Tracking and positioning system and method for detector in gas pipeline

Abstract

The invention belongs to the technical field of pipeline detection, and discloses a tracking and positioning system and method for a detector in a gas pipeline, and the system comprises an optical fiber which is used for generating an optical signal according to a sensed vibration signal; the coordinate acquisition unit is used for generating vibration signals at a plurality of ground target points above the gas pipeline and acquiring geographic coordinates of all the ground target points; the signal acquisition and analysis unit is used for converting an optical signal emitted by the receiving optical fiber into an electric signal; the visual terminal is used for establishing a pipeline optical fiber coordinate corresponding relation; the system is further used for determining the position where the vibration signals are generated and determining the mileage, coordinates and speed of the detector in the pipeline passing through the gas pipeline. The gas pipeline accompanying optical fiber and a geographic information management system are efficiently utilized, a detector in the pipeline does not need to be transformed, a calibration rod or a calibration box does not need to be arranged along the gas pipeline, tracking and positioning are accurate, and clamping and blocking points are rapidly identified.

Description

Technical Field

[0001] This invention belongs to the field of pipeline inspection technology, and specifically relates to a tracking and positioning system and method for an internal detector in a gas pipeline. Background Technology

[0002] Gas pipelines, as vital arteries for energy transmission, play a crucial role in ensuring energy security and people's livelihoods. Due to factors such as geological movements in the pipeline area, issues with pipe materials and construction quality, and corrosion from sulfur- and carbon dioxide-containing media, natural gas pipelines can develop various defects during manufacturing and operation, necessitating regular inspections by pipeline maintenance companies.

[0003] In recent years, with the vigorous development of pipeline internal inspection technology, identifying various pipeline defects through internal inspection has become a widely accepted practice. However, internal detectors operating in natural gas pipelines are threatened by foreign object blockage, pipeline deformation, and mismatch between equipment structure and pipeline, which can lead to blockage or even disintegration of the internal detector, seriously affecting its service life and even causing pipeline safety accidents. Therefore, tracking and locating internal detectors is essential during gas pipeline internal inspection operations.

[0004] Currently, there are many tracking and positioning methods for natural gas pipeline internal inspection operations both domestically and internationally. The detector mileage wheel tracking method cannot track the position of the internal detector during its operation. External tracking and positioning methods such as infrasound, low-frequency electromagnetic, and static magnetic field methods cannot achieve real-time tracking and positioning of the internal detector throughout the entire process. They can only track the internal detector within the sensing range of the calibration point, which affects the judgment of the blockage position of the internal detector and the location of defects.

[0005] For example, the invention patent with publication number CN104266084A discloses a method for tracking and locating detectors inside oil pipelines based on distributed optical fiber sensors. This method solves the problem of detector tracking when conducting internal inspection operations on oil pipelines with accompanying optical fibers. However, it does not solve the problem of inaccurate judgment of the actual operating distance of the internal detectors due to the inconsistency between the optical fiber and the pipeline mileage.

[0006] For example, the utility model with publication number CN212719242U discloses a pipeline defect location system based on distributed optical fiber, but it does not solve the problems of signal attenuation caused by the aging of optical fiber quality, high cost of setting up calibration rods or calibration boxes along the pipeline and personnel listening, and inability to confirm the pipeline mileage at the blockage point of the internal detector.

[0007] In summary, the existing gas pipeline internal detector tracking and positioning technology has the following problems: inaccurate judgment of the actual operating distance of the internal detector due to the inconsistency between the optical fiber and the pipeline mileage; signal attenuation due to the aging of the optical fiber; high cost of setting up calibration boxes and personnel listening along the pipeline; and inability to confirm the pipeline mileage at the point where the internal detector is blocked. Summary of the Invention

[0008] To address the above problems, this invention provides a gas pipeline detector tracking and positioning system and method, employing the following technical solution:

[0009] A gas pipeline detector tracking and positioning system includes:

[0010] Optical fiber is used to sense the vibration signals generated by the detector inside the pipeline when it passes through the gas pipeline, and to generate optical signals based on the sensed vibration signals.

[0011] The coordinate acquisition unit is used to generate vibration signals at multiple ground target points above the gas pipeline, enabling the optical fiber to generate optical signals based on the vibration signals, and to acquire the geographic coordinates of all ground target points and send the geographic coordinates and optical fiber length of all ground target points to the visualization terminal.

[0012] The signal acquisition and analysis unit is used to convert the optical signal emitted by the receiving optical fiber into an electrical signal and send the electrical signal to the visualization terminal.

[0013] The visualization terminal is used to establish the correspondence between pipeline and fiber optic coordinates based on the acquired mileage of the gas pipeline, the three-dimensional coordinates of the gas pipeline, the fiber optic cable length, and the geographic coordinates of all ground target points; it is also used to determine the location of the vibration signal based on the acquired electrical signal, and to determine the mileage, coordinates, and speed of the detector inside the pipeline as it passes through the gas pipeline based on the correspondence between the location of the vibration signal and the pipeline fiber optic coordinates.

[0014] Furthermore, the optical fiber is buried in the soil and arranged along the axial direction of the gas pipeline.

[0015] Furthermore, the coordinate acquisition unit includes two hammers and a real-time differential positioning module, wherein the two hammers are used to strike the ground target point to generate a vibration signal, and the real-time differential positioning module is used to acquire the geographic coordinates of the ground target point.

[0016] Furthermore, the signal acquisition and analysis unit includes a signal amplifier and a host, wherein the input end of the signal amplifier is connected to the optical fiber, and the output end of the signal amplifier is connected to the input end of the host. The signal amplifier is used to receive the optical signal emitted by the optical fiber, amplify the optical signal, and then send it to the host.

[0017] The host computer's output end is connected to the visualization terminal. The host computer is used to convert the amplified optical signal into an electrical signal and send it to the visualization terminal, and also to store the electrical signal.

[0018] Furthermore, calibration boxes are installed at several ground target points, which are used to monitor the time and speed of the detector passing through the pipeline.

[0019] Furthermore, it also includes an optical fiber link detection unit, which is used to detect whether the optical fiber meets the quality requirements.

[0020] Furthermore, the optical fiber link detection unit is an optical time domain reflectometer, and the inlet end of the optical time domain reflectometer is connected to the outlet end of the optical fiber.

[0021] Furthermore, the visualization terminal is also used to determine the weakening or disappearance point of the vibration signal based on the acquired electrical signal, and to determine the location of the detector blockage in the pipeline based on the weakening or disappearance point of the vibration signal.

[0022] The present invention also provides a method for tracking and locating a detector inside a gas pipeline, comprising the following steps:

[0023] Vibration signals are generated at multiple ground target points, enabling optical fibers to generate optical signals based on the vibration signals and collect the geographic coordinates of all ground target points.

[0024] Based on the obtained mileage of the gas pipeline, the three-dimensional coordinates of the gas pipeline, the fiber optic cable length, and the geographic coordinates of all ground target points, establish the correspondence between the pipeline and fiber optic coordinates.

[0025] The fiber optic sensor detects the vibration signal generated when the gas pipeline passes through it, and generates an optical signal based on the sensed vibration signal.

[0026] The optical signal emitted by the receiving optical fiber is converted into an electrical signal. Based on the acquired electrical signal, the location where the vibration signal is generated is determined. Based on the correspondence between the location where the vibration signal is generated and the coordinates of the pipeline optical fiber, the mileage, coordinates, and speed of the detector inside the pipeline through the gas transmission pipeline are determined.

[0027] Furthermore, vibration signals are generated at multiple ground target points, causing the optical fiber to generate optical signals based on the vibration signals, and the geographic coordinates of all ground target points are acquired, including the following steps:

[0028] Ground target points are set at predetermined intervals above the gas pipeline;

[0029] The target point on the ground is struck with two hammers, and the geographic coordinate information is collected using a real-time differential positioning module.

[0030] Furthermore, it also includes the following steps:

[0031] The time and speed of the detector passing through the pipeline are monitored by calibration boxes set at ground target points.

[0032] Furthermore, it also includes the following steps:

[0033] Based on the time and speed at which the detector passes through the pipeline as monitored by the calibration box, the time error of the detector passing through a certain point in the pipeline, as determined by the pipeline detection tracking and positioning system, is calculated.

[0034] The beneficial effects of this invention are:

[0035] This invention efficiently utilizes the accompanying optical fiber and geographic information management system of the gas pipeline, eliminating the need to modify the detectors inside the pipeline and the need to install calibration rods or calibration boxes along the gas pipeline. It provides accurate tracking and positioning, and rapid identification of blockage points.

[0036] Other features and advantages of the invention will be set forth in the following description, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures pointed out in the description and the drawings. Attached Figure Description

[0037] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0038] Figure 1 A schematic diagram of the fiber optic link detection and selection states of the gas pipeline detector tracking and positioning system according to an embodiment of the present invention is shown.

[0039] Figure 2 A connection diagram illustrating the working state of the gas pipeline detector tracking and positioning system according to an embodiment of the present invention is shown.

[0040] Figure 3 A schematic flowchart of a gas pipeline detector tracking and positioning method according to an embodiment of the present invention is shown.

[0041] In the diagram: 1. Gas pipeline; 2. Pipeline detector; 3. Optical fiber; 4. Optical time domain reflectometer; 5. Amplifier; 6. Main unit; 7. Visualization terminal; 8. Two hammers. Detailed Implementation

[0042] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0043] It should be noted that the terms "first," "second," etc., used in this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0044] This invention provides a gas pipeline detector tracking and positioning system and method, which efficiently utilizes the accompanying optical fiber and geographic information management system of the gas pipeline. It eliminates the need to modify the detectors inside the pipeline, and eliminates the need to set up calibration rods or calibration boxes along the gas pipeline. It provides accurate tracking and positioning, rapid identification of blockage points, and a high degree of digitalization and informatization, thereby saving the cost of pipeline inspection operations and improving the positioning accuracy of the detectors inside the pipeline.

[0045] like Figure 1 and Figure 2 As shown, a gas pipeline detector tracking and positioning system includes an optical fiber 3, an optical fiber 3 link detection unit, a coordinate acquisition unit, a signal acquisition and analysis unit, and a visualization terminal 7.

[0046] Among them, the optical fiber 3 is buried in the soil and is set along the axial direction of the gas transmission pipeline 1. The optical fiber 3 is used to sense the vibration signal generated when the detector 2 in the pipeline passes through the gas transmission pipeline 1 (especially the elbow or tee), and generate an optical signal based on the sensed vibration signal.

[0047] For example, the in-pipe detector 2 is a magnetic flux leakage detector, an ultrasonic detector, or a baseline detector, which operates inside the gas transmission pipeline 1 and uses the natural gas pressure difference between the front and rear ends of the in-pipe detector 2 in the gas transmission pipeline 1 as the driving force.

[0048] The fiber optic link detection unit is used to detect whether fiber optic 3 meets quality requirements, for example, to determine whether the loss of fiber optic 3 is higher than a set value.

[0049] For example, the fiber optic link detection unit is an optical time domain reflectometer 4 (OTDR). The input end of the OTDR 4 is connected to the output end of the fiber optic 3 to detect whether the fiber optic 3 meets the quality requirements.

[0050] The coordinate acquisition unit is used to generate vibration signals at multiple ground target points, enabling the optical fiber 3 to generate optical signals based on the vibration signals, and to acquire the geographic coordinates of all ground target points. The geographic coordinates of all ground target points and the fiber optic cable length of the optical fiber 3 are then sent to the visualization terminal 7.

[0051] For example, the coordinate acquisition unit includes two hammers 8 and a real-time differential positioning module (RTK). The two hammers 8 are used to strike the ground target point to generate a vibration signal, and the real-time differential positioning module is used to acquire the geographic coordinates of the ground target point.

[0052] The signal acquisition and analysis unit is used to convert the received optical signal emitted by the optical fiber 3 into an electrical signal and send the electrical signal to the visualization terminal 7. Specifically, the signal acquisition and analysis unit receives the optical signal emitted by the optical fiber 3, amplifies and performs photoelectric conversion processing on the optical signal to obtain an electrical signal, and sends the electrical signal to the visualization terminal 7. The signal acquisition and analysis unit is also used to store the electrical signal.

[0053] For example, the signal acquisition and analysis unit includes a signal amplifier 5 and a host 6. The input end of the signal amplifier 5 is connected to the optical fiber 3, and the output end of the signal amplifier 5 is connected to the input end of the host 6. The signal amplifier 5 is used to receive the optical signal emitted by the optical fiber 3, amplify the optical signal, and then send it to the host 6.

[0054] The output end of the host 6 is connected to the visualization terminal 7. The host 6 is used to convert the amplified optical signal into an electrical signal and send it to the visualization terminal 7, and store the electrical signal.

[0055] The visualization terminal 7 is used to obtain the mileage of the gas pipeline 1 and the three-dimensional coordinates of the gas pipeline 1, and also to obtain the fiber optic cable length 3 and the geographic coordinates of all ground target points.

[0056] The visualization terminal 7 is also used to establish and display the coordinate correspondence between the pipeline and the optical fiber 3 in three-dimensional coordinate form based on the mileage of the gas pipeline 1, the three-dimensional coordinates of the gas pipeline 1, the skin length of the optical fiber 3, and the geographic coordinates of all ground target points.

[0057] The visualization terminal 7 is also used to determine the location where the vibration signal is generated based on the acquired electrical signal, and to determine the mileage, coordinates and speed of the detector 2 in the pipeline through the gas pipeline 1 based on the correspondence between the location where the vibration signal is generated and the coordinates of the gas pipeline 1 and the optical fiber 3, and to display them.

[0058] The visualization terminal 7 is also used to determine the weakening or disappearance point of the vibration signal based on the acquired electrical signal, and to determine the location of the blockage of the detector 2 in the pipeline based on the weakening or disappearance point of the vibration signal.

[0059] For example, the visualization terminal 7 can be a PC, which is equipped with a geographic information management system. The geographic information management system can display a three-dimensional schematic diagram of the pipeline by inputting information such as the coordinates and mileage of the gas pipeline 1, draw a schematic diagram of the pipeline and the optical fiber 3 together with the optical fiber 3 based on the length of the optical fiber 3 and the geographic coordinates of the ground target point, and analyze and display the measurement results of the vibration disturbance of the optical fiber 3.

[0060] For example, calibration boxes are set at several ground target points to monitor the time and speed of detector 2 passing through the pipeline.

[0061] Based on the above-mentioned gas pipeline in-pipeline detector tracking and positioning system, such as Figure 3 As shown, the present invention also provides a method for tracking and locating a detector inside a gas pipeline, comprising the following steps:

[0062] S1, Fiber optic 3-link detection and selection: such as Figure 1 As shown, the fiber optic link detection unit checks whether fiber optic 3 meets the quality requirements. If it does, the connection between the fiber optic link detection unit and fiber optic 3 is disconnected, as detailed below:

[0063] The optical time domain reflectometer 4 is connected to the exit end of the optical fiber 3 to detect and select the target optical fiber 3, ensuring that the quality of the optical fiber 3 meets the requirements of system operation. After the link detection of the optical fiber 3 is completed, the connection between the optical fiber 3 and the optical time domain reflectometer 4 is disconnected.

[0064] S2. Equipment Connection: The in-pipe detector 2 enters the starting point of the gas pipeline 1, and after the process switch is completed, the natural gas pressure difference between the front and rear ends of the in-pipe detector 2 is used as the driving force to connect the signal acquisition and analysis unit to the optical fiber 3, as follows:

[0065] like Figure 2 As shown, after completing the fiber optic link test, the outlet end of fiber optic 3 is connected to signal amplifier 5 through an FC / APC converter. Signal amplifier 5 is connected to host 6, and host 6 is connected to visualization terminal 7.

[0066] S3. Information entry for gas pipeline 1: The visualization terminal 7 acquires the mileage and three-dimensional coordinates of gas pipeline 1, as detailed below:

[0067] Based on the three-dimensional coordinates of gas pipeline 1, the mileage of gas pipeline 1 is entered into the geographic information management system of visualization terminal 7. At this time, visualization terminal 7 displays the three-dimensional coordinates of the pipeline.

[0068] S4. Fiber Optic 3 Coordinate Acquisition and Input: Vibration signals are generated at multiple ground target points by the coordinate acquisition unit, causing fiber optic 3 to generate optical signals based on the vibration signals, and the geographic coordinates of all ground target points are acquired. The geographic coordinates of all ground target points and the fiber optic 3 sheath length are then sent to the visualization terminal 7, as detailed below:

[0069] S41. Set ground target points on the ground above the gas pipeline 1 at a set interval. For example, set a ground target point every 500 meters on the ground above the gas pipeline 1.

[0070] S42. Use two hammers 8 to strike the ground target point, use the real-time differential positioning module (RTK) to collect geographic coordinate information, enter the geographic coordinate information into the geographic information management system of the visualization terminal 7, and record the fiber optic cable length 3 of the geographic coordinate information on the visualization terminal 7.

[0071] S5. Establishment and Display of Coordinate Relationships: Based on the acquired mileage of gas pipeline 1, the three-dimensional coordinates of gas pipeline 1, the skin length of optical fiber 3, and the geographic coordinates of all ground target points, the visualization terminal 7 establishes the coordinate correspondence between pipeline and optical fiber 3 in three-dimensional coordinate form.

[0072] S6. Position tracking of detector 2 inside the pipeline: Fiber optic cable 3 senses the vibration signal generated by detector 2 inside the pipeline when it passes through gas pipeline 1, and generates an optical signal based on the sensed vibration signal; the signal acquisition and analysis unit receives the optical signal emitted by fiber optic cable 3, amplifies and photoelectrically converts the optical signal to obtain an electrical signal, and sends the electrical signal to visualization terminal 7; visualization terminal 7 determines the location where the vibration signal is generated based on the acquired electrical signal, and determines the mileage, coordinates and speed of detector 2 inside the pipeline as it passes through gas pipeline 1 based on the correspondence between the location where the vibration signal is generated and the coordinates of fiber optic cable 3, and displays the result.

[0073] When the in-pipe detector 2 passes through the gas pipeline 1 near the optical fiber 3, especially at bends and tees, it causes the optical fiber 3 to vibrate. The vibration signal sensed by the optical fiber 3 generates an optical signal, which is transmitted sequentially to the amplifier 5 and the main unit 6. The location of the vibration signal is displayed on the visualization terminal 7. By using the coordinate correspondence between the pipeline and the optical fiber 3, the mileage and coordinates of the gas pipeline 1 passed by the in-pipe detector 2 at a certain moment can be determined. When the in-pipe detector 2 becomes blocked, the location of the blockage can be determined by the attenuation or disappearance point of the vibration signal.

[0074] S7. Error Analysis: The time and speed of the detector 2 passing through the pipeline are monitored by the calibration box set at the ground target point; based on the time and speed of the detector 2 passing through the pipeline monitored by the calibration box, the visualization terminal 7 calculates the time error of the detector 2 passing through a certain point in the pipeline as determined by the gas pipeline detection tracking and positioning system.

[0075] For example, the leakage magnetic field internal detection detector tracking and positioning of a D508×14mm pipeline from a pipeline cleaning station to a purification plant was selected as the test object. The pipeline length is 12.4km and the burial depth is 1m-3m.

[0076] The fiber optic link detection unit uses an optical time domain reflectometer (OTDR), and the coordinate acquisition unit uses a dual-hammer 8 and a real-time differential positioning module (RTK). The dual-hammer 8 weighs 14 pounds. Fiber optic cable 3 has 24 cores, is laid underground in the same trench, runs through a silicon conduit, and has a length of 15.44 km. The testing process is as follows:

[0077] Using an optical time domain reflectometer 4 (OTDR) connected to the exit end of fiber 3, the sensing fiber 3 in the target section of the optical cable was detected and selected. Finally, the section from a pigging station (8 cores) to a purification plant (8 cores) was selected as the sensing fiber 3 for this tracking and monitoring. The cumulative loss was 3.964dB and the average loss was 0.181dB / km, which met the relevant specifications and on-site usage requirements. After the test was completed, the connection between the optical time domain reflectometer 4 (OTDR) and fiber 3 was disconnected.

[0078] Twenty-six ground target points were set up. To facilitate the testing of the system's accuracy, five calibration boxes were placed at the ground target points along the gas pipeline 1 to monitor the time and speed of the internal detector as it passed through.

[0079] Through the process switching of the launch tube, the pipeline detector 2 enters the gas transmission pipeline 1 to carry out internal detection operations. The visualization terminal 7 displays the amplitude of the vibration signal received by the optical fiber 3 when the pipeline detector 2 passes through. It can view in real time the specific fiber optic cable length and corresponding pipeline mileage and coordinates passed by the pipeline detector 2 at a certain moment.

[0080] To test the system's accuracy, the tracking data from fiber optic cable 3 was compared with the data from the calibration box. The recorded time difference between the two detectors inside the pipeline was less than 3 seconds. The maximum error occurred when the fiber optic cable 3 tracking and positioning system's judgment time was 13:50:38, and the calibration box recording time for detector 2 inside the pipeline was 13:50:41. Based on the operating speed of detector 2 inside the pipeline in each section being 3 m / s, the positioning error range was calculated to be 0-9 m.

[0081] This invention can track the running mileage and location of the pipeline detector 2 in real time, without the need to set up a tracking and positioning system for the pipeline detector 2. It can be applied to the tracking of the pipeline detector 2 in gas pipeline 1 with accompanying optical fiber 3, and can realize the real-time judgment of the blockage position of the pipeline detector 2, thereby improving the tracking and positioning accuracy of the pipeline detector 2.

[0082] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A gas pipeline internal detector tracking and locating system, characterized by, The application relates to a pipeline detection device and a pipeline detection method. The pipeline detection device comprises: an optical fiber for sensing a vibration signal generated by a pipeline detector when the pipeline detector passes through a gas pipeline and generating an optical signal according to the sensed vibration signal; a coordinate acquisition unit for generating a vibration signal at a plurality of ground target points above the gas pipeline, making the optical fiber generate an optical signal according to the vibration signal, acquiring geographical coordinates of all the ground target points, and sending the geographical coordinates of all the ground target points and a skin length of the optical fiber to a visualization terminal; a signal acquisition and analysis unit for converting an optical signal emitted by the optical fiber into an electric signal and sending the electric signal to the visualization terminal; and the visualization terminal for establishing a pipeline optical fiber coordinate correspondence according to acquired mileage of the gas pipeline, three-dimensional coordinates of the gas pipeline, the skin length of the optical fiber and the geographical coordinates of all the ground target points, determining a position where the vibration signal is generated according to the acquired electric signal, and determining the mileage, coordinates and speed of the pipeline detector passing through the gas pipeline according to the position where the vibration signal is generated and the pipeline optical fiber coordinate correspondence. The optical fiber is buried in soil and arranged along an axis of the gas pipeline. The coordinate acquisition unit comprises a two-hammer and a real-time differential positioning module, wherein the two-hammer is used for knocking the ground target points to generate the vibration signal, and the real-time differential positioning module is used for acquiring the geographical coordinates of the ground target points. The signal acquisition and analysis unit comprises a signal amplifier and a host computer, wherein an inlet end of the signal amplifier is connected with the optical fiber, an outlet end of the signal amplifier is connected with an inlet end of the host computer, the signal amplifier is used for receiving the optical signal emitted by the optical fiber, amplifying the optical signal and sending the amplified optical signal to the host computer, an outlet end of the host computer is connected with the visualization terminal, the host computer is used for converting the amplified optical signal into the electric signal and sending the electric signal to the visualization terminal, and the host computer is used for storing the electric signal.

2. The gas pipeline internal detector tracking and locating system of claim 1, wherein, A calibration box is arranged at the plurality of ground target points, and the calibration box is used for monitoring time and speed when the pipeline detector passes through.

3. The gas pipeline internal detector tracking and locating system of claim 1, wherein, The pipeline detection device further comprises an optical fiber link detection unit for detecting whether the optical fiber meets quality requirements.

4. The gas pipeline internal detector tracking and locating system of claim 1, wherein, The optical fiber link detection unit is an optical time domain reflectometer, and an inlet end of the optical time domain reflectometer is connected with an outlet end of the optical fiber. The visualization terminal is further used for determining a weakening or disappearing point of the vibration signal according to the acquired electric signal, and determining a position where the pipeline detector is blocked according to the weakening or disappearing point of the vibration signal.

5. The gas pipeline internal detector tracking and locating system of claim 1, wherein, The pipeline detection method comprises the following steps:

6. The gas pipeline internal detector tracking and locating system of claim 1, wherein, generating a vibration signal at a plurality of ground target points, making an optical fiber generate an optical signal according to the vibration signal, and acquiring geographical coordinates of all the ground target points; 7. The gas pipeline internal detector tracking and locating system of claim 6 wherein, establishing a pipeline optical fiber coordinate correspondence according to acquired mileage of a gas pipeline, three-dimensional coordinates of the gas pipeline, a skin length of the optical fiber and the geographical coordinates of all the ground target points; 8. The in-pipeline detector tracking and positioning system of any one of claims 1-7, wherein, sensing a vibration signal generated by a pipeline detector when the pipeline detector passes through the gas pipeline, and generating an optical signal according to the sensed vibration signal; 9. A method for tracking and locating an in-line gas pipeline detector, the method comprising: converting an optical signal emitted by the optical fiber into an electric signal, determining a position where the vibration signal is generated according to the acquired electric signal, and determining the mileage, coordinates and speed of the pipeline detector passing through the gas pipeline according to the position where the vibration signal is generated and the pipeline optical fiber coordinate correspondence. ​ ​ ​ ​ 10. The method of claim 9, wherein, The vibration signals are generated at multiple ground target points, the optical fiber generates optical signals according to the vibration signals, and the geographic coordinates of all the ground target points are collected, including the following steps: Ground target points are arranged on the ground above the gas pipeline at a set interval; The ground target points are struck by two hammers, and a real-time differential positioning module is used to collect geographic coordinate information.

11. A gas pipeline internal detector tracking and locating method according to claim 9 or 10, characterized in that, Further comprising the following steps: The time and speed of the in-pipeline detector passing through the calibration box at the ground target point are monitored.

12. The gas pipeline internal detector tracking and locating method of claim 11, wherein, Further comprising the following steps: According to the time and speed of the in-pipeline detector passing through the calibration box monitored by the calibration box, the time error of the in-pipeline detector passing through a certain place determined by the in-pipeline detection and tracking positioning system is calculated.

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