core, and is subjected to sealing performance, movement flexibility and performance tests.

[0011] Preferably, the leather cup comprises a leather cup body, a sleeve and a support layer; the sleeve is sleeved on the outside of the leather cup body and is fixed by buckles or glue, and the support layer is installed on the inside of the leather cup body to ensure firm connection of components.

[0012] Preferably, the plurality of groups of magnetic memory detection probes comprise a mounting base, a connecting lug, a support frame, a skeleton and a magnetic memory probe; the support frame is installed on the mounting base, the connecting lug is installed on the mounting base for connection and fixation, the skeleton is installed on the support frame, and the magnetic memory probe is installed on the skeleton to form a stable detection structure.

[0013] Preferably, the digital analysis processing system runs a digital calling and analysis processing main program, comprising the following steps: System initialization, defining axial stress damage signal storage area, stress damage address storage area, radial stress damage signal storage area, and axial and radial digital magnetic memory signal storage area; Control the plurality of groups of magnetic memory detection probes to cyclically collect the axial and radial magnetic memory signals of the pipeline surface, and store them after hardware filtering and digital-to-analog conversion; Call the axial digital detection signal processing subroutine to extract extreme value data and address from the axial signal storage area and store them; Call radial digitization detection signal processing subroutine, extract zero point address from radial signal storage area and store; Call detection signal comprehensive analysis processing subroutine, compare extreme value point and zero value point address, store in damage storage area and alarm when extreme value exceeds critical value; Call trajectory tracking system subroutine, record internal detector position information in real time, and transmit abnormal position data to PC in real time.

[0014] Preferably, the detection signal comprehensive analysis processing subroutine performs the following procedures: Define axial stress damage signal storage area, stress damage address storage area and radial stress damage signal storage area; Point the pointer to the axial extreme value storage area, extreme value address storage area and radial zero value address storage area; Cyclically judge whether the extreme value is less than the critical value, if so, further judge whether the extreme value point address is equal to the zero value point address, if so, store the damage data and trigger the alarm; Through pointer increment and loop control, complete the detection and judgment of all data.

[0015] 10. The long oil and gas pipeline stress damage digital magnetic memory internal detection system according to claim 1, wherein the trajectory tracking system comprises a high-speed CMOS sensor, an RC filter circuit, an AD converter and a TI ADS1298 module; after system initialization, the high-speed CMOS sensor transmits a signal which is reflected by the inner wall of the pipeline and received, and through RC filtering and AD conversion, the position data is obtained by the TI ADS1298 module, stored in a register, and then transmitted to a single-chip microcomputer for storage, and the position information of the stress damage position of the single-chip microcomputer is transmitted to a PC through an NB-IoT module, realizing real-time positioning and trajectory tracking of the internal detector and remote transmission function.

[0016] The present application has the following beneficial technical effects compared with the prior art: The long oil and gas pipeline stress damage digital magnetic memory internal detection system provided by the present application realizes a breakthrough in the high dependence on traditional hardware by the cooperative work of the axial and radial digitization detection signal processing subroutines and the detection signal comprehensive analysis processing subroutine, and realizes a full-digital magnetic memory detection signal processing and analysis system. The introduction of the digital internal detector significantly reduces the equipment use cost and maintenance cost, reduces the number of hardware, and completes the operation of the entire system with fewer parts. At the same time, through full-digital detection signal acquisition and processing, the detection rate and accuracy are greatly improved, ensuring the accuracy and reliability of the detection results.

[0017] The application provides a long oil and gas pipeline stress damage digital magnetic memory internal detection system, a full-digital magnetic memory detection signal analysis system, stress damage area evaluation and track tracking are performed through pipeline surface natural magnetic signal based on a magnetic memory stress detection principle, stress corrosion, early damage and micro-cracks and other stress damages on the pipeline surface can be conveniently detected, compared with other internal detection systems, the digital magnetic memory internal detection system does not need to be coupled with mesons, supports online dynamic detection, accurately positions the stress damage position, has the ability of risk prediction and pipeline use structure life.

[0018] The long oil and gas pipeline stress damage digital magnetic memory internal detection system provided by the application controls the whole software operation through a digital analysis processing system, is equipped with a large number of magnetic memory sensors, performs multi-point and all-around data acquisition on the detected object, each magnetic memory sensor has a hardware filtering system, can effectively filter noise and interference components in the collected signals, takes a single-chip microcomputer as a core processing unit, has strong data processing capacity, can quickly and efficiently operate and analyze the collected data, and realizes various complex functions such as fault diagnosis and track tracking. The integrated fault display system, fault display lamp system, external storage system and other functional modules can realize real-time display, storage, transmission and digital track tracking of data.

[0019] The long oil and gas pipeline stress damage digital magnetic memory internal detection system provided by the application takes an electromagnetic valve and a speed regulating valve as a scanning detection speed control component, can dynamically optimize the detection speed according to the complex working conditions inside the pipeline, and ensures that the detection process is efficient and accurate. The system provides reliable protection for the hardware chip by using the digital analysis processing system installation bin, effectively seals the pipeline by using a leather cup, provides power for the detector to advance, and cleans the impurities in the pipeline. The whole pipeline internal detector can optimize the detection parameters in real time under the automatic control of the digital system, and significantly improves the intelligent level of the pipeline internal detector in adapting to complex and changeable detection environments. BRIEF DESCRIPTION OF DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the application or the prior art, the drawings needed in the embodiments will be briefly introduced below. Obviously, the drawings in the following description only constitute some embodiments of the application, and those skilled in the art can also obtain other drawings according to these drawings without creative labor.

[0021] Figure 1 It is a digital analysis processing system appearance structure diagram in the application; Figure 2 It is a digital analysis processing system installation bin structure diagram in the application; Figure 3Structure diagram of digital analysis and processing system in the present application; Figure 4 Structure diagram of electromagnetic valve in the present application; Figure 5 Structure diagram of speed regulating valve in the present application; Figure 6 Structure diagram of skin bowl in the present application; Figure 7 Structure diagram of multi-group magnetic memory detection probe in the present application; Figure 8 Main program flow chart of digital calling and analysis and processing in the present application; Figure 9 Subprogram flow chart of axial digital detection signal processing in the present application; Figure 10 Subprogram flow chart of radial digital detection signal processing in the present application; Figure 11 Subprogram flow chart of detection signal comprehensive analysis and processing in the present application; Figure 12 Subprogram flow chart of trajectory tracking system in the present application; Figure 13 Principle diagram of signal acquisition system in the present application; Figure 14 Principle diagram of auxiliary system in the present application; Figure 15 Principle diagram of trajectory tracking system in the present application. DETAILED DESCRIPTION

[0022] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0023] The purpose of the present application is to provide a long oil and gas pipeline stress damage digital magnetic memory internal detection system to solve the problems existing in the prior art.

[0024] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the present application will be further described in detail below with reference to the drawings and specific embodiments.

[0025] Embodiment 1: The present embodiment provides a long oil and gas pipeline stress damage digital magnetic memory internal detection system, as shown in Figure 1As shown, the system provided by the application mainly consists of a digital analysis processing system installation bin 1, a digital analysis processing system 2, a solenoid valve 3, a speed regulating valve 4, a supporting wheel 5, a leather bowl 6, a plurality of groups of magnetic memory detection probes 7, a cabin lock 8 and a sealing protective cover 9. Among them, the digital analysis processing system installation bin 1 serves as the main support structure of the system, internally fixedly installs the digital analysis processing system 2, and constitutes the core signal processing unit of the inner detector. The solenoid valve 3 is installed at the front end of the speed regulating valve 4, and together forms the speed regulation system of the inner detector, and realizes the accurate adjustment of the traveling speed by controlling the on-off of the airflow or liquid path. The leather bowl 6 is respectively installed at the rear end of the speed regulating valve 4 and the front end of the sealing protective cover 9, and uses its elastic sealing property to isolate the pressure difference before and after the pipeline, to provide the advancing power for the inner detector, and at the same time plays a supporting role in the pipeline. The plurality of groups of magnetic memory detection probes 7 are evenly arranged at the middle position of the digital analysis processing system installation bin 1 along the circumference of the pipeline, to realize the 360-degree full-coverage magnetic memory signal acquisition of the pipeline surface. The cabin lock 8 is located at the rear cover of the installation bin, and is used to lock and fix the digital analysis processing system 2, to prevent displacement of the digital analysis processing system 2 during the operation of the inner detector. The supporting wheel 5 is respectively arranged at the front end of the speed regulating valve 4 and the rear end of the sealing protective cover 9, and buffers the extrusion or collision that the inner detector may encounter in the pipeline through the flexible rolling function, to ensure the stable operation of the equipment and the continuity of data acquisition. The sealing protective cover 9 is installed at the tail of the installation bin, and plays the role of sealing the internal precision components, preventing medium leakage, blocking impurities from entering, and enhancing the overall impact resistance.

[0026] As shown in the figure, Figure 2 The digital analysis processing system installation bin 1 consists of a connector 10, a connection platform 11, a fixed support 12, a chip centralized bin 13 and a bin cover 14. During assembly, first embed the chip centralized bin 13 into the fixed support 12 and ensure tight fit, then install the fixed support 12 on the connection platform 11, and ensure the stability of the structure through bolt fastening. The connector 10 is installed at the preset interface position of the connection platform 11, to realize the mechanical and electrical connection with the speed regulating valve 4. The bin cover 14 covers the upper part of the chip centralized bin 13, and realizes good sealing through a sealing ring, to form a complete protection structure. The whole installation bin is connected with the speed regulating valve 4 through the connector 10, and the rear end of the bin cover 14 is attached with the sealing protective cover 9, to together constitute the shell protection system of the inner detector.

[0027] As shown in the figure, Figure 3As shown, the digital analysis and processing system 2 includes a microcontroller 15, multiple sets of magnetic memory sensors 16, multiple sets of hardware filtering systems 17, a digital-to-analog converter 18, a trajectory tracking system 19, a fault indicator light system 20, a fault display system 21, a reset system 22, an external storage system 23, and a key control system 24. The outputs of the multiple sets of magnetic memory sensors 16 are sequentially connected to the multiple sets of hardware filtering systems 17 and the digital-to-analog converter 18, and finally connected to the input port of the microcontroller 15 to complete signal acquisition, filtering, and digital conversion. The outputs of the trajectory tracking system 19 and the key control system 24 are directly connected to the microcontroller 15 to realize trajectory data input and the reception of manual control commands. The outputs of the microcontroller 15 are respectively connected to the fault indicator light system 20, the fault display system 21, and the external storage system 23 to realize status display, alarm prompts, and data backup functions. The reset system 22 is connected to the reset pin of the microcontroller 15 to ensure that the system can quickly recover to its initial state in abnormal conditions.

[0028] The specific structure of solenoid valve 3 is as follows: Figure 4 As shown, the assembly includes a piston 25, a flow guide hole 26, a stationary iron core 27, an electromagnetic coil 28, and a moving iron core 29. The flow guide hole 26 is machined inside the piston 25. After the piston assembly is installed into the valve body, the stationary iron core 27 is fixed to the center of the housing. The electromagnetic coil 28 is wound around the stationary iron core 27 and has a terminal lead. The moving iron core 29 is installed in conjunction with the stationary iron core 27 to ensure free sliding under electromagnetic force. It is connected to the piston 25 via a connecting rod, and lubricant is applied to the contact surface to reduce friction. After assembly, a sealing test, motion flexibility verification, and energization performance verification are required to ensure the solenoid valve is responsive and reliably sealed.

[0029] The structure of speed regulating valve 4 is as follows Figure 5 As shown, the valve body consists of an armature 30, a coil 31, a push rod 32, a magnetic conductor 33, a spring 34, a valve body 35, and a valve core 36. The valve body 35, after cleaning and rust prevention treatment, is installed horizontally. The armature 30 is mounted on the push rod 32. The coil 31 is fixed to the outside of the magnetic conductor 33. The spring 34 is placed inside the valve body 35. The valve core 36 is installed into the valve body and cooperates with the spring 34. The magnetic conductor 33 is installed on the upper end of the valve body 35, and its gap with the valve core 36 is adjusted to the design value. The push rod 32 is finally connected to the valve core 36. After assembly, a sealing test, stroke verification, and pressure-flow characteristic calibration are required to ensure stable and accurate speed regulation.

[0030] The structure of the leather bowl 6 is as follows Figure 6 As shown, the assembly includes a cup body 37, a sleeve 38, and a support layer 39. The sleeve 38 is fitted onto the outside of the cup body 37 and secured by clips or adhesive. The support layer 39 is attached to the inner wall of the cup body 37, enhancing structural rigidity and ensuring a smooth sealing surface. After assembly, each component must be checked for firmness and deformation to ensure that no leakage or detachment occurs under pressure within the pipeline.

[0031] The structure of the multiple magnetic memory detection probes 7 is as follows: Figure 7 As shown, the assembly consists of a mounting base 40, connecting ears 41, a support frame 42, a skeleton 43, and magnetic memory probes 16. The support frame 42 is fixed to the mounting base 40. The connecting ears 41 are welded to both sides of the base frame for overall hoisting or connection. The skeleton 43 is mounted on the support frame 42. The magnetic memory probes 16 are evenly distributed around the skeleton 43 and connected to the signal processing unit via cables. After assembly, probe function tests are required to ensure that each probe outputs normal signals and that the installation angles are consistent.

[0032] like Figure 8As shown, the digital call and analysis processing main program is initialized by the system to determine that the hardware can work normally. First, define the axial stress damage signal storage area P+A0+50A, the stress damage address storage area Q+A0+50A, the radial stress damage signal storage area S+A0+50A, define N as the number of magnetic memory detection probes, set the collection step number as M, and the system defines the axial and radial digital magnetic memory signal storage areas L+M+40*(N-1), L+M+41*(N-1). Initialize the probe N as 1. Turn on the probe N to collect signals, and the loop number is increased by 1. If the value of the probe N does not exceed 100, continue to loop; if the value of the probe N exceeds 100, jump out of the current loop, reset the probe N as 1, and start the next loop. At the same time, the collection step number M is increased by 1 with each loop, and if the value of M does not exceed 40, return to the first loop for continuous execution; if the value of M exceeds 40, jump out of the entire loop structure, and reset the collection step number M as 0. Further, the magnetic memory signals of the pipeline surface in the axial and radial directions are collected by the multiple magnetic memory detection probes 7. Through the multiple hardware filtering systems 17 and digital-to-analog conversion systems 18, the digital magnetic memory detection signals are finally obtained, which are respectively stored in the axial and radial digital magnetic memory signal storage areas L+M+40*(N-1) and L+M+41*(N-1) for subsequent system calling. Redefine N as the number of magnetic memory detection probes as 1, set the collection step number M as 0, U+M as the axial magnetic memory extreme value storage area, define O+M as the axial magnetic memory extreme value address storage area, define the axial extreme value temporary unit V1 and the axial extreme value address temporary unit V2, and define the pointer R1 as a data pointer; initialize the pointer R1 and point it to the axial digital magnetic memory signal storage area L+M+40*(N-1), and then call the axial data processing subroutine. After entering the loop, the probe N is increased by 1 in each loop, and if the value of the probe N is less than 50, continue to loop, and the pointer R1 is pointed to the axial digital magnetic memory signal storage area L+M+40*(N-1) in each loop; if the value of the probe N is greater than or equal to 50, jump out of the loop. Further, the extreme value data of the axial digital magnetic memory detection signal is identified and extracted from the axial digital magnetic memory signal storage area L+M+40*(N-1). Then, these extreme value data are stored in the axial magnetic memory extreme value storage area U+M, and the storage addresses corresponding to the extreme points are stored in the axial magnetic memory extreme value address storage area O+M for subsequent query and analysis. Define X+M as the radial magnetic memory zero value address storage area, define V3 as the zero value address temporary unit, set M as the collection step number as 0 and set N as the probe number as 51, define R2 as a data pointer, initialize the R2 pointer to point to the radial digital magnetic memory signal storage area L+M+41*(N-1), and then call the radial data processing subroutine.The process enters a loop, incrementing probe N by 1 in each iteration. If probe N is less than 100, the loop continues, with pointer R2 pointing to the radial digital magnetic memory signal storage area L+M+41*(N-1) in each iteration. The loop exits when probe N equals 100. Next, the radial zero-value address is stored in the radial zero-value point address storage area X+M. Then, all points where the radial digital magnetic memory detection signal is zero are found in the radial digital magnetic memory signal storage area L+M+41*(N-1), and their addresses are recorded and sequentially stored in the extreme value data address storage area X+M. The detection signal comprehensive analysis and processing subroutine then enters. Finally, the magnetic memory detection probe points where the extreme value is the same as the zero value and exceeds the critical value are stored in the axial stress damage signal storage area P+A0+50A, the stress damage address storage area Q+A0+50A, and the radial stress damage signal storage area S+A0+50A. The main program enters the trajectory tracking system subroutine in each loop, thereby remotely transmitting the internal detector's position information to the PC, realizing the real-time positioning function of the internal detector.

[0033] like Figure 9 As shown, the axial digital detection signal processing subroutine first defines U+M as the axial magnetic memory extreme value storage area and O+M as the axial magnetic memory extreme value address storage area, which are used to store the extreme value data and their storage addresses in the axial data storage area, respectively. The axial extreme value address F is defined. A pointer R1 is defined to point to the first bit of the axial digital magnetic memory signal storage area L+M+40*(N-1). An axial extreme value temporary storage unit V1 and an axial extreme value address temporary storage unit V2 are defined, and N1 is set as the loop count with an initial value of 1. In the first loop, the value of the storage unit currently pointed to by the pointer R1 is compared with the current extreme value V1. If it is greater, the value pointed to by the pointer is assigned to the axial extreme value temporary storage unit V1. When R1 reaches the maximum loop count, the loop exits and enters the second loop. In the second loop, it is determined whether the value pointed to by R1 is equal to the value of V1. If they are equal, the loop count N1 is stored in the axial extreme value address temporary storage unit V2. If they are not equal, the loop count is incremented by 1 for the next comparison, until the maximum number of loops is reached, at which point the loop exits and the maximum value V1 is stored in the axial magnetic memory extreme value storage area U+M, and the loop count V2 is stored in the axial magnetic memory extreme value address storage area O+M. Then, in the axial digital magnetic memory signal storage area L+M+40*(N-1), the extreme value of the axial digital magnetic memory signal is extracted and stored in the axial magnetic memory extreme value storage area U+M through the axial extreme value temporary storage unit V1. In the axial data storage area L+M+41*(N-1), the address of the extreme value of the axial digital magnetic memory signal is extracted and stored in the axial magnetic memory extreme value address storage area O+M through the axial extreme value address temporary storage unit V2.

[0034] like Figure 10As shown, the radial digitizing detection signal processing subroutine first defines X+M as a zero value address storage area, used for the storage of zero value addresses in the radial digitizing magnetic memory signal storage area L+M+41*(N-1), and defines V3 as a zero value address temporary storage unit. A loop count N2 is defined and the initial value of N2 is 1. A pointer R2 is pointed to the radial digitizing magnetic memory signal storage area L+M+41*(N-1). It is judged whether the current pointer pointing value is 0 within the maximum loop count. If the current pointer pointing value is not zero, the pointer is pointed to the next bit of the storage unit, and the value of the loop count N2 is increased. If the current pointer pointing value is zero, the current loop count N2 is stored in the zero value address temporary storage unit V3, the zero value point in the radial digitizing magnetic memory signal storage area L+M+41*(N-1) is calculated, and the zero value storage address is stored in the zero value address temporary storage unit V3. Finally, the loop count V3 is stored in the zero value storage area X+M. Then, in the radial data storage area L+M+41*(N-1), the address of the zero value of the radial digitizing magnetic memory signal is extracted, and is stored in the radial magnetic memory zero value address storage area X+M through the zero value address temporary storage unit V3.

[0035] As shown in FIG. 6, the radial digitizing detection signal processing subroutine first defines X+M as a zero value address storage area, used for the storage of zero value addresses in the radial digitizing magnetic memory signal storage area L+M+41*(N-1), and defines V3 as a zero value address temporary storage unit. A loop count N2 is defined and the initial value of N2 is 1. A pointer R2 is pointed to the radial digitizing magnetic memory signal storage area L+M+41*(N-1). It is judged whether the current pointer pointing value is 0 within the maximum loop count. If the current pointer pointing value is not zero, the pointer is pointed to the next bit of the storage unit, and the value of the loop count N2 is increased. If the current pointer pointing value is zero, the current loop count N2 is stored in the zero value address temporary storage unit V3, the zero value point in the radial digitizing magnetic memory signal storage area L+M+41*(N-1) is calculated, and the zero value storage address is stored in the zero value address temporary storage unit V3. Finally, the loop count V3 is stored in the zero value storage area X+M. Then, in the radial data storage area L+M+41*(N-1), the address of the zero value of the radial digitizing magnetic memory signal is extracted, and is stored in the radial magnetic memory zero value address storage area X+M through the zero value address temporary storage unit V3. Figure 11As shown, the detection signal comprehensive analysis processing subroutine first defines the relevant parameters of the magnetic memory signal storage area. The system defines the axial stress damage signal storage area P+A0+50A, defines the stress damage address storage area Q+A0+50A, defines the radial stress damage signal storage area S+A0+50, points the R1, R2, R3 pointers to the axial stress damage signal storage area, the stress damage address storage area, and the radial stress damage signal storage area P+A0+50A, Q+A0+50A, S+A0+50A of the magnetic memory signal, defines N3 as the loop count, and sets the step M and A0 to 0. Then, the counter N3 is initialized to 0. The magnetic memory sensor 15, the multi-group hardware filtering system 16, and the analog / digital conversion system 17 are started to collect and process signals. The pointers R1, R2, and R3 are pointed to the axial extreme value storage area U+M, the axial extreme value address storage area O+M, and the radial zero value address storage area X+M. After entering the loop, it is first determined whether R1 is less than the threshold value. If R1 is less than the threshold value, it is further determined whether the values pointed to by R2 and R3 are equal. If they are equal, the value pointed to by R1 is stored in the axial stress damage signal storage area P+A0+50A, the value pointed to by R2 is stored in the stress damage address storage area Q+A0+50A, the value of the counter N3 is stored in the radial stress damage signal storage area S+A0+50A, and the alarm system is started. Conversely, if the values pointed to by R2 and R3 are not equal, R1, R2, and R3 are incremented, and N3 is incremented by 1. If R1 is not less than the threshold value, it is directly determined whether the values pointed to by R2 and R3 are equal. Regardless of whether they are equal or not, R1, R2, and R3 are incremented, and N3 is incremented by 1. After each loop operation, it is determined whether R1 is greater than 50. If it is greater, the loop is exited and the main program is returned. Otherwise, the loop continues, and the above determination and operation are repeated until the exit condition is met. That is, by controlling the corresponding signal port of the A / D converter, the axial and radial magnetic memory signals are collected, filtered, and analog / digital converted by the magnetic memory sensor 15, the multi-group hardware filtering system 16, and the analog / digital conversion system 17, and are respectively stored in the axial stress damage signal storage area P+A0+50A and the radial stress damage signal storage area S+A0+50A. Through the transformation operation of the pointer R, the system detects and judges the data in the axial magnetic memory extreme value storage area U+M, the axial magnetic memory extreme value address storage area O+M, and the radial magnetic memory zero value address storage area X+M.When it is found that the zero value point address in the radial magnetic memory zero value address storage area X+M matches the extreme value point address in the axial magnetic memory extreme value address storage area O+M, and the extreme value in the axial magnetic memory extreme value storage area U+M exceeds the set critical value, the system will assign the data in the axial magnetic memory extreme value storage area U+M, the axial magnetic memory extreme value address storage area O+M, and the radial magnetic memory zero value address storage area X+M to the axial stress damage signal storage area P+A0+50A, the stress damage address storage area Q+A0+50A, and the radial stress damage signal storage area S+A0+50A, respectively.

[0036] As shown in Figure 12 The working process of the trajectory tracking system mainly includes four stages of system initialization, target detection and identification, trajectory tracking, and data processing and analysis. First, the system is initialized, the tracking target is determined, the device calibration and data storage preparation are completed, and the initial position is set as initial_position=(x, y) and the register address AX is set. Subsequently, the trajectory tracking system sets the initial position and the register address through initialization, starts to emit signals using a high-speed CMOS sensor, the emitted signals are reflected by the inner wall of the pipeline, received by the receiving end, filtered by the RC filter, converted into digital signals by the AD converter, and sent to the TIADS1298 module for information processing and calculation. The processed data is stored in the register AX and the position and time are recorded. The data in the register is sent to the single-chip microcomputer 14 for storage, and the single-chip microcomputer 14 transmits the position information of the stress damage position to the PC through the NB-IoT module using the cellular Internet of Things, thereby completing the whole process of data processing and analysis of the tracking and positioning of the internal detection.

[0037] As shown in Figure 13As shown, the signal acquisition system in the system includes multiple sets of magnetic memory sensors, multiple sets of hardware filtering systems and digital-to-analog conversion systems. The multiple sets of magnetic memory sensors 15 perceive weak magnetic field changes using high-performance InSb type magnetic resistance elements, and the signals are processed step by step through voltage followers, two-stage amplification circuits and hysteresis comparators. These modules work together to output stable signals, achieving accurate acquisition and effective transmission of magnetic memory signals. The multiple sets of hardware filtering systems 16 use OPAMP type comparators as the core elements of each level of filtering, and achieve four-level filtering function through the parallel connection of OPAMP and resistors. The use of multiple OPAMPs can enhance the anti-interference ability and accuracy of the signal. The analog-to-digital conversion system 17 uses an AD40324 analog-to-digital converter to realize the conversion of signals from analog to digital by connecting with the single-chip microcomputer 14, and realizes the storage and conversion of data through the parallel connection of AD40324 and the single-chip microcomputer 14. The specific connection is as follows: the output port OUT1 of the magnetic memory sensor 15 signal processing circuit is connected with the input port IN2 of the multiple sets of hardware filtering systems 16. The magnetic resistance elements R36 and R37 are used for signal acquisition, the voltage follower U32 is used for reducing interference, the two-stage amplification circuit U5, U6 is used for amplifying signals and filtering, the voltage amplification multiple is adjusted by setting the resistance ratio of R32 and R34, R6 and R5, the hysteresis comparator U4 is used to improve the anti-interference ability of the system, which can effectively avoid electromagnetic interference and false output generated in the detection process due to harsh environment, and the threshold level of the comparator is set by adjusting R4. The input port IN2 of the multiple sets of hardware filtering systems 16 is connected with the output port OUT1 of the magnetic memory sensor 15 signal processing circuit, and the output port OUT2 of the multiple sets of hardware filtering systems 16 is connected with the input port IN3 of the analog-to-digital conversion system 17. The four-level filtering uses OPAMP type comparators for filtering to increase the anti-interference ability of the system in detecting signals, two magnetic memory sensors 15 detect axial and radial signals respectively, the output port OUT2 of the filtered axial signal is connected with the analog signal input end 35 VIN of the analog-to-digital conversion system 17, and the radial signal is connected with the input end 20 VIN for analog-to-digital conversion after filtering. The input port IN3 of the analog-to-digital conversion system 17 is connected with the output port OUT2 of the multiple sets of hardware filtering systems 16, and the output ports DB4-DB36 of the analog-to-digital conversion system 17 are connected with the IO ports P0.0-P0.32 of the single-chip microcomputer 14. The digitized signal is transmitted to the single-chip microcomputer for further processing. The core component of the analog-to-digital conversion system 17 is the AD40324 analog-to-digital converter, which can efficiently convert analog signals into digital signals, providing accurate data support for subsequent signal processing and analysis.

[0038] As Figure 14The auxiliary system in the system includes a key control system, a fault display system, a fault display lamp system and a reset system. The key control system 23 uses a 3*3 key matrix to form a key control, uses a column key connected in series with a resistor and then connected to a power supply to protect the circuit from damage caused by sudden current changes of elements, thereby realizing the key control function. The fault display system 20 uses an LCD4002 liquid crystal display to realize communication through the connection of the port and the pin of the single-chip microcomputer 14, and is used to display various information of the device. The data to be displayed is transmitted to the internal register of the single-chip microcomputer 14 through the data bus, and the data transmission, storage and display are realized together. The fault display lamp system 19 uses the series connection of an LED and a resistor and the pin of the single-chip microcomputer 14 to realize the display and reminder of the state of the device. The reset system 21 is a combination of a capacitor and a resistor. The specific connection is that the row of the matrix key of the key control system 23 is connected to the P1.5, P1.6 and P1.32 ports of the single-chip microcomputer 14, and the column of the key control system 23 is connected to the P1.5, P1.6 and P1.32 ports of the single-chip microcomputer 14. The key control system 23 of the application is composed of a 3*3 matrix key keyboard, and the functions of K1-K34 are as follows: system start key, system stop key and display start. The RS port of the LCD4002 liquid crystal display screen is connected to the P1.4 of the single-chip microcomputer 14, the R / W port is connected to the P1.3, the E port is connected to the P1.2, and the DB0-DB32 ports are connected to the P0.0-P0.32 ports of the single-chip microcomputer for communication. The data to be displayed is first transmitted to the internal register of the STC3334C52RC single-chip microcomputer through the data bus. The single-chip microcomputer 14 sends the stored display data to the DB0-DB33 data interface of the LCD4002 through the P0 port, so as to drive the LCD4002 to display characters. The green lamp end is connected to the P1.2 port of the single-chip microcomputer 14, the red lamp end is connected to the P1.3 port of the single-chip microcomputer 14, and the triode is connected to the P1.4 port of the single-chip microcomputer 14, so as to realize accurate control of the LED light. Two capacitors C33 and C34 are connected in parallel and then connected in series with the resistor R24 to the RST port of the single-chip microcomputer. When the power is turned on or the reset button is pressed, the capacitor is charged, the reset pin is kept high for a period of time, so as to trigger the single-chip microcomputer reset. After reset, the internal state of the single-chip microcomputer is initialized, the program counter is set to zero, and the single-chip microcomputer starts to execute the program from address 0x0000 again.

[0039] As Figure 15As shown, the damage positioning system in the system includes an external storage system and a trajectory tracking system. The external storage system 22 uses the latch chip 324LS3323 to connect with the single-chip microcomputer 14 through the bus mode to realize the latch and storage of data, and uses the external storage chip 6264 to connect with the single-chip microcomputer 14 and the latch 324LS3323 through the bus mode to realize the external storage of data. The trajectory tracking system 19 uses the MPU6050 sensor to collect the speed trajectory data of the target in real time. The data is transmitted to the MSP410F4034 master control chip through the bus for data processing, and the processed data is saved in the memory of the single-chip microcomputer 14. The specific connection is that the input port D0-D32 of the latch chip 324LS3323 is connected with the P0 port of the single-chip microcomputer 14, so as to realize the write and read operation of data, the chip 6264 is used to specify the specific position of data storage, the D0-D32 data input port thereof is connected with the P0 port of the single-chip microcomputer 14, and the A33-A37 address port thereof is connected with the P2.0-P24 port of the single-chip microcomputer 14. The external storage system 22 combines the latch chip 324LS3323 and the external storage chip 6264 to realize efficient and stable data storage and access. The output port of the MPU6050 sensor is connected with the IN of the MSP410F4034 master control chip, the signal collected by the sensor is transmitted to the master control chip for data processing, and the output port P1.0-P1.32 of the MSP410F4034 master control chip is connected with the P3.0-P3.32 of the single-chip microcomputer 14 to save data.

[0040] The overall working process of the system is as follows: the digital internal detector system separates the front and rear two sections of the pipeline through the skin bowl 6, thereby generating a pressure difference to drive the internal detector to walk in the pipeline, and the overall scanning detection of the multi-pipeline is completed with the assistance of the supporting wheel 5. The opening and closing of the internal gas circuit or hydraulic system of the detector is controlled through the electromagnetic valve 3 and the speed regulating valve 4, thereby adjusting the running speed of the internal detector in the pipeline. The digital analysis processing system 2 serves as the overall control circuit of the internal detector of the system, and the collected data are subjected to digital analysis and processing under the protection of the digital analysis processing system installation bin 1, the cabin lock 8 and the sealing protective cover 9. The single-chip microcomputer 15 in the digital analysis processing system 2 calls the digital calling and analysis processing main program, collects the magnetic memory signals inside the pipeline through the multiple groups of magnetic memory detection probes 7 distributed along the circumferential direction of the pipeline, and completes the filtering and digital-to-analog conversion functions of the collected signals through the hardware filtering system 17 and the digital-to-analog conversion system 18. The main program accurately calls the axial and radial digital detection signal processing subprogram, uses advanced digital analysis means to complete the evaluation and early warning analysis of the pipeline stress damage through the digital analysis and processing of the characteristic relationship between the axial and radial magnetic memory signals and the stress damage area of the pipeline for the collected signals that have been subjected to analog-to-digital conversion and hardware filtering. The calling detection signal comprehensive analysis processing subprogram comprehensively analyzes and judges the large amount of data detected by the multiple probes, thereby realizing the damage degree analysis and positioning function of the overall stress damage of the pipeline. The trajectory tracking system 19 in the digital analysis processing system 2 realizes the remote positioning function of the internal detector by positioning and tracking the internal detector in the pipeline.

[0041] In the actual pipeline detection of the system, the skin bowl 6 forms a pressure difference in the pipeline to drive the internal detector to move forward, and the supporting wheel 5 assists the smooth running of the internal detector. The electromagnetic valve 3 and the speed regulating valve 4 adjust the speed of the internal detector according to the working condition of the pipeline, the digital analysis processing system 2 controls the signal collection of the multiple groups of magnetic memory detection probes 7, and completes the identification, positioning and early warning of the stress damage through the digital program. The whole system has the characteristics of compact structure, high detection precision, strong adaptability and high intelligence, and can be widely applied to the online safety monitoring of long oil and gas pipelines.

[0042] The technical features of the above embodiments can be combined in any way. To make the description concise, not all possible combinations of the technical features in the above embodiments are described, but as long as the combinations of the technical features do not exist, they should be considered as the scope of the description.

[0043] It should be noted that the components mentioned in the above embodiments are all general standard components or components known to those skilled in the art, and their structure and principle can be known to those skilled in the art through technical manuals or through conventional experimental methods.

[0044] The principles and implementation manners of the present application are described by using specific examples, and the above examples are only used to help understand the method of the present application and its core idea; meanwhile, for those skilled in the art, according to the idea of the present application, the specific implementation manners and application ranges will be changed. In conclusion, the content of the specification should not be understood as a limitation of the present application.

Claims

1. A digital magnetic memory internal detection system for stress damage in long-distance oil and gas pipelines, characterized in that, include: The digital analysis and processing system installation compartment contains a digital analysis and processing system, which is used to form the main system for digital calculation and analysis of signals from the internal detector. The solenoid valve is installed at the front end of the speed regulating valve and is used to form the speed control system of the internal detector. A speed regulating valve, connected to the solenoid valve, is used to regulate the travel speed of the internal detector within the pipeline; The cups are installed at the rear end of the speed regulating valve and the front end of the sealing cover, respectively, to isolate the pressure difference across the pipeline, provide forward power for the internal detector, and support the internal detector in the pipeline. Multiple sets of magnetic memory detection probes are distributed along the circumference of the pipeline in the middle of the installation compartment of the digital analysis and processing system, for 360-degree magnetic memory signal acquisition of the pipeline; The cabin lock is installed on the rear cover of the digital analysis and processing system mounting compartment to secure the digital analysis and processing system. Support wheels are installed at the front end of the speed regulating valve and the rear end of the sealing protective cover, respectively, to buffer the risk of squeezing during the operation of the internal detector and ensure stable operation; A sealed protective cover is installed at the rear of the digital analysis and processing system's mounting compartment to protect internal precision components and prevent media leakage and impurities from entering. The digital analysis and processing system is used to control multiple sets of magnetic memory detection probes to acquire, digitize, and store magnetic memory signals through digital invocation and analysis and processing main program, coordinate solenoid valves and speed regulating valves to achieve speed control, and complete the feature extraction, identification, critical value analysis, and stress damage early warning of axial and radial signals with the help of axial digital detection signal processing subroutines, radial digital detection signal processing subroutines, and detection signal comprehensive analysis and processing subroutines.

2. The digital magnetic memory internal detection system for stress damage in long-distance oil and gas pipelines according to claim 1, characterized in that: The digital analysis and processing system installation compartment includes a connector, a connection platform, a fixed bracket, a chip collection compartment, and a compartment cover; the chip collection compartment is installed inside the fixed bracket, the fixed bracket is installed on the connection platform, the connector is installed at a designated position on the connection platform, and the compartment cover is installed on the chip collection compartment to form a sealed structure; the connector is assembled with a speed regulating valve, and the rear end of the compartment cover is fitted with a sealing protective cover.

3. The digital magnetic memory internal detection system for stress damage in long-distance oil and gas pipelines according to claim 1, characterized in that: The digital analysis and processing system includes a microcontroller, multiple sets of magnetic memory sensors, multiple sets of hardware filtering systems, a digital-to-analog converter, a trajectory tracking system, a fault indicator light system, a fault display system, a reset system, an external storage system, and a key control system. The output ports of the multiple sets of magnetic memory sensors are connected to the input ports of the digital-to-analog converter through the multiple sets of hardware filtering systems. The output ports of the digital-to-analog converter are connected to the input ports of the microcontroller. The output ports of the trajectory tracking system and the key control system are connected to the input ports of the microcontroller. The output ports of the microcontroller are connected to the input ports of the fault indicator light system, the fault display system, and the external storage system, respectively. The output of the reset system is connected to the input port of the microcontroller.

4. The digital magnetic memory internal detection system for stress damage in long-distance oil and gas pipelines according to claim 1, characterized in that: The solenoid valve includes a piston, a guide hole, a stationary iron core, an electromagnetic coil, and a moving iron core. The guide hole is installed in the piston, the piston assembly is installed in the housing, the stationary iron core is fixed in the housing, the electromagnetic coil is wound on the stationary iron core, the moving iron core cooperates with the stationary iron core and can slide freely, connecting the piston and the moving iron core, and performing sealing, movement flexibility, and performance tests.

5. The digital magnetic memory internal detection system for stress damage in long-distance oil and gas pipelines according to claim 1, characterized in that: The speed regulating valve includes an armature, a coil, a push rod, a magnetic conductor, a spring, a valve body, and a valve core. The armature is mounted on the push rod, the coil is mounted on the magnetic conductor, the spring is mounted in the valve body, the valve core is mounted in the valve body and cooperates with the spring, the magnetic conductor is mounted on the valve body, and the push rod is mounted on the valve core. The valve core is then tested for sealing performance, movement flexibility, and overall performance.

6. The digital magnetic memory internal detection system for stress damage in long-distance oil and gas pipelines according to claim 1, characterized in that: The leather cup includes a leather cup body, a sleeve, and a support layer; the sleeve is fitted onto the outside of the leather cup body and fixed by buckles or glue, and the support layer is installed on the inside of the leather cup body to ensure that all components are firmly connected.

7. The digital magnetic memory internal detection system for stress damage in long-distance oil and gas pipelines according to claim 1, characterized in that: The multiple sets of magnetic memory detection probes include a mounting base, connecting ears, a support frame, a skeleton, and magnetic memory probes; the support frame is mounted on the mounting base, the connecting ears are mounted on the mounting base for connection and fixation, the skeleton is mounted on the support frame, and the magnetic memory probes are mounted on the skeleton, forming a stable detection structure.

8. The digital magnetic memory internal detection system for stress damage in long-distance oil and gas pipelines according to claim 1, characterized in that: The digital analysis and processing system runs a main program for digital invocation and analysis, including the following steps: System initialization, defining the axial stress damage signal storage area, stress damage address storage area, radial stress damage signal storage area, and axial and radial digital magnetic memory signal storage areas; Multiple sets of magnetic memory detection probes are controlled to cyclically collect axial and radial magnetic memory signals from the pipe surface, which are then stored after hardware filtering and digital-to-analog conversion. Call the axial digital detection signal processing subroutine to extract extreme value data and addresses from the axial signal storage area and store them; Call the radial digital detection signal processing subroutine to extract and store the zero-value point address from the radial signal storage area; Call the detection signal comprehensive analysis and processing subroutine, compare the addresses of extreme points and zero points, and store the damage storage area and alarm when the extreme value exceeds the critical value; The trajectory tracking system subroutine is invoked to record the position information of the internal detector in real time and transmit abnormal position data to the PC in real time.

9. The digital magnetic memory internal detection system for stress damage in long-distance oil and gas pipelines according to claim 8, characterized in that: The detection signal comprehensive analysis and processing subroutine executes the following process: Define the axial stress damage signal storage area, the stress damage address storage area, and the radial stress damage signal storage area; Set the pointer to the axial extreme value storage area, the extreme value address storage area, and the radial zero value address storage area; The system iteratively checks whether the extreme value is less than the critical value. If it is less, it further checks whether the address of the extreme value point is equal to the address of the zero value point. If they are equal, it stores the damage data and triggers an alarm. All data is detected and judged through pointer increment and loop control.

10. The digital magnetic memory internal detection system for stress damage in long-distance oil and gas pipelines according to claim 1, characterized in that: The trajectory tracking system includes a high-speed CMOS sensor, an RC filter circuit, an AD converter, and a TI ADS1298 module. After system initialization, the high-speed CMOS sensor transmits a signal that is reflected by the inner wall of the pipe and received. After RC filtering and AD conversion, the TIADS1298 module processes the signal to obtain position data, which is stored in a register and then transmitted to the microcontroller for storage. Subsequently, the microcontroller transmits the stress damage location information to the PC through the NB-IoT module, realizing the real-time positioning and trajectory tracking of the internal detector and the remote transmission function.

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