Rapid positioning system and method for infrasonic wave pipeline robot

Abstract

The invention discloses a rapid positioning system for an infrasonic wave pipeline robot. The rapid positioning system comprises a main station system and a substation system, the substation system comprises an infrasonic wave sensor, a pre-amplifier and a data acquisition system, the main station system comprises a data analysis system and a display terminal, the infrasonic wave sensor is connected with a monitored pipeline, the data acquisition system is connected with the data analysis system, the infrasonic wave sensor receives infrasonic wave signals in a pipeline in real time and converts the infrasonic wave signals into electric signals, the pre-amplifier amplifies and filters the electric signals and then transmits the electric signals to the data acquisition system, the data acquisition system converts the electric signals into data and sends the acquired infrasonic wave data to the data analysis system, and the data analysis system judges the position of the pipeline robot byanalyzing and processing the data. The invention further discloses a rapid positioning method for the infrasonic wave pipeline robot. The system can prompt the position of the pipeline robot rapidlyin time, and losses caused by blind excavation when the pipeline robot is stuck are reduced.

Description

technical field [0001] The invention relates to a fast positioning system and method for an infrasonic wave pipeline robot, and the technology can be used in the ball-passing operation process of pipelines for various conveying media such as oil and gas. Background technique [0002] At present, the mileage of pipelines in my country has reached more than 100,000 kilometers. As time goes by, corrosion and perforation of pipelines, leakage pollution, blockage and bursting of pipelines may occur, causing heavy losses of life and property. In order to prevent accidents, it is necessary to regularly use pipeline robots to detect and clean them. However, in the process of cleaning the pipeline by the pipeline robot, it is easy for the pipeline robot to get stuck in the pipeline. Due to the constraints of existing communication equipment and positioning technology, most of the pipeline conditions are unknown, and the pipeline robot cannot be accurately positioned, which often resu...

AI Technical Summary

Problems solved by technology

However, in the process of cleaning the pipeline by the pipeline robot, it is easy for the pipeline robot to get stuck in the pipeline. Due to the constraints of existing communication equipment and positioning technology, most of the pipeline conditions are unknown, and the pipeline robot cannot be accurately positioned, which often results in fuzzy excavation, Blind scrapping, etc., serious waste of resources

[0003] At present, there are many positioning methods for pipeline inspection robots in the world, mainly including: mileage wheel positioning method, visual CCD positioning method, Beidou / GPS positioning method, low-frequency electromagnetic wave positioning method, etc., which are affected by pipeline length, environment and buried depth. These methods are very limited, the positioning effect is poor, and they are often powerless to the positioning of the pipe robot that has been stuck

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