Abstract
It is of great importance for pipeline systems to be is efficient, cost-effective and safe during the transportation of the liquids and gases. However, underground pipelines often experience leaks due to corrosion, human destruction or theft, long-term Earth movement, natural disasters and so on. Leakage or explosion of the operating pipeline usually cause great economical loss, environmental pollution or even a threat to citizens, especially when these accidents occur in human-concentrated urban areas. Therefore, the surveying of the routed pipeline is of vital importance for the Pipeline Integrated Management (PIM). In this paper, a comprehensive review of the Micro-Inertial Measurement Unit (MIMU)-based intelligent Pipeline Inspection Gauge (PIG) multi-sensor fusion technologies for the transport of liquids and gases purposed for small-diameter pipeline (D < 30 cm) surveying is demonstrated. Firstly, four types of typical small-diameter intelligent PIGs and their corresponding pipeline-defects inspection technologies and defects-positioning technologies are investigated according to the various pipeline defects inspection and localization principles. Secondly, the multi-sensor fused pipeline surveying technologies are classified into two main categories, the non-inertial-based and the MIMU-based intelligent PIG surveying technology. Moreover, five schematic diagrams of the MIMU fused intelligent PIG fusion technology is also surveyed and analyzed with details. Thirdly, the potential research directions and challenges of the popular intelligent PIG surveying techniques by multi-sensor fusion system are further presented with details. Finally, the review is comprehensively concluded and demonstrated.
Highlights
At present, pipeline transportation systems are one of the safest, cost-effective and efficient transportation tools in comparison with conventional land-based, marine, air and railway transportation [1,2,3]
This technical scheme adopts the measurements of the odometers and the intelligent Pipeline Inspection Gauge (PIG) non-holonomic constraints for continuous 3D velocity updates, including the detection of Pipeline Junction (PJ) for continuous azimuth and pitch angle updates in the Straight Pipeline Segments (SPS) part, and the information of Pipeline Segment Length (PSL) for continuous 3D coordinate updates in the SPS part, and the calculation of PBA for continuous azimuth and pitch angles updates in the PBA part
This technical scheme adopts the measurements of thf e odometers and the intelligent PIG non-holonomic constraints for continuous 3D velocity updates, including the detection of PJs for continuous azimuth and pitch angle updates in the SPS part, and the information of PSL for continuous 3D coordinate updates in the SPS part, and the calculation of PBA for continuous azimuth and pitch angles updates in the PBA part
Summary
Pipeline transportation systems are one of the safest, cost-effective and efficient transportation tools in comparison with conventional land-based, marine, air and railway transportation [1,2,3]. The traditional optical surveying methods, such as the land optical station surveying system, the underwater Remote Operated Vehicle (ROV) and the Autonomous Underwater Vehicle (AUV) systems, are only suitable for the newly trenched pipelines before they are completely buried under the Earth or under the seabed [15] Both the ground penetrating radar system and the walkover beacon system are useful for the shallow-depth buried existing and trenchless pipelines. Except for the pipeline surveying technologies, there are some sensors, such as the fiber sensor, acceleration sensor installed on the inner or outer surface of the pipeline to surveil the real-time conditions of the operating pipeline [18,19] This method can only detect the leakage after it occurs and cannot predict or detect in advance, and it is costly to bury these sensors. The surveying error of the pipeline leakage location by the SmartBall PIG is less than 2 m within two adjacent aboveground markers of the SmartBall PIG
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