CN101046466A - Subsea oil and gas pipeline detecting and locating apparatus and process - Google Patents
Subsea oil and gas pipeline detecting and locating apparatus and process Download PDFInfo
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- CN101046466A CN101046466A CNA200610068997XA CN200610068997A CN101046466A CN 101046466 A CN101046466 A CN 101046466A CN A200610068997X A CNA200610068997X A CN A200610068997XA CN 200610068997 A CN200610068997 A CN 200610068997A CN 101046466 A CN101046466 A CN 101046466A
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Abstract
The present invention discloses subsea oil and gas pipeline detecting and locating apparatus and process. The subsea oil and gas pipeline detecting and locating apparatus consists of an electrically driven creeping device, a creeping device controller, a high energy power source, an intelligent controller, a real-time locater, an ultrasonic acquiring processor, and an ultrasonic eddy flow detector connected through shaft couplings. The operation process includes the following steps: hose sweeping the pipeline and throwing the apparatus into the pipeline, moving the apparatus with the electrically driven creeping device under the control of the intelligent controller, detecting and locating the fault to be repaired, etc.
Description
Technical field
The present invention relates to the device of sea-bottom oil-gas conveyance conduit defects detection and location, particularly a kind of defective is differentiated and pinpoint method.
Background technology
The shallow sea part of marine site, China Bohai Sea and triumph, huge port and the Liaohe Oil Field hydrocarbon resources that is richly stored with, verified oil reserves is 3,100,000,000 tons, be expected to form the productive capacity of 2,100 ten thousand tons of oil in a few years from now on, to become the important base of east China oil stable yields, seabed pipe network scale increases day by day.Wash in a pan reasons such as reaching marine accident owing to submarine surface ground instability, dielectric corrosion, ocean current dash, pipeline easily produces defective and damage, and oil and gas leakage takes place, and causes the loss of huge economy and ecological, environmental protective.
On detection mode, the online test method of petroleum pipe line mainly contains Magnetic Flux Leakage Inspecting, Ultrasonic Detection and EDDY CURRENT etc. at present, abroad the applicating history in existing more than 30 year.China recent years has also been carried out some research work, develops Φ 377 leakage field pipe corrosion detectors as China National Petroleum pipe technology company in 1999; Shengli Petroleum Administration Bureau has developed the pipeline x-ray flaw detector of creeping automatically; Shanghai University has developed the ultrasonic detector that is suitable for medium and small pipeline during the State's Ninth Five-Year Plan period; Harbin Institute of Technology has developed the pipe robot of 8 kinds of 4 big series.It is blank that but the research that is applied to the detection technique in the submarine pipeline still belongs at home, and leakage field both domestic and external or ultrasonic on-line measuring device all are that a kind of specification can only can not be applicable to some calibers at a kind of caliber; Aspect location technology, China does not still have the system and the technology of suitable subsea pipeline detection and location at present, foreign technology only can drive by the oil pressure difference and carry out the online detection of pipeline, can't carry out accurately locating to detected defect of pipeline greatly, only can carry out Primary Location by GIS, positioning error is bigger.Though China's offshore oil exploration and exploitation speed of development is accelerated year by year, but because the singularity of marine environment, submarine surface ground instability or ocean current such as dash to wash in a pan at reason morphs the submarine pipeline position, sets up detailed real-time generalized information system as early as possible and truly has big difficulty.A kind of device and method that is used for subsea oil and gas pipeline detecting and location has been proposed for this reason.
The present invention detects the difficulty that software can't independently be differentiated defective and be difficult to store high capacity detection data for realizing that what above-mentioned requirements designed, purpose are at first to overcome just, carries out defect of pipeline identification effectively and analyzes; Next overcomes earth, seawater to the attenuation effect of signal and the shielding effect of bimetallic tube, carries out accurately locating greatly and providing for pipeline repairing the exact position of defective effectively.
Summary of the invention
The technical problem to be solved in the present invention provides a kind of device and method that is used for subsea oil and gas pipeline detecting and location, and this device can detect defect of pipeline effectively, carry out accurately locating greatly and providing for pipeline repairing the exact position of defective.The objective of the invention is provides a kind of detection and locating device and method for the sea-bottom oil-gas conveyance conduit.
For addressing the above problem, the present invention is achieved in that the present invention mainly comprises electronic crawl device, crawl device controller, ultrasonic and vortex sensor, Ultrasonic Detection information acquisition and processor, intelligent controller, power supply, Real Time Localizer and shaft coupling.Each ingredient is coordinated mutually, and the seabed walking in pipe of finishing device, detection, defective are differentiated and defect location under preset program control.
The present invention can realize that pipeline under the ocean detects in real time, defective real-time analysis and accurately greatly locating under water, supporting with pipeline repairing, form the integral framework of Technique of Subsea Pipeline Inspection, maintenance, can overcome and detect the difficulty that software can't independently be differentiated defective and be difficult to store high capacity detection data, carry out defect of pipeline identification effectively and analyze; Can overcome earth, seawater to the attenuation effect of signal and the shielding effect of bimetallic tube, carry out accurately locating greatly and providing the exact position of defective effectively for pipeline repairing.Device has intelligent walking, autonomous detection, defect rank real-time analysis and differentiation and treats the advantage of repair-deficiency real-time positioning.Subsea oil and gas pipeline detecting of the present invention and location technology can detect pipeline and locate effectively, can be applied under water, the detection of land various pipes, have very high application value.
Description of drawings
Accompanying drawing is a kind of overall assembling synoptic diagram that is used for subsea oil and gas pipeline detecting and locating device.
1 electronic crawl device 2 crawl device controllers 3 high capacity power sources 4 intelligent controllers
5 Real Time Localizer 6 shaft couplings, 7 ultrasound acquisition and processors
8 ultrasonic and vortex sensors
Embodiment
As shown in the figure, the present invention mainly comprises: electronic crawl device 1, crawl device controller 2, high capacity power source 3, intelligent controller 4, Real Time Localizer 5, shaft coupling 6, ultrasound acquisition and processor 7 and ultrasonic and vortex sensor 8 etc., its connected mode is: electronic crawl device 1, crawl device controller 2, high capacity power source 3, intelligent controller 4, Real Time Localizer 5, ultrasound acquisition is associated in by shaft coupling 6 between processor 7 and ultrasonic and vortex sensor 8 each joint, shaft coupling 6 adopts the Hooke articulated structure, there is watertight cable to pass through therebetween, realize that effectively each joint smoothly by the sweep of pipeline, guarantees not relatively rotate between each joint simultaneously; Its method of work comprises the following steps:
1. pipeline is carried out pipeline purging, to guarantee the safety work of pick-up unit;
2. online detected defect information is preestablished on ultrasound acquisition and processor 7, weld seam quantity and mileage information preestablish on pick-up unit;
3. behind the detected pipeline full of liquid medium, pick-up unit is thrown in the into tested pipeline;
4. electronic crawl device 1 drives pick-up unit and walks in pipeline under the commander of intelligent controller 4, walk behind the online detected defective pipeline section, the instruction that intelligent controller 4 issues begin to detect, by ultrasonic and vortex sensor 8 continuous detecting pipelines, by ultrasound acquisition and processor 7 real-time acquisition testing to information, and carry out the real-time analysis contrast with default defect information, i.e. emission information is given intelligent controller 4 after confirming to find defect information to be repaired, intelligent controller 4 is issued the instruction that crawl device controller 2 stops to walk, give the instruction of Real Time Localizer 5 emission ultra-low frequency electromagnetic waves simultaneously, the ultra-low frequency signal receiver of subsea pipeline maintenance unit can be realized accurately greatly locating of defect point by corresponding operation after receiving this signal;
5. after above-mentioned work was finished, pick-up unit continued to creep, and maintenance unit keeps in repair the pipeline defective.
As shown in the figure, electronic crawl device 1 adopts 6 complete main driven in synchronism schemes of motor, can finish the pretension operation of crawl device, finish with the communication of crawl device controller 2, high capacity power source 3 and intelligent controller 4, obtain movement instruction, system state supervision etc., independently finish positioning control and speed stabilizing closed loop adjustment according to the instruction that obtains, finish tasks such as communication failure supervision, battery capacity supervision, motor operating state supervision.
As shown in the figure, ultrasonic and vortex sensor 8 detect the defective of subsea pipeline, crackle etc. by a plurality of ultrasonic probes in the pipeline that is full of oil or water, detect weld seam information by eddy current probe, realize that pick-up unit is at ducted coarse positioning.
As shown in the figure, ultrasound acquisition and processor 7 are preset in defect information the inside in advance on information acquisition and processor, along with the motion of device, constantly are captured in the information of surveying pipeline, and carry out real-time analysis with presupposed information, determine defect rank.
As shown in the figure, intelligent controller 4 is realized the startup of device, is advanced, retreats, stops, and the pattern-recognition of defect information, contrast are determined defective locations, spike and to the control function such as real-time monitoring of crawl device controller 2 and high capacity power source 3.
As shown in the figure, high capacity power source 3 adopts high power lithium battery, and 4 pairs of battery electric quantities of intelligent controller are monitored in real time, to guarantee the reliability of pick-up unit.
As shown in the figure, Real Time Localizer 5 adopts the ultra-low frequency electromagnetic wave tracer technique, is made up of emission coefficient and receiving system, and system adopts technology such as bandpass filtering, auto adapted filtering and multisensor intelligent data information fusion, effectively realizes the spike location.
Claims (11)
1. device and method that is used for subsea oil and gas pipeline detecting and location, this device comprises electronic crawl device (1), crawl device controller (2), high capacity power source (3), intelligent controller (4), Real Time Localizer (5), Ultrasonic Detection information acquisition and processor (7) and ultrasonic and vortex sensor (8); It is characterized in that: electronic crawl device (1), crawl device controller (2), high capacity power source (3), intelligent controller (4), Real Time Localizer (5), ultrasound acquisition are associated in by shaft coupling (6) between processor (7) and ultrasonic and each joint of vortex sensor (8).
2. according to the described shaft coupling of claim 1 (6), it is characterized in that adopting the Hooke articulated structure, have watertight cable to pass through therebetween.
3. according to the device of described subsea oil and gas pipeline detecting of claim 1 and location, it is characterized in that electronic crawl device (1) adopts six independent wheel drive, circumferential 60 degree equidistantly distribute, and support wheel is equipped with spring.
4. according to the device of described subsea oil and gas pipeline detecting of claim 1 and location, it is characterized in that electronic crawl device (1) is equipped with 6 synchronous motors.
5. according to the device of described subsea oil and gas pipeline detecting of claim 1 and location, it is characterized in that ultrasonicly 64 wideband-short pulse ultrasonic probes and 1 difference inside-through type eddy current list probe being housed with vortex sensor (8).
6,, it is characterized in that Ultrasonic Detection information acquisition and processor (7) be furnished with IDE and USB2.0 according to the device of described subsea oil and gas pipeline detecting of claim 1 and location.
7. according to the device of described subsea oil and gas pipeline detecting of claim 1 and location, it is characterized in that Ultrasonic Detection information acquisition and processor (7) are equipped with DSP+FPGA on hardware.
8. device that is used for subsea oil and gas pipeline detecting and location, its method of work comprises the following steps:
1. pipeline is carried out pipeline purging, to guarantee the safety work of pick-up unit
2. online detected defect information is preestablished on ultrasound acquisition and processor (7), weld seam quantity and mileage information preestablish on pick-up unit;
3. behind the detected pipeline full of liquid medium, pick-up unit is thrown in the into tested pipeline;
4. electronic crawl device (1) drives pick-up unit and walks in pipeline under the commander of intelligent controller (4), walk behind the online detected defective pipeline section, the instruction that intelligent controller (4) issue begins to detect, by ultrasonic and vortex sensor (8) continuous detecting pipeline, by ultrasound acquisition and processor (7) in real time acquisition testing to information, and carry out the real-time analysis contrast with default defect information, i.e. emission information is given intelligent controller (4) after confirming to find defect information to be repaired, intelligent controller (4) is issued the instruction that crawl device controller (2) stops to walk, give the instruction of Real Time Localizer (5) emission ultra-low frequency electromagnetic wave simultaneously, the ultra-low frequency signal receiver of subsea pipeline maintenance unit can be realized accurately greatly locating of defect point by corresponding operation after receiving this signal;
5. after above-mentioned work was finished, pick-up unit continued to creep, and maintenance unit keeps in repair the pipeline defective.
9. according to the described method of work of claim 8, wherein ultrasonic and vortex sensor (8) are in the pipeline that is full of oil or water, by a plurality of ultrasonic probes the defective of subsea pipeline, crackle etc. are detected, detect weld seam information, realize that pick-up unit is at ducted coarse positioning by eddy current probe
10. according to the described method of work of claim 8, wherein Real Time Localizer (5) adopts the ultra-low frequency electromagnetic wave tracer technique, is made up of emission coefficient and receiving system, and system adopts technology such as bandpass filtering, auto adapted filtering and multisensor intelligent data information fusion.
11. according to the described method of work of claim 8, wherein Ultrasonic Detection information acquisition and processor (7) adopt arithmetic coding and the HUFFMAN way of combining of encoding, the data storage technology with advanced person's computing machine magnanimity is applied to ultrasonic industry simultaneously.
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| CN101793965A (en) * | 2010-02-08 | 2010-08-04 | 中国石化集团胜利石油管理局地球物理勘探开发公司 | Acoustic positioning system of shallow sea wave detector |
| CN101251588B (en) * | 2008-03-28 | 2011-05-11 | 哈尔滨工业大学 | Mobile carrier omnidistance labelling positioning device within metallic pipe |
| CN102226873A (en) * | 2011-03-29 | 2011-10-26 | 东北大学 | Power supply device and control method for hot oil pipeline leakage detection system |
| CN102435669A (en) * | 2010-09-29 | 2012-05-02 | 中国石油大学(北京) | Supporting roller type pipeline inner inspection device and supporting roller type pipeline inner inspection system |
| CN101672829B (en) * | 2009-09-25 | 2012-07-25 | 国核电站运行服务技术有限公司 | Method for measuring parameter of omega welding seam defect |
| CN102679165A (en) * | 2012-04-27 | 2012-09-19 | 东北大学 | Device and method for positioning inner detector in submarine pipeline |
| CN103675029A (en) * | 2012-09-10 | 2014-03-26 | 韦尔斯特里姆国际有限公司 | Detection apparatus and method |
| CN104535110A (en) * | 2014-12-26 | 2015-04-22 | 中国原子能科学研究院 | Automatic detecting device for heavy water reactor pressure pipe |
| CN105629840A (en) * | 2016-03-15 | 2016-06-01 | 华南理工大学 | A pipeline crawling intelligent detection device with multiple sensors being integrated |
| CN107064305A (en) * | 2017-05-08 | 2017-08-18 | 天津出入境检验检疫局化矿金属材料检测中心 | Portable Pipeline Inner Wall Automatic Crawling Ultrasonic Flaw Detection Scanning Device and Using Method |
| CN107643108A (en) * | 2017-11-07 | 2018-01-30 | 榆林学院 | A kind of petroleum pipeline inwall detection means and its application method |
| CN108683126A (en) * | 2018-06-13 | 2018-10-19 | 仝相宝 | A kind of intelligent repair system based on submarine cable |
| CN109187736A (en) * | 2018-10-10 | 2019-01-11 | 中国石油天然气股份有限公司 | Corrosion detecting system in crude oil conveying pipeline |
| CN109932419A (en) * | 2019-02-11 | 2019-06-25 | 中国石油天然气股份有限公司 | Device and method for detecting corrosion in crude oil conveying pipeline |
| CN110873290A (en) * | 2018-09-04 | 2020-03-10 | 中国石油化工股份有限公司 | Sequential conveying mixed oil control tracking method and system |
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| CN111999594A (en) * | 2020-07-24 | 2020-11-27 | 中国石油天然气股份有限公司 | Cable breakpoint positioner in perforating gun and positioning method thereof |
| CN112154324A (en) * | 2018-04-27 | 2020-12-29 | 雪佛龙美国公司 | Using multimode acoustic signals to detect, monitor and determine the location of changes in metal structures |
| CN112881511A (en) * | 2021-01-19 | 2021-06-01 | 昆明理工大学 | Method for identifying and detecting pipeline girth weld |
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| CN101251588B (en) * | 2008-03-28 | 2011-05-11 | 哈尔滨工业大学 | Mobile carrier omnidistance labelling positioning device within metallic pipe |
| CN101672829B (en) * | 2009-09-25 | 2012-07-25 | 国核电站运行服务技术有限公司 | Method for measuring parameter of omega welding seam defect |
| CN101793965A (en) * | 2010-02-08 | 2010-08-04 | 中国石化集团胜利石油管理局地球物理勘探开发公司 | Acoustic positioning system of shallow sea wave detector |
| CN102435669B (en) * | 2010-09-29 | 2016-03-30 | 中国石油大学(北京) | A kind of support wheel type in-pipeline detection device and system |
| CN102435669A (en) * | 2010-09-29 | 2012-05-02 | 中国石油大学(北京) | Supporting roller type pipeline inner inspection device and supporting roller type pipeline inner inspection system |
| CN102226873A (en) * | 2011-03-29 | 2011-10-26 | 东北大学 | Power supply device and control method for hot oil pipeline leakage detection system |
| CN102226873B (en) * | 2011-03-29 | 2012-10-17 | 东北大学 | Power supply device and control method for hot oil pipeline leakage detection system |
| CN102679165A (en) * | 2012-04-27 | 2012-09-19 | 东北大学 | Device and method for positioning inner detector in submarine pipeline |
| CN102679165B (en) * | 2012-04-27 | 2013-12-18 | 东北大学 | Device and method for positioning inner detector in submarine pipeline |
| US10132714B2 (en) | 2012-09-10 | 2018-11-20 | Ge Oil & Gas Uk Limited | Detection apparatus and method |
| CN103675029B (en) * | 2012-09-10 | 2018-05-08 | 通用电气石油和天然气英国有限公司 | Detection device and method |
| CN103675029A (en) * | 2012-09-10 | 2014-03-26 | 韦尔斯特里姆国际有限公司 | Detection apparatus and method |
| CN104535110A (en) * | 2014-12-26 | 2015-04-22 | 中国原子能科学研究院 | Automatic detecting device for heavy water reactor pressure pipe |
| CN105629840A (en) * | 2016-03-15 | 2016-06-01 | 华南理工大学 | A pipeline crawling intelligent detection device with multiple sensors being integrated |
| CN107064305B (en) * | 2017-05-08 | 2020-05-05 | 天津出入境检验检疫局化矿金属材料检测中心 | Portable automatic crawling ultrasonic flaw detection scanning device for inner wall of pipeline and using method |
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| CN108683126A (en) * | 2018-06-13 | 2018-10-19 | 仝相宝 | A kind of intelligent repair system based on submarine cable |
| CN110873290A (en) * | 2018-09-04 | 2020-03-10 | 中国石油化工股份有限公司 | Sequential conveying mixed oil control tracking method and system |
| CN109187736A (en) * | 2018-10-10 | 2019-01-11 | 中国石油天然气股份有限公司 | Corrosion detecting system in crude oil conveying pipeline |
| CN109932419A (en) * | 2019-02-11 | 2019-06-25 | 中国石油天然气股份有限公司 | Device and method for detecting corrosion in crude oil conveying pipeline |
| CN111637314A (en) * | 2020-06-05 | 2020-09-08 | 安阳中科工程检测有限公司 | A split robot |
| CN111999594B (en) * | 2020-07-24 | 2023-05-26 | 中国石油天然气股份有限公司 | Cable breakpoint positioner in perforating gun and positioning method thereof |
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| CN112881511A (en) * | 2021-01-19 | 2021-06-01 | 昆明理工大学 | Method for identifying and detecting pipeline girth weld |
| CN114047251A (en) * | 2021-10-09 | 2022-02-15 | 清华大学 | Cableless detection method and device for small diameter helical pipe |
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| CN114910006B (en) * | 2022-07-15 | 2022-09-30 | 天津市特种设备监督检验技术研究院(天津市特种设备事故应急调查处理中心) | Pipeline defect length inspection device and inspection method |
| CN115201320A (en) * | 2022-07-15 | 2022-10-18 | 东北大学 | Pipeline internal and external detection robot self-adaptive linkage method based on ELF attenuation field |
| CN114910006A (en) * | 2022-07-15 | 2022-08-16 | 天津市特种设备监督检验技术研究院(天津市特种设备事故应急调查处理中心) | Pipeline defect length inspection device and inspection method |
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