Device for measuring burial depth and trend of underwater pipeline by carrying detection system on unmanned underwater vehicle
By using an unmanned underwater vehicle equipped with a detection system, which utilizes electromagnetic signals and multiple sensors to detect underwater pipelines, the problem of low accuracy in existing technologies has been solved. This enables high-precision measurement of burial depth and direction, and provides real-time exposed pipe detection functionality.
Patent Information
- Application Number
- CN202520415808.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-03-11
- Publication Date
- 2025-12-30
- Estimated Expiration
- 2035-03-11
AI Technical Summary
Existing electromagnetic methods are not very accurate when inspecting underwater pipelines on the water surface, especially for deep-water pipelines where it is difficult to accurately measure the burial depth and direction.
The detection system, including an electromagnetic signal transmission system and multiple sensors, is carried by an unmanned underwater vehicle. The unmanned underwater vehicle travels along the direction of the underwater pipeline, using a receiver to detect the current intensity and sonar equipment to measure the distance, combined with a camera and positioning system to make accurate measurements.
It enables high-precision measurement of the burial depth and direction of underwater pipelines, avoiding the need for operators to work on the water. It can take pictures and record the location of exposed pipes in real time, improving the accuracy and efficiency of the inspection.
Smart Images
Figure CN223741477U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model belongs to special equipment technical field, concretely relates to underwater pipeline detection device. BACKGROUND
[0002] Due to the scour of water flow and the influence of human activities, the covering layer of underwater pipeline will gradually thin, and even appear the situation of exposed pipe, at this time, the pipeline is easy to be damaged by sand, water flow and ships, therefore, it is necessary to regularly detect the buried depth of pipeline crossing river, and master the trend and buried depth of the pipe section, thereby being favorable to improve the safety management level of pipeline.
[0003] The electromagnetic method is the most effective means for buried pipeline at present, an alternating current signal is applied to the pipe section to be detected by using a transmitter, an electromagnetic field of a specific frequency is formed around the pipeline, the magnetic field intensity change above the pipe to be detected is obtained by using a receiver, and the trend and buried depth of buried pipeline are detected.
[0004] At present, the electromagnetic method is used to detect underwater pipeline on the water surface, a wiring stake is arranged near the underwater pipeline, and a transmitter and a pipeline detection device are arranged on the water surface or the bank. The transmitter is connected with the wiring stake, is used for applying alternating current to the underwater pipeline through the wiring stake, makes the underwater pipeline generate alternating magnetic field, and radiates alternating magnetic field signal outward. The pipeline detection device receives the alternating magnetic field signal radiated by the underwater pipeline, generates electromagnetic induction signal, processes the electromagnetic induction signal, and analyzes and determines the buried depth of the underwater pipeline. However, the pipeline detection device is arranged above the water surface at present, for the underwater pipeline with deep water depth, the pipeline detection device is far away from the pipeline, and the data of the pipeline cannot be accurately detected. UTILIZY NOVELTY
[0005] In view of the defects of the prior art, the technical problem to be solved by the utility model is to provide an unmanned underwater vehicle carrying detection system measuring underwater pipeline buried depth and trend device, and the problem of low precision in the prior electromagnetic method for detecting underwater pipeline on the water surface is solved.
[0006] In order to solve the above technical problems, the utility model adopts the following technical scheme:
[0007] The unmanned underwater vehicle carrying detection system measuring underwater pipeline buried depth and trend device comprises:
[0008] An electromagnetic signal emission system comprises test stakes arranged at opposite ends of the water body where the underwater pipeline is located, and a cable connected with the test stakes at the two ends. The cable and the test stakes at the two ends of the underwater pipeline form a closed loop, and an electromagnetic signal emitter is connected in series in the closed loop. After the electromagnetic signal emitter applies a set current signal to the pipeline, the current signal extends to the far field along the pipeline, and an electromagnetic field is formed around the pipeline.
[0009] The unmanned underwater vehicle is provided with a detection system, which is arranged to run along the extension direction of the underwater pipeline, and the detection system comprises a receiver, a sonar device, a camera system, a lighting system and a positioning system, the receiver is used to detect the current intensity in the pipeline and detect the pipeline burial depth, the sonar device is used to detect the distance from the water bottom, the camera system cooperates with the lighting system to take photos of the exposed pipeline position when the exposed pipeline appears, and the positioning system is used to record the exposed pipeline position.
[0010] Preferably, the unmanned underwater vehicle comprises a whole frame, a buoyancy module mounted on the whole frame, a propulsion system and a power system.
[0011] Preferably, the whole frame comprises a stainless steel pipe and at least two layer plates arranged at intervals in the height direction, and the whole frame is welded as a whole.
[0012] Preferably, the bottom of the whole frame is provided with a bottom layer plate, and the bottom layer plate is provided with a fixing structure for fixing the receiver.
[0013] Preferably, the top of the whole frame is provided with a top layer plate, and the buoyancy module is mounted on the top layer plate.
[0014] Preferably, the power system comprises a storage battery and a motor, and the storage battery and the motor are arranged in a waterproof shell.
[0015] Preferably, the unmanned underwater vehicle is connected with a cable, the cable is used for power supply and information transmission, and is used to pull the unmanned underwater vehicle to move when operated.
[0016] Preferably, the top of the unmanned underwater vehicle is provided with a lifting ring.
[0017] Preferably, the propulsion system comprises a vertical propeller and a horizontal propeller.
[0018] Preferably, the sonar device and the receiver are arranged at the same mounting height.
[0019] The above technical scheme has the following beneficial effects:
[0020] The cable and the test pile at the two ends of the underwater pipeline form a closed loop, the electromagnetic signal transmitter is connected in series to the closed loop of the pipeline, after a set current signal is applied to the pipeline, the current signal extends along the pipeline to the far end, and an electromagnetic field is formed around the pipeline; the unmanned underwater vehicle carries the detection system and runs along the extension direction of the underwater pipeline, collects the electromagnetic signal of the pipeline wall, uses the receiver to detect the current intensity in the pipeline and detect the buried depth of the pipeline, uses the sonar device to detect the distance from the water bottom, and the unmanned underwater vehicle can keep a distance from the pipeline, so that the distance between the receiver, the sonar and the pipeline is stably set in a set range, so as to ensure that the electromagnetic signal is stable and the detected buried depth of the pipeline and the distance from the water bottom are accurate, and the problem that the existing electromagnetic method has low precision when detecting the underwater pipeline on the water surface is solved.
[0021] The unmanned underwater vehicle can be remotely controlled to navigate, the operator can be avoided to work on the water, and the exposed pipe section can be photographed in real time by using the camera system according to the detection result of the exposed pipe, the topographic features of the pipeline at the position are acquired, and the positioning information at the position can be recorded by using the positioning system.
[0022] These features and advantages of the utility model will be disclosed in detail in the following specific embodiments and drawings.
DRAWINGS
[0023] The utility model will be further described in connection with the drawings:
[0024] Fig. 1 It is the structural schematic view of unmanned underwater vehicle in the utility model;
[0025] Fig. 2 It is the underwater pipeline detection schematic view of the utility model;
[0026] Fig. 3 It is the underwater pipeline detection principle view of the utility model;
[0027] Reference signs:
[0028] 1 - lifting ring;2 - buoyancy module;3 - vertical propeller;4 - horizontal propeller;5 - overall frame;6 - power system, 7 - fixed structure;8 - signal source;9 - camera system;10 - lighting system;11 - electromagnetic signal transmitter;12 - cable;13 - water body;14 - pipeline;15 - receiver;16 - test pile;17 - the distance from the bottom of the receiver to the pipeline;18 - the distance from the bottom of the sonar device to the water bottom;19 - pipeline soil layer.
Specific embodiments
[0029] The technical solutions of the present utility model will be explained and described below with reference to the accompanying drawings. However, the following embodiments are only preferred embodiments of the present utility model and not all of them. Other embodiments obtained by those skilled in the art based on the embodiments in the implementation methods without creative effort are all within the protection scope of the present utility model.
[0030] Those skilled in the art will understand that, without conflict, the features in the following embodiments and implementations can be combined with each other.
[0031] The terminology used in this invention is for the purpose of describing particular embodiments only and is not intended to limit the invention. For example, terms such as "upper" and "lower" indicating orientation or positional relationship are based solely on the orientation or positional relationship shown in the accompanying drawings and are used only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device / component referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention.
[0032] This method combines the principles of existing electromagnetic methods for detecting underwater pipelines. (Refer to...) Figs. 1 to 3 As shown, this utility model provides a device for measuring the burial depth and direction of underwater pipelines using an unmanned underwater vehicle-mounted detection system, which includes:
[0033] An electromagnetic signal transmitting system includes test piles 16 located at opposite ends of the water body 13 where the underwater pipeline 14 is situated, and a cable 12 connecting the two test piles. The cable and the test piles at both ends of the underwater pipeline form a closed loop. An electromagnetic signal transmitter 11 is connected in series in this closed loop. After the electromagnetic signal transmitter 11 applies a set current signal to the pipeline, the current signal extends along the pipeline and forms an electromagnetic field around the pipeline.
[0034] An unmanned underwater vehicle (UUV) is equipped with a detection system that operates along the direction of an underwater pipeline. The detection system includes a receiver 15, sonar equipment, a camera system 9, an illumination system 10, and a positioning system (some structures of the detection system are not shown in the figure). The receiver and sonar equipment serve as signal sources 8 for transmitting and receiving signals. Specifically, the receiver detects the current intensity and burial depth of the pipeline, while the sonar equipment detects the distance to the seabed. When exposed pipe is observed, the camera system 9, in conjunction with the illumination system 10, photographs the location of the exposed pipe and records its position using the positioning system.
[0035] The water body can be various types of water bodies such as rivers and lakes, and the underwater pipeline can be various types of pipelines such as oil and gas pipelines.
[0036] Specifically, the unmanned underwater vehicle traverses the pipeline back and forth along an "S" shaped path, collects electromagnetic signals of the pipeline wall, and combines a positioning system such as GPS, Beidou, etc. to locate the pipeline crossing path. Fig. 2 and Fig. 3 As shown, the distance 17 from the bottom of the receiver to the pipeline is measured, thereby realizing buried depth detection. The sonar device emits a short pulse acoustic wave with a certain spatial directivity into the water, the acoustic wave propagates uniformly and linearly in the water, is reflected after encountering the water bottom, and the reflected echo is received by the sonar device. Given the time interval between emission and reception and the average propagation speed of the acoustic wave in the water body, the one-way distance of the acoustic wave propagating in the water, i.e. the distance 18 from the bottom of the sonar device to the water bottom, can be calculated. Given the distance H1 from the bottom of the receiver to the pipeline and the distance H2 from the bottom of the sonar device to the water bottom, the thickness of the pipeline cover layer 19 is H1-H2, and if H1-H2=0 is measured, it can be judged that the pipeline is exposed at this position. Preferably, the sonar device and the receiver are at the same installation height.
[0037] The unmanned underwater vehicle can traverse the pipeline back and forth along an "S" shaped path to collect electromagnetic signals of the pipeline wall, and use a positioning system to locate the pipeline crossing path, simultaneously test the buried depth of the underwater pipeline and the water depth at the measurement point, and obtain the thickness of the pipeline cover layer to understand the laying condition of the pipeline under the riverbed.
[0038] Since the unmanned underwater vehicle can maintain a distance from the pipeline, the distance between the receiver, the sonar and the pipeline is stabilized within a set range, so as to ensure the stability of the electromagnetic signal and the accuracy of the detected pipeline buried depth and distance from the water bottom, thereby solving the problem of low accuracy of existing electromagnetic methods in detecting underwater pipelines on the water surface.
[0039] The unmanned underwater vehicle can be remotely controlled to navigate, can avoid water operation by an operator, and can use a camera system to take real-time photos of the exposed pipeline section according to the detection result of the exposed pipeline, obtain the topographic features of the pipeline at the position, and can record the positioning information at the position using a positioning system.
[0040] It can be understood that the unmanned underwater vehicle is in communication connection with an upper computer, the upper computer is installed with data processing software, and according to the information fed back by the detection system, the pipeline path plan and the buried depth diagram are drawn through the software, and the specific principle and method can refer to the prior art.
[0041] Specifically, the unmanned underwater vehicle includes a whole frame 5, a buoyancy module 2 mounted on the whole frame, a propulsion system and a power system 6. With reference to the structure of the prior art unmanned underwater vehicle, the whole frame includes a stainless steel pipe and at least two layers of plates arranged in the height direction, the stainless steel pipe is bent and welded to form the frame shape, and then is welded with the layers of plates to form a whole. In the embodiment, a bottom layer of plate, a middle layer of plate and a top layer of plate are arranged, the bottom of the whole frame is provided with the bottom layer of plate, and a fixing structure 7 for fixing a signal source 8, such as a receiver, is arranged on the bottom layer of plate, and a bolt can be used for fixing.
[0042] In addition, the top of the unmanned underwater vehicle is provided with a lifting ring 1 to facilitate hoisting, such as transferring from the shore to the water body, hoisting from the water body to the shore, or loading and unloading. The top of the whole frame is provided with the top layer of plate, and the buoyancy module 2 is mounted on the top layer of plate. The power system 6 includes a battery and a motor, and the battery and the motor are arranged in a waterproof shell, the battery supplies power to the motor, and the motor can drive the propulsion system. The propulsion system includes a vertical propeller 3 and a horizontal propeller 4, so that the unmanned underwater vehicle can be flexibly dived underwater, such as ascending, descending and S-shaped turning.
[0043] In some embodiments, the unmanned underwater vehicle is connected with a cable, the cable is used for power supply and information transmission, and is operated to pull the unmanned underwater vehicle to move. In this way, the unmanned underwater vehicle can be operated on the shore to pull the unmanned underwater vehicle to move and return to the shore when the unmanned underwater vehicle cannot return to the shore autonomously. In addition to transmitting the detected signals to the upper computer through the cable, the unmanned underwater vehicle can also carry a wireless transmission module to transmit the detected signals to the upper computer wirelessly.
[0044] The above is only a specific embodiment of the utility model, but the protection scope of the utility model is not limited to this, and those skilled in the art should understand that the utility model includes but is not limited to the contents described in the above specific embodiments and the drawings. Any modification without deviating from the functional and structural principles of the utility model will be included in the scope of the claims.
Claims
1. An unmanned underwater vehicle-mounted detection system for measuring the depth and orientation of an underwater pipeline, the system comprising: a first sensor for measuring the depth of the pipeline; a second sensor for measuring the orientation of the pipeline; and a processor for receiving the measurements from the first and second sensors and determining the depth and orientation of the pipeline. The utility model relates to an underwater pipeline detection system, which comprises an electromagnetic signal transmitting system and an unmanned underwater vehicle. The electromagnetic signal transmitting system comprises test piles arranged at opposite ends of a water body where an underwater pipeline is located, a cable connecting the two test piles, and an electromagnetic signal transmitter connected in series to the closed loop formed by the cable and the test piles at the two ends of the underwater pipeline.
2. The UUV pig detection system depth and orientation measurement device of claim 1, wherein, When the electromagnetic signal transmitter applies a set current signal to the pipeline, the current signal extends along the pipeline to form an electromagnetic field around the pipeline.
3. The UUV pig detection system depth and orientation measurement device of claim 2, wherein, The unmanned underwater vehicle carries a detection system and runs along the extension direction of the underwater pipeline.
4. The UUV pig detection system depth and orientation measurement device of claim 3, wherein, The detection system comprises a receiver, a sonar device, a camera system, an illumination system and a positioning system.
5. The UUV pig detection system depth and orientation measurement device of claim 3, wherein, The receiver is used to detect the current intensity in the pipeline and the buried depth of the pipeline.
6. The UUV pig detection system depth and orientation measurement device of claim 2, wherein, The sonar device is used to detect the distance from the water bottom.
7. The UUV pig detection system depth and orientation measurement device of claim 1, wherein, The camera system cooperates with the illumination system to take photos of the exposed pipeline position when the pipeline is exposed.
8. The UUV pig detection system depth and orientation measurement device of claim 2, wherein, The positioning system is used to record the position of the exposed pipeline.
9. The UUV pig detection system depth and orientation measurement device of claim 1, wherein, The unmanned underwater vehicle comprises an overall frame, a buoyancy module, a propulsion system and a power system.
10. The UUV pig detection system depth and orientation measurement device of claim 1, wherein, The overall frame comprises a stainless steel pipe and at least two layer plates arranged at intervals in the height direction. The overall frame is welded as a whole. The bottom of the overall frame is provided with a bottom layer plate. The bottom layer plate is provided with a fixing structure for fixing the receiver. The top of the overall frame is provided with a top layer plate. The buoyancy module is installed on the top layer plate. The power system comprises a storage battery and a motor. The storage battery and the motor are arranged in a waterproof shell. The unmanned underwater vehicle is connected with a cable. The cable is used for power supply and information transmission and is used to pull the unmanned underwater vehicle to move when operated. The propulsion system comprises a vertical propeller and a horizontal propeller. The top of the unmanned underwater vehicle is provided with a lifting ring. The sonar device and the receiver are arranged at the same installation height.