CN101251588B - Mobile carrier omnidistance labelling positioning device within metallic pipe - Google Patents

Abstract

A full-range tracking and positioning device for a mobile carrier in a metal pipeline, which relates to a positioning device, which solves the problem in the prior art that the long-distance outside-the-tube tracking and positioning cannot be realized due to the metal pipeline signal shielding and the limited propagation distance of electromagnetic signals. It is proposed due to the shortcomings, it includes mobile carriers, very low frequency power electromagnetic pulse signal transmitters installed on mobile carriers running in metal pipes, mobile antenna array systems installed on mobile loading devices, various underground or water Detect the signal identification and GPS communication module in the base station to receive the signal emitted by the very low frequency power electromagnetic pulse signal transmitter to identify whether the mobile carrier passes or not and send the signal to the communication satellite. The mobile antenna array system accurately locates the position of the mobile carrier in the metal pipe by receiving the signal emitted by the very low frequency power electromagnetic pulse signal transmitter. Tracking and positioning throughout the process.

Description

Full-range tracking and positioning device for mobile carriers in metal pipelines

technical field

The invention relates to a positioning device, in particular to a whole-range tracing and positioning device for a moving carrier in a metal pipeline. the

Background technique

With the rapid growth of pipelines laid by my country's petrochemical and municipal construction departments, there is a huge demand for quality inspection of newly laid pipelines, defect inspection of old pipelines, cleaning of dirt and blockages in pipes, and distribution surveying and mapping of unknown underground pipelines. The in-pipe mobile carrier is a device specially used for detection, pigging and operation in pipeline engineering. It can carry various testing instruments and operating equipment to run in the pipeline to complete pipeline flaw detection, pipeline leakage repair and other operations. Due to breakage, defects, and blockages in pipeline engineering, the mobile carrier in the pipeline is often paralyzed due to insufficient power or equipment failure. The closed metal pipeline environment shields all information in the pipeline, and the ground staff cannot know Therefore, it is urgent to develop an external tracer and positioning device for the mobile carrier in the pipe to assist the mobile carrier in the pipe to complete various pipeline engineering tasks and the staff outside the pipe to carry out rescue work in emergency situations. . At present, the tracer positioning technology in pipeline engineering mainly includes visual positioning technology, ray positioning technology, magnetic field positioning technology, ultrasonic positioning technology, INS inertial navigation and taxi wheel positioning technology. However, these technologies have more or less shortcomings. The visual positioning technology can only realize the in-pipe positioning of the position of the pipeline defect and the working position of the mobile carrier, and the position information cannot be transmitted outside the pipe. At the same time, its measurement range is small, requiring the mobile carrier to Low speed operation is not suitable for engineering applications; INS inertial navigation positioning technology and taxi wheel positioning technology are not online positioning technology, and can only provide offline position data analysis; ray positioning technology can realize the external positioning of the moving carrier in the tube, However, its strong radioactivity will bring greater harm to organisms and the surrounding environment, and it is especially not suitable for submarine pipeline projects. This technology has been banned; the magnetic field positioning technology is mainly used to detect the moving carrier inside the tube and the base station outside the tube. Whether it is passed or not, the running pipe section of the mobile carrier can be determined, but accurate positioning cannot be achieved; ultrasonic positioning technology requires that the ultrasonic head inside and outside the pipe must be close to the pipe wall, and the coupling fluid must be coated. This technology has a small application range and cannot Applied to underground and submarine pipeline projects; the traditional cable-based working method of mobile carriers cannot meet the requirements of online long-distance pipeline operations. It can be seen that the existing tracer positioning technology can only assist the mobile carrier to complete tasks such as searching for the working position in the pipe, tracking and recording the running track, and synchronously running the operating devices inside and outside the pipeline. However, there are generally limitations in application. The signal shielding and electromagnetic signal propagation distance are limited, which cannot meet the needs of 50-1000km or longer oil/gas pipelines to track and locate the moving carrier inside the pipeline and outside the pipeline. the

Contents of the invention

In order to solve the shortcomings of the existing tracer positioning technology that the metal pipeline signal shielding and the electromagnetic signal propagation distance are limited, the full-range tracer positioning outside the long-distance pipe cannot be realized, and a full-range tracer of the mobile carrier inside the metal pipeline is proposed Positioning means. the

The whole-process tracking and positioning device for the mobile carrier in the metal pipeline includes the mobile carrier, and it also includes the following parts:

Very low frequency power electromagnetic pulse signal transmitter, which is installed on a mobile carrier running in a metal pipeline, and is used to transmit very low frequency power electromagnetic pulse signals;

The mobile antenna array system, which is installed on the mobile loading device, is used to receive the very low frequency power electromagnetic pulse signal emitted by the very low frequency power electromagnetic pulse signal transmitter, and accurately locate the position of the mobile carrier in the metal pipeline through the computer software system ;

Signal identification and GPS communication module, which is installed in each detection base station underground or in water, is used to receive the very low frequency power electromagnetic pulse signal emitted by the very low frequency power electromagnetic pulse signal transmitter, and determine the relative position of the mobile carrier through the signal identification algorithm Detect whether the base station passes or not and send the signal to the communication satellite;

The mobile antenna array system adopts a distributed five-antenna array system based on the CAN bus structure;

The mobile antenna array system includes the following parts:

Mobile loading device for loading the mobile antenna array system;

The computer is used to receive the digital voltage signal transmitted by the CAN bus interface card, and calculate the two-dimensional plane position of the moving carrier in the tube through the tracer positioning software;

CAN bus interface card, used to receive the digital voltage signal transmitted by the five-antenna array, and transmit the signal to the computer;

The five-antenna array is used to receive the very low frequency power electromagnetic pulse signal emitted by the very low frequency power electromagnetic pulse signal transmitter in the metal pipe, and convert the electromagnetic signal into a digital voltage signal and transmit it to the CAN bus interface card;

UPS power supply, used to provide electric energy for the mobile antenna array system;

A switching power supply for powering the five-antenna array. the

The beneficial effect of the present invention is that the workers outside the metal pipe realize the long-distance and short-distance tracing and positioning of the mobile carrier 2 outside the pipe. the

Description of drawings

Fig. 1 is a schematic structural view of the present invention; Fig. 2 is a schematic structural view of a third embodiment; Fig. 3 is a schematic structural view of a fourth embodiment; Fig. 4 is a schematic structural view of a sixth embodiment; Fig. 5 is when a mobile carrier passes through a base station Schematic diagram of the detected signal waveform. the

Detailed ways

Specific embodiment one: illustrate this embodiment in conjunction with Fig. 1, present embodiment comprises mobile carrier 2, very low frequency power electromagnetic pulse signal transmitter 3, and it is installed on the mobile carrier 2 that moves in metal pipeline 1, is used for transmitting even Low frequency power electromagnetic pulse signal;

The mobile antenna array system 4, which is installed on the mobile loading device 4-1, is used to receive the very low frequency power electromagnetic pulse signal emitted by the very low frequency power electromagnetic pulse signal transmitter 3, and accurately locate the mobile carrier 2 on the metal pipeline through calculation position within 1;

Signal identification and GPS communication module 5, which is installed in each detection base station underground or in water, is used to receive the very low frequency power electromagnetic pulse signal transmitted by the very low frequency power electromagnetic pulse signal transmitter 3, and determine the mobile carrier through the signal identification algorithm 2 relative to detecting whether the base station passes or not and sending the signal to the communication satellite 7 . the

Embodiment 2: The difference between this embodiment and Embodiment 1 is that the mobile antenna array system 4 adopts a five-antenna array system based on the CAN bus structure. Other compositions are the same as in Embodiment 1. the

Specific embodiment three: illustrate this embodiment in conjunction with Fig. 2, this embodiment and specific embodiment two difference points are that mobile antenna array system 4 comprises the following several parts:

The mobile loading device 4-1 is used to load the mobile antenna array system 4;

The computer 4-2 is used to receive the digital voltage signal transmitted by the CAN bus interface card 4-3, and calculate the two-dimensional plane position of the mobile carrier 2 in the tube through the trace positioning software;

The CAN bus interface card 4-3 is used to receive the digital voltage signal transmitted by the five-antenna array 4-4, and transmit the signal to the computer 4-2;

The five-antenna array 4-4 is used to receive the very low frequency power electromagnetic pulse signal transmitted by the very low frequency power electromagnetic pulse signal transmitter 3 in the metal pipe 1, and convert the electromagnetic signal into a digital voltage signal and transmit it to the CAN bus interface card 4 -3;

UPS power supply 4-5, is used for providing electric energy for mobile antenna array system 4;

The switching power supply 4-6 is used to provide electric energy for the five-antenna array 4-4. the

Other compositions are the same as in Embodiment 2. The model of the CAN bus interface card 4-3 is USB-CANII. the

Specific embodiment four: this embodiment is described in conjunction with Fig. 3, the difference between this embodiment and specific embodiment three is that five antenna arrays 4-4 include five independent antenna units 4-9 with the same structure and function, and the antenna unit 4 -9 includes the following parts:

The first receiving antenna 4-9-1 is used to receive the very low frequency power electromagnetic pulse signal transmitted by the very low frequency power electromagnetic pulse signal transmitter 3 in the metal pipe 1, and convert the magnetic signal into a voltage signal and transmit it to the first operational amplifier 4-9-3;

The voltage conversion module 4-9-2 is used to convert the high-value DC voltage provided by the switching power supply 4-6 into a low-value DC voltage to provide electric energy for the antenna unit 4-9;

The first operational amplifier 4-9-3 is used to receive the voltage signal output by the first receiving antenna 4-9-1, perform amplitude amplification and low-pass filtering, and transmit it to the first integrated filter 4-9-4;

The first integrated filter 4-9-4 is used for the voltage signal output by the first operational amplifier 4-9-3 and the voltage signal provided by the first embedded microcontroller 4-9-6 to be 50 times or 100 times the frequency of the transmitting signal Double the digital pulse signal utilizes band-pass filtering to identify the very low frequency power electromagnetic pulse signal emitted by the very low frequency power electromagnetic pulse signal transmitter 3 in the metal pipe 1, and transmits it to the first AD conversion module 4-9-5;

The first AD conversion module 4-9-5 is used to convert the analog signal output by the first integrated filter 4-9-4 into a digital signal, and output it to the first embedded microcontroller 4 through the I/O port -9-6;

The first embedded microcontroller 4-9-6 is used to provide the first integrated filter 4-9-4 with a digital signal 50 times or 100 times the frequency of the transmitted signal, and convert the first AD conversion module 4-9 The digital signal input by -5 is transmitted to the CAN controller 4-9-7;

The CAN controller 4-9-7 is used to transmit the voltage amplitude signal input by the first embedded microcontroller 4-9-6 to the CAN bus interface card 4-3 through the CAN bus. the

Other compositions are the same as in the third embodiment. The model of the voltage conversion module 4-9-2 is HZD05-24S05; the model of the first operational amplifier 4-9-3 is TI-OP07; the model of the first integrated filter 4-9-4 is MF10; the first AD conversion The model of the module 4-9-5 is TLC2543; the model of the first embedded microcontroller 4-9-6 is ARM2119; the model of the CAN controller 4-9-7 is SJA1000. the

Embodiment 5: The difference between this embodiment and Embodiment 3 is that the mobile loading device 4-1 adopts a vehicle or a ship. Other compositions are the same as in Embodiment 1. the

Specific embodiment six: in conjunction with Fig. 4, Fig. 5 illustrates this embodiment, the difference between this embodiment and specific embodiment one is that signal identification and GPS communication module 5 are made up of following several parts:

The second receiving antenna 5-1 is used to receive the very low frequency power electromagnetic pulse signal emitted by the very low frequency power electromagnetic pulse signal transmitter 3 in the metal pipe 1, and convert the magnetic signal into a voltage signal and transmit it to the second operational amplifier 5- 3;

Large-capacity lithium battery 5-2, used to provide electrical energy for signal identification and GPS communication module 5;

The second operational amplifier 5-3 is used to receive the voltage signal output by the second receiving antenna 5-1, and transmit it to the second integrated filter 5-4 after performing amplitude amplification and low-pass filtering;

The second integrated filter 5-4 is used to utilize the voltage signal output by the second operational amplifier 5-3 and the digital pulse signal 50 times or 100 times the frequency of the transmitting signal provided by the second embedded microcontroller 5-6 Band-pass filtering identifies the very low frequency power electromagnetic pulse signal emitted by the very low frequency power electromagnetic pulse signal transmitter 3 in the metal pipe 1, and transmits it to the second AD conversion module 5-5;

The second AD conversion module 5-5 is used to convert the analog signal output by the second integrated filter 5-4 into a digital signal, and input it to the second embedded microcontroller 5-6 through the I/O port;

The second embedded microcontroller 5-6 is used to provide the second integrated filter 5-4 with a digital signal 50 times or 100 times the frequency of the transmitted signal, and judge the reception of the second AD conversion module by the signal threshold detection software 5-5 Whether the output digital signal is valid and the level signal is output through the I/O port;

The GPS communication module 5-7 is used to receive the level signal output by the second embedded microcontroller 5-6, receive the high level signal output by the second embedded microcontroller 5-6, and send a signal to the communication satellite 7; After receiving the low-level signal output by the second embedded microcontroller 5-6, no signal is emitted. Other compositions are the same as in Embodiment 1. Through theoretical analysis and experimental verification, when the relative position of the very low frequency power electromagnetic pulse signal transmitter 3 and the signal identification and GPS communication module 5 changes, the detected signal amplitude shows a double-peak trend with the position, as shown in Figure 5 . When the VLF power electromagnetic pulse signal transmitter 3 coincides with the relative position of the signal identification and GPS communication module 5, the signal amplitude is the smallest, which is also the basis for the judgment of the signal threshold detection software. When the signal identification and GPS communication module 5 receive When the electromagnetic signal presents the change rule shown in Figure 5, it means that the mobile carrier 2 in the metal pipe 1 passes through the base station location. The propagation distance of the very low frequency power electromagnetic pulse signal is very long, so the signal identification and GPS communication module 5 can find the mobile carrier 2 in advance, and the time for effectively detecting the signal is relatively long, which improves the accuracy of the information monitoring of the mobile carrier 2 and avoids The occurrence of false alarm events caused by non-periodic noise is prevented. Other compositions are the same as in Embodiment 1. The model of the second operational amplifier 5-3 is TI-OP07; the model of the second integrated filter 5-4 is MF10; the model of the second AD conversion module 5-5 is TLC2543; the model of the second embedded microcontroller 5-6 The model is ARM2119; the model of GPS communication module 5-7 is SiemensXT55. the

Working principle: the very low frequency power electromagnetic pulse signal transmitter 3 is connected to the mobile carrier 2 running in the metal pipe 1, and the very low frequency power electromagnetic pulse signal transmitter 3 sends out a very low frequency power electromagnetic pulse signal with strong penetrating characteristics. Penetrate metal pipe wall and multi-phase medium layer. When the mobile carrier 2 passes through a certain base station location, the signal identification and GPS communication module 5 installed inside the base station can effectively detect the transmission signal of a specific frequency. Since each GPS communication module has a unique communication ID, the GPS communication satellite 7 can accurately determine the pipe section that the mobile carrier 2 is running. When the mobile carrier 2 fails or the detection device finds a pipe wall defect, the communication satellite 7 provides the pipe section that the mobile carrier 2 is currently running, and the mobile carrier 2 stops at a certain location in the pipe section. location. Through the mobile antenna array system 4, the staff sends out a very low frequency power electromagnetic pulse signal with strong penetrating characteristics according to the received very low frequency power electromagnetic pulse signal transmitter 3 to calibrate the precise position of the mobile carrier in the pipe section and realize accurate tracing position. the

Claims (3)

1. mobile carrier omnidistance labelling positioning device within metallic pipe, it comprises mobile vehicle (2), it also comprises following a few part:

Very low frequency power electromagnetic pulse signal projector (3), it is installed on the mobile vehicle (2) of operation in the metallic conduit (1), is used to launch the very low frequency power electromagnetic pulse signal;

Portable antenna array 1 system (4), it is installed on the mobile loading attachment (4-1), be used to receive the very low frequency power electromagnetic pulse signal of very low frequency power electromagnetic pulse signal projector (3) emission, accurately locate the position of mobile vehicle (2) in metallic conduit (1) by the software systems of computing machine (4-2);

Signal identification and GPS communication module (5), it is installed in each base stations detected in underground or the water, be used to receive the very low frequency power electromagnetic pulse signal of very low frequency power electromagnetic pulse signal projector (3) emission, and determine mobile vehicle (2) whether passing through and signal is sent to communications satellite (7) with respect to base stations detected by signal Recognition Algorithm;

Portable antenna array 1 system (4) adopts based on bus-structured collecting and distributing five antenna array systems of CAN;

It is characterized in that portable antenna array 1 system (4) comprises following components:

Mobile loading attachment (4-1) is used to load portable antenna array 1 system (4);

Computing machine (4-2) is used to receive the digital quantity voltage signal of CAN bus interface card (4-3) transmission, and the two dimensional surface position by the interior mobile vehicle (2) of spike positioning software computer tube;

CAN bus interface card (4-3) is used to receive the digital quantity voltage signal that five antenna arrays (4-4) transmit, and signal is transferred to computing machine (4-2);

Five antenna arrays (4-4) are used to receive the very low frequency power electromagnetic pulse signal of very low frequency power electromagnetic pulse signal projector (3) emission in the metallic conduit (1), and electromagnetic signal is converted to the digital quantity voltage signal are transferred to CAN bus interface card (4-3);

Ups power (4-5) is used to portable antenna array 1 system (4) that electric energy is provided;

Switching Power Supply (4-6) is used to five antenna arrays (4-4) that electric energy is provided.

2. mobile carrier omnidistance labelling positioning device within metallic pipe according to claim 1 is characterized in that five antenna arrays (4-4) comprise five antenna elements (4-9) that independent structure identical function is identical, and antenna element (4-9) comprises following components:

First receiving antenna (4-9-1), be used to receive the very low frequency power electromagnetic pulse signal of very low frequency power electromagnetic pulse signal projector (3) emission in the metallic conduit (1), and convert magnetic signal to voltage signal and be transferred to first operational amplifier (4-9-3);

It is that antenna element (4-9) provides electric energy that voltage transformation module (4-9-2), the high value DC voltage that is used for that Switching Power Supply (4-6) is provided convert Low Level Direct Current voltage to;

First operational amplifier (4-9-3) is used to receive the voltage signal of first receiving antenna (4-9-1) output, and carries out being transferred to first integrated filter (4-9-4) after amplitude amplification and the low-pass filtering;

First integrated filter (4-9-4), be used for utilizing the digital pulse signal that becomes 50 times or 100 times with emission signal frequency that the voltage signal of first operational amplifier (4-9-3) output and first embedded microcontroller (4-9-6) provide bandpass filtering to identify the very low frequency power electromagnetic pulse signal of very low frequency power electromagnetic pulse signal projector (3) emission in the metallic conduit (1), and be transferred to an AD modular converter (4-9-5);

The one AD modular converter (4-9-5) is used for the analog signals that receives first integrated filter (4-9-4) output is converted to digital quantity signal, outputs to first embedded microcontroller (4-9-6) by the I/O port;

First embedded microcontroller (4-9-6), be used to first integrated filter (4-9-4) to provide to become the digital signal of 50 times or 100 times, and the digital quantity signal of an AD modular converter (4-9-5) input is transferred to CAN controller (4-9-7) with emission signal frequency;

CAN controller (4-9-7) is used for the voltage magnitude signal of first embedded microcontroller (4-9-6) input is arrived CAN bus interface card (4-3) by the CAN bus transfer.

3. mobile carrier omnidistance labelling positioning device within metallic pipe according to claim 1 is characterized in that mobile loading attachment (4-1) adopts vehicle or boats and ships.

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