Positioning device and method for pipeline detection

Abstract

The invention relates to the technical field of pipeline geographic information measurement, in particular to a positioning device and method for pipeline detection. The problems that in the prior art, the precision is low, and remote measurement cannot be achieved are solved. The positioning device comprises a power supply module, two supporting rollers, a first plastic sealing ring, an inertia measuring module, a data processing unit, a second plastic sealing ring, a data storage unit, a mileage instrument, a flux leakage sensor, a communication cable and a magnetic tracking module. The inertia measuring module is composed of a gyroscope and two accelerometers; on the basis of the mileage instrument, and three-dimensional attitude angle, speed and position coordinate measurement inside the pipeline can be achieved. According to the positioning method, a complex continuous wavelet transform method is adopted for analyzing operating data of the inertia measuring module inside the pipeline, a pipeline connector is detected, and the method is used for correcting azimuth angle errors of the positioning device for pipeline detection. The device and method are applicable to detection ofland and underwater oil and gas pipelines.

Description

technical field [0001] The invention relates to the technical field of pipeline geographical information measurement, in particular to a positioning device and a positioning method for pipeline detection. Background technique [0002] Pipelines are not only an important carrier for the transportation of various onshore and underwater oil and gas resources, but also the fastest, economical and reliable transportation method. However, because most pipelines are buried underground or under the seabed with a certain depth, and underground pipelines are easily affected by terrain changes caused by man-made excavations and natural disasters, underwater pipelines have long been damaged by seawater corrosion, tidal stress, and even the impact of underwater shipwrecks. . In addition, with the aging of early laid pipelines, oil and gas leakage will also occur in severe cases. This not only threatens the life and property safety of people on land, but also brings immeasurable losses ...

AI Technical Summary

Problems solved by technology

[0004] In the prior art, the method of only using the relative position information recorded by the odometer to locate the internal defects of the pipeline will cause the positioning error to accumulate with the length of the detected pipeline due to the slippage of the odometer, and can only detect short-distance pipelines each time, which cannot be applied to Long-distance pipeline detection; it is only a positioning method for error correction of the inertial measurement module (three-axis gyroscope and three-axis accelerometer), and does not correct the direction angle error of the pipeline detection and positioning system, which makes the low-cost inertial measurement module in The measurement accuracy cannot be guaranteed when detecting and positioning in small-diameter pipelines; the HM5883 magnetic orientation angle sensor is used to measure the pipeline orientation angle, because most of the oil and gas transportation pipelines are made of steel, and the magnetic field generated in the pipeline will affect the magnetic orientation angle. The measurement accuracy of the sensor has a great impact. In addition, the magnetic orientation angle sensor for non-steel pipeline detection will also be affected by the complex underground environment, and its measurement accuracy will be greatly reduced; and in the prior art, the pitch angle, The calculation method of roll angle and direction angle has limited measurement accuracy when it has a large roll angle

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