Positioning box system based on multi-sensor fusion
The positioning box system, which integrates multiple sensors, solves the problems of misjudgment and low efficiency in oil and gas pipeline detection, and achieves more accurate tracking, positioning and status monitoring, reducing manual intervention.
Patent Information
- Application Number
- CN202423021160.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-09
- Publication Date
- 2025-10-31
- Estimated Expiration
- 2034-12-09
AI Technical Summary
Existing methods for detecting oil and gas pipelines are susceptible to environmental influences, leading to misjudgments and low efficiency. In particular, single detection methods are prone to misjudgments and require a large amount of manpower and resources when used for steel pipelines.
The positioning box system, which is based on multi-sensor fusion, includes a processor, a magnetic sensor module, a low-frequency receiver module, a GPS module, a network communication module, a LoRa module, a wireless module, a storage module, and a clock module. By fusing information from multiple sensors, it can accurately determine the location and status of the internal detector or pig.
It improves the tracking and positioning accuracy of internal detectors or pigs, reduces misjudgments, lowers the error rate of manual judgment, and improves detection efficiency.
Smart Images
Figure CN223499094U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of positioning box technology, and in particular to a positioning box system based on multi-sensor fusion. Background Technology
[0002] The integrity of oil and gas pipelines is a crucial factor in the safety of oil and gas transportation, and pipeline companies pay close attention to it. Damage caused by pipeline corrosion or drilling for oil theft can lead to pipeline integrity failure, resulting in significant economic losses, environmental and social impacts. Therefore, it is necessary to conduct regular pipeline inspections to detect pipeline failures such as corrosion, deformation, and leaks.
[0003] Pipeline detectors or pigs operating in oil and gas pipelines may become stuck, potentially causing production safety accidents for pipeline companies. Therefore, it is crucial to understand the operating status and location of the pipeline detectors or pigs each time they are deployed.
[0004] Currently, commonly used detectors or pig tracking and positioning technologies include low-frequency electromagnetic wave method, magnetic signal detection method, and manual pig tracking method.
[0005] Because steel pipes have a shielding effect on electromagnetic signals, high-frequency electromagnetic waves cannot penetrate the pipe wall. Only extremely low-frequency electromagnetic signals can penetrate the pipe wall. The low-frequency electromagnetic wave method requires the pig or detector to excite a low-frequency electromagnetic signal to penetrate the pipe. A low-frequency signal receiver is placed at the pipe monitoring point. When the ball passes through the monitoring point, the receiver collects the low-frequency electromagnetic signal and can determine that the ball has passed through this point. However, low-frequency signals are easily affected by the environment and are prone to generating false signals.
[0006] The magnetic signal detection method requires the ball to carry a strong magnet. When the ball passes through the monitoring point, the signal receiver detects the magnetic signal and can determine that the ball has passed through the monitoring point. However, the ball needs to have a strong magnet, and the method is affected by the depth of the pipeline buried in the ground. It is also prone to missed detection and misjudgment.
[0007] Manual ball tracking requires significant manpower and resources, and road conditions greatly affect its efficiency. In case of unforeseen circumstances, even more manpower and resources are needed, making the overall detection system inefficient. Utility Model Content
[0008] This invention provides a positioning box system based on multi-sensor fusion to avoid misjudgments caused by a single detection method when the detector and pig are tracking and positioning in oil and gas pipelines.
[0009] This specification discloses a positioning box system based on multi-sensor fusion, including:
[0010] Multiple positioning boxes are respectively set above the pipeline inspection point, and each pipeline inspection point corresponds to at least one positioning box;
[0011] The positioning box includes a processor, a magnetic sensor module, and a low-frequency receiving module. The processor is connected to the magnetic sensor module and the low-frequency receiving module to collect magnetic field information and low-frequency information of the internal detector and / or the pig.
[0012] In this specification, the positioning box system based on multi-sensor fusion also includes a host computer and a terminal, which are respectively connected to the positioning box.
[0013] In this specification, the positioning box also includes a GPS module, which is connected to the processor to determine the location of the internal detector and / or pig passing through the pipeline detection point, and thus locate the internal detector and / or pig.
[0014] In this specification, the positioning box also includes a network communication module, which is connected to the processor to communicate with the terminal via a mobile communication network base station and an MQTT message server.
[0015] In this specification, the positioning box also includes a LoRa module, which is connected to the processor to enable communication between multiple positioning boxes.
[0016] In this specification, the positioning box also includes a wireless module, which is connected to the processor to receive configuration information of the positioning box from other devices.
[0017] In this specification, the positioning box also includes a clock module, which is connected to the processor to receive time information from a host computer, a GPS module, or a wireless module.
[0018] In this specification, the positioning box also includes a storage module, which is connected to the processor to store magnetic field information, low frequency information, time information, and location information during the operation of the positioning box.
[0019] The embodiments described in this specification can achieve at least the following beneficial effects:
[0020] This invention uses at least one positioning box at a pipeline inspection point, positioned above the inspection point, to track the changing trends of multiple information from the internal detector or pig to determine whether a pigging signal has occurred. This method is more accurate than single-information detection, prevents misjudgment of pigging signals, and thus provides better tracking and positioning services.
[0021] This invention can more accurately track and locate internal detectors or pigs, improve operational status monitoring through the terminal, accurately determine whether the internal detector or pig is stuck and locate it, reduce manual input and lower the error rate of manual judgment. Attached Figure Description
[0022] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0023] Figure 1 This is a schematic diagram of a positioning box system based on multi-sensor fusion as described in some embodiments of this utility model.
[0024] Figure 2 This is a schematic diagram illustrating the application of a positioning box system based on multi-sensor fusion in some embodiments of this utility model. Detailed Implementation
[0025] In the following description, only certain exemplary embodiments are briefly described. As those skilled in the art will recognize, the described embodiments can be modified in various ways without departing from the spirit or scope of the present invention. Therefore, the drawings and description are considered to be exemplary in nature and not restrictive.
[0026] In the description of the embodiments of this utility model, it should be understood that the terms "length", "vertical", "horizontal", "top", "bottom", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. They are only for the convenience of describing the embodiments of this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this utility model.
[0027] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of embodiments of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified.
[0028] In this embodiment of the invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a communication connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this embodiment of the invention according to the specific circumstances.
[0029] In this embodiment of the invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.
[0030] The following disclosure provides many different implementations or examples for different structures of the embodiments of the present invention. To simplify the disclosure of the embodiments of the present invention, specific examples of components and arrangements are described below. Of course, these are merely examples and are not intended to limit the embodiments of the present invention. Furthermore, reference numerals and / or reference letters may be repeated in different examples of the embodiments of the present invention; such repetition is for simplification and clarity and does not in itself indicate a relationship between the various implementations and / or arrangements discussed.
[0031] The embodiments of this utility model will now be described in detail with reference to the accompanying drawings.
[0032] like Figure 1 As shown, this embodiment provides a positioning box system based on multi-sensor fusion, including:
[0033] Multiple positioning boxes are respectively set above the pipeline inspection point, and each pipeline inspection point corresponds to at least one positioning box;
[0034] The positioning box includes a processor, a magnetic sensor module, and a low-frequency receiving module. The processor is connected to the magnetic sensor module and the low-frequency receiving module to collect magnetic field information and low-frequency information of the internal detector and / or the pig.
[0035] In some embodiments, the positioning box system based on multi-sensor fusion further includes a host computer and a terminal, which are respectively connected to the positioning box.
[0036] In some embodiments, the positioning box further includes a GPS module connected to the processor to determine the location of the internal detector and / or pig passing through the pipeline inspection point, thereby locating the internal detector and / or pig.
[0037] In some embodiments, the positioning box further includes a network communication module connected to the processor to communicate with the terminal via a mobile communication network base station and an MQTT message server.
[0038] In some embodiments, the positioning box further includes a LoRa module, which is connected to the processor to enable communication between multiple positioning boxes.
[0039] In some embodiments, the positioning box further includes a wireless module connected to the processor to receive configuration information of the positioning box from other devices.
[0040] In some embodiments, the positioning box further includes a clock module connected to the processor to receive time information from a host computer, a GPS module, or a wireless module.
[0041] In some embodiments, the positioning box further includes a storage module connected to the processor to store magnetic field information, low frequency information, time information, and location information during the operation of the positioning box.
[0042] The technical approach of this multi-sensor fusion-based positioning box system is as follows:
[0043] The positioning box system based on multi-sensor fusion includes several positioning boxes, a host computer, and a terminal.
[0044] One pipeline inspection point corresponds to several positioning boxes;
[0045] The positioning box is placed above the corresponding pipeline detection point, and a magnetic sensor and a low-frequency receiving module are used to collect the target's magnetic field information, low-frequency information, or both; the target is an internal detector or a pipeline pig.
[0046] Each positioning box processes the collected magnetic field and low-frequency information. When the magnetic field and low-frequency information of the target are detected, it determines that the target has arrived at the pipeline detection point, updates the target position, and sends the target's passing time and location information to the terminal.
[0047] When the magnetic field and low-frequency information collected by the positioning box continuously increase and then continuously decrease after reaching the maximum value, it is determined that the target has passed through the corresponding pipeline detection point.
[0048] This invention uses at least one positioning box at a pipeline inspection point, positioned above the inspection point, to track the changing trends of multiple information from the internal detector or pig to determine whether a pigging signal has occurred. This method is more accurate than single-information detection, prevents misjudgment of pigging signals, and thus provides better tracking and positioning services.
[0049] Furthermore, the system of this invention can record the magnetic field information and low-frequency information of the target passing through the pipeline detection point, and report the corresponding time information and location information to the terminal. The terminal can view the target's running status and, combined with the previously reported information, further improve the accuracy of the ball passing signal, prevent misjudgment, and predict the next ball passing time.
[0050] The terminals are PC terminals and mobile terminals.
[0051] The positioning box includes a processor, a storage module, a GPS module, a network communication module, a LoRa module, a magnetic sensor module, a low-frequency receiver module, a wireless module, a clock module, an indicator light module, and a battery. The battery provides power to the other modules. The processor is connected to the storage module, GPS module, network communication module, LoRa module, magnetic sensor module, low-frequency receiver module, wireless module, clock module, and indicator light module, respectively.
[0052] By setting a GPS module in the positioning box, the satellite positioning information of the positioning box corresponding to the pipeline inspection point can be used to update the target position. Furthermore, the PPS of the GPS module can be used to calibrate the time of the positioning box.
[0053] The network communication module, LoRa module, and wireless module all belong to the wireless communication unit. The network communication module enables communication between the positioning box and the terminal within the system via the mobile operator's network; the LoRa module enables communication between positioning boxes; and the wireless module is used to receive configuration information for the positioning box from other devices. For example... Figure 1 In this system, the network communication module communicates with the terminal via mobile communication network base stations and MQTT message servers. In areas with poor mobile communication network coverage, LoRa modules can be used to enable cascaded transmission between positioning boxes and communication with terminals within the system.
[0054] Both the magnetic sensor module and the low-frequency receiving module belong to the information acquisition unit. The magnetic sensor module can acquire the magnetic signals from the internal detector or the pig, and can simultaneously detect both strong and weak magnetic signals. The low-frequency receiving module can acquire the low-frequency signals from the transmitter on the internal detector or the pig. Simultaneous detection of multiple signals can significantly improve monitoring accuracy.
[0055] The clock module is used to record and run standard time, and its starting time can come from a wired host computer, a GPS module, or time information sent by a wireless module.
[0056] The processor is used for wireless communication information processing and signal processing of information from the magnetic sensor module and low-frequency receiving module. Communication information processing includes handling communication with the terminal, receiving and processing configuration information from the wireless module, and receiving and processing information from neighboring positioning boxes. Signal processing includes filtering, target signal identification, determining the target's arrival at the pipeline detection point, and recording information from the positioning box's operation to the storage module. The storage module stores magnetic field information, low-frequency information, time information, and location information from the positioning box's operation for later data analysis. The indicator light module displays the positioning box's current operating status, including remaining battery power, whether a ball has been detected, network status, and whether operation is normal.
[0057] The positioning box can be used in conjunction with a terminal for user convenience, or it can operate independently to track and locate targets. To achieve the most basic positioning and tracking function of this invention, the positioning box only requires a storage module, a magnetic sensor module, a low-frequency receiver module, a wireless module, a clock module, an indicator light module, and a battery. Even without a satellite positioning module, the positioning box's location can be manually marked. Positioning boxes can communicate wirelessly, and relevant configuration information can be modified via a host computer.
[0058] When the system is in use, such as Figure 2 As shown, more than one positioning box is required, with several positioning boxes corresponding to one pipeline inspection point. The GPS module can use the Global Positioning System or BeiDou. The network communication module uses a 4G communication module. The wireless module uses a single-chip wireless transceiver in the 2.4GHz–2.5GHz ISM band. This device-to-device communication capability can solve the problem of poor signal quality in mountainous areas.
[0059] The above embodiments describe several specific implementations of this utility model. However, those skilled in the art should understand that various changes or modifications can be made to these implementations without departing from the principles and essence of this utility model, but all such changes and modifications fall within the protection scope of this utility model.
Claims
1. A positioning box system based on multi-sensor fusion, characterized in that, include: Multiple positioning boxes are respectively set above the pipeline inspection point, and each pipeline inspection point corresponds to at least one positioning box; The positioning box includes a processor, a magnetic sensor module, and a low-frequency receiving module. The processor is connected to the magnetic sensor module and the low-frequency receiving module to collect magnetic field information and low-frequency information of the internal detector and / or the pig.
2. The positioning box system based on multi-sensor fusion according to claim 1, characterized in that, It also includes a host computer and a terminal, which are respectively connected to the positioning box.
3. The positioning box system based on multi-sensor fusion according to claim 2, characterized in that, The positioning box also includes a GPS module, which is connected to the processor to determine the location of the internal detector and / or pig passing through the pipeline detection point, and thus locate the internal detector and / or pig.
4. The positioning box system based on multi-sensor fusion according to claim 3, characterized in that, The positioning box also includes a network communication module, which is connected to the processor to communicate with the terminal via a mobile communication network base station and an MQTT message server.
5. The positioning box system based on multi-sensor fusion according to claim 4, characterized in that, The positioning box also includes a LoRa module, which is connected to the processor to enable communication between multiple positioning boxes.
6. The positioning box system based on multi-sensor fusion according to claim 5, characterized in that, The positioning box also includes a wireless module, which is connected to the processor to receive configuration information for the positioning box from other devices.
7. The positioning box system based on multi-sensor fusion according to claim 6, characterized in that, The positioning box also includes a clock module, which is connected to the processor to receive time information from a host computer, a GPS module, or a wireless module.
8. The positioning box system based on multi-sensor fusion according to claim 1, characterized in that, The positioning box also includes a storage module connected to the processor to store magnetic field information, low frequency information, time information, and location information during the operation of the positioning box.