CN103244830B - A kind of for detection system in submarine pipeline and detecting method thereof - Google Patents

Abstract

The invention discloses an internal detection system for a submarine pipeline and a detection method thereof. The system includes: an electronic airtight cabin is arranged inside a support frame, and an annularly distributed support roller array, a mileage wheel, a pressure sensor, a temperature sensor, and a temperature sensor are arranged on the support frame. sensor and sound sensor. The method includes: connecting the internal detection system to the host computer, downloading the signals collected by each sensor, and performing filtering and noise reduction processing on the signals; calculating the mileage traveled by the internal detection system, the axis of the internal detection system and the local geomagnetic field respectively at any time t Obtain the axis direction vector of the internal detection system through the angle between the angle with the local gravitational acceleration; obtain the position of the detection system at any time; judge whether there is leakage in the pipeline by comparing the processed sound signal, pressure signal, and temperature signal, and estimate the leakage The size of the amount. The invention realizes the detection of tiny leaks, improves the detection accuracy, reduces the difficulty and cost of detection, and shortens the detection cycle.

Description

An internal detection system and detection method for submarine pipelines

technical field

The invention relates to the field of pipeline internal detection, in particular to an internal detection system and a detection method for submarine pipelines.

Background technique

While submarine oil and gas pipelines play a very important role in the national economy, shocking pipeline leakage accidents often occur, and with the increase in the number of submarine pipelines, it will become more and more serious. However, many serious submarine pipeline leakage accidents gradually develop from undetectable tiny leaks or inconspicuous early defects. If it is possible to conduct regular inspections and safety assessments of abnormal states such as drifting, bending, exposure, or suspension of submarine pipelines, and timely discover small leaks caused by corrosion, aging, cracks, and deformation, take remedial measures as soon as possible to eliminate potential risks to pipeline operation. Potential safety hazards can effectively prevent the occurrence of large leakage accidents in submarine pipelines, thereby ensuring the normal and safe transportation of oil and gas, and avoiding serious environmental pollution, huge economic losses and adverse social impacts. Due to the late start and special service environment of submarine pipelines, the detection methods are very limited.

Traditional negative pressure wave method, acoustic wave method, real-time model method and other methods can only detect crude oil leakage greater than 1% of the total flow rate and natural gas leakage greater than 5% of the total flow rate, and have not been effectively applied in the leakage detection of submarine pipelines, because of this Large oil and gas spills have been found on the surface of the sea. The water surface monitoring method can only be effective for large leaks in shallow water areas, but is powerless for small leaks, and the detection has a large hysteresis. The segmental sealing method requires the pipeline to be out of service. It can roughly determine the size of the leak, but cannot determine the specific location of the leak. The oil detection element method, the oil-soluble pressure pipe leak detection method, and the leak detection cable method rely on changes in the physical parameters of sensitive devices caused by leaking liquid to determine whether there is a leak, but the leak point cannot be determined, and it can only be detected once and cannot be reused. The acoustic leak detection method detects suspicious leaks by carrying a ROV (remote control underwater robot with a cable) or a diver's hand-held hydrophone, etc., and determines whether the leak occurs and the location of the leak according to the noise emitted by the pipeline leak point, which is difficult to realize the entire pipeline. Leak detection. In short, none of the current leak detection methods can realize the full-pipeline and quasi-real-time detection of tiny leaks.

In terms of position detection of submarine pipelines, a more economical method is to use inertial navigation technology to determine the position of the internal detection system, and then determine the position of the pipeline. However, due to the drift of the inertial measurement element itself, inertial navigation is difficult to meet the needs of long-distance long-distance independent work, and usually requires external auxiliary correction technology (such as the global satellite positioning system GPS) to ensure positioning accuracy. However, there are no marking points along the double-layer pipeline buried in the seabed, and GPS information along the pipeline cannot be obtained. For the detection of the geographical coordinates and service conditions of submarine pipelines, the more effective method is engineering geophysical prospecting, that is, the comprehensive use of underwater acoustic detection methods, such as side-scan sonar, multi-beam depth sounder, shallow stratum profiler, etc., underwater Cameras, or marine magnetometers, etc., complete the investigation of the buried status of pipelines underwater and below the mud surface of the seabed and the geological conditions of the seabed in the routing area. Among them, side-scan sonar and multi-beam depth sounder can be used to investigate the exposed height or span length of exposed pipelines; shallow strata profilers can be used to investigate the buried depth of buried pipelines, the type and thickness of overlying sediments. The detection of submarine pipelines by underwater cameras is highly intuitive, but the visibility is very low. Marine magnetometers can be used to detect the presence of pipelines, but cannot detect the spatial state of pipelines. These methods have their own shortcomings and need comprehensive utilization and joint analysis. This will lead to the problems of complex detection tasks, high difficulty, high cost and long period.

Contents of the invention

The present invention provides an internal detection system and detection method for submarine pipelines. The present invention realizes the detection of tiny leaks, improves the detection accuracy, reduces the difficulty and cost of detection, and shortens the detection cycle. For details, see Described below:

An internal detection system for a submarine pipeline, comprising: a support frame, an electronic airtight cabin is arranged inside the support frame, and an annularly distributed support roller array, a mileage wheel, a pressure sensor, a temperature sensor and The sound sensor, the mileage wheel, the pressure sensor, the temperature sensor and the sound sensor are connected to the electronic airtight cabin through a watertight cable.

The support frame includes: the first roller support disk, the second roller support disk, the first electronic airtight cabin support disk, the second electronic airtight cabin support disk, and also includes: four support disks for fixing support rod,

The first roller support disk and the second roller support disk have the same size, and a hole is provided in the center for passing fluid; the first electronic airtight cabin support disk and the second electronic airtight cabin support The discs have the same size, and a hole is provided in the center for installing the electronic airtight cabin; the support roller array is installed on the first roller support disc and the second roller support disc; the first At least one mileage wheel is installed on the electronic airtight cabin support disk or the second electronic airtight cabin support disk; the pressure sensor, the temperature sensor and the sound sensor are installed on the second roller support disk. sensor.

A power disc is also arranged on the hole of the first roller support disc, and the power disc includes: an aperture seat, a driving ring, a rotary vane, a servo motor and a transmission gear, and the transmission gear and the servo motor The shaft is fixed;

A boss with a hole is provided at the center of the aperture seat for fixing the driving ring, and a rotating hole for the rotating blade is provided around the aperture seat; a round hole is provided at the center of the driving ring for fixing on the On the boss, the driving ring is provided with an external gear for cooperating with the transmission gear, and a bar-shaped hole is also opened on the driving ring; each of the rotating pieces is also provided with a driving lever and a Rotary shaft, the rotary blade rotating hole, the driving rod, the rotating shaft, and the bar-shaped hole have the same number, the driving rod and the rotating shaft pass through the bar-shaped hole, and the rotating shaft and The rotating blades are matched with the rotating holes.

The electronic airtight cabin includes: a container cylinder, a front cover is arranged on the container cylinder, and a data interface is arranged inside the front cover, and the data interface is used for communicating with the upper computer and is sealed by an external plug;

The bottom of the container barrel is designed with a watertight joint for connecting the mileage wheel, the pressure sensor, the temperature sensor and the sound sensor; the inside of the container barrel is provided with a battery, a controller, a data acquisition module, a power supply A management module and a storage module; a data interface board matched with the data interface is arranged inside the container barrel, an acceleration sensor and a magnetic sensor are arranged on the axis of the container barrel, and the acceleration sensor and the magnetic sensor The sensitive axis coincides with the axis of the container barrel.

A control method for an internal detection system of a submarine pipeline, the method comprising the following steps:

(1) Put the pig for multiple times in the pipeline to be inspected, use the pig’s ball to launch the internal detection system into the oil pipeline, collect and store the magnetic field signal, sound signal, and acceleration signal in the pipeline along the way , pressure signal, temperature signal and mileage wheel signal;

(2) The internal detection system is connected to the host computer, downloads the signals collected by each sensor, performs filtering and noise reduction processing on the signals, and obtains the processed signals;

(3) Calculate the mileage L _{t traveled by the internal detection system at any time t} ;

(4) Calculate the included angles between the axis of the internal detection system and the local geomagnetic field and local gravitational acceleration at any time t and γ, obtain the axis direction vector n ₃ of the inner detection system through the included angle;

(5) Obtain the position s _t of the internal detection system at any time according to the mileage L _t traveled by the internal detection system, the axis direction vector n ₃ of the internal detection system, and the initial position s ₀ of the internal detection system;

(6) By comparing the processed sound signal, pressure signal, and temperature signal, it is judged whether there is leakage in the pipeline, and the size of the leakage is estimated.

When calculating any time t, the steps of the mileage L _t traveled by the internal detection system are specifically:

1) From the processed magnetic field signal, find the time T _i at which the peak appears, and this time T _i is used as the time when the internal detection system passes through each weld;

2) Preset time t, search for peak moments T _n and T _n+1 adjacent to time t in all peak moments T _i , so that T _n ≤t<T _n+1 ;

3) Calculate the mileage traveled when the internal detection system passes through the nth weld, that is, at time T _n l _i is the length of the i-th section pipeline recorded in the construction information, that is, the distance between the i-1th weld and the i-th weld;

4) Find the number of pulses in the time period from T _n to t from the processed mileage wheel signal, multiply the mileage represented by each pulse, and obtain the mileage l _t of the internal detection system in the time period from T _n to t;

5) Calculate L _t =L _n +l _t .

The step of obtaining the position _st of the internal detection system at any time according to the mileage L _t traveled by the internal detection system, the axis direction vector n _of the internal detection system and the initial position _s0 of the internal detection system is specifically:

1) The pipeline is divided into many sections according to the sampling period of the pipeline direction, and the corresponding sampling time of each section is counted as T _j , and the displacement of the internal detection system in each period s _j =L _j n _3j ;

Among them, L _j is the mileage of the detection system in the time period from T _j to T _j+1 , and n _3j is the direction vector n ₃ of the detection system passing through the pipe section in the time period from T _j to T _j+1 ;

2) Preset time t, search for sampling time T _m and T _m+1 adjacent to time t in all sampling time T _j , so that T _m ≤t<T _m+1 ;

3) Calculate the displacement of the internal detection system at time t ${\mathrm{the\; s}}_t=\underset{j=1}{\overset{m}{\mathrm{\&Sigma;}}}{\mathrm{the\; s}}_j+\frac{t-T_m}{T_{m+1}-T_m}{\mathrm{the\; s}}_{j+1}+{\mathrm{the\; s}}_0.$

The beneficial effects of the technical solution provided by the invention are:

(1) When the internal detection system is designed and installed, its axis coincides with the sensitive axis of the magnetic sensor, the acceleration sensor and the axis of the pipeline, and it runs smoothly. The spiral movement will not affect the axial components of the magnetic field and gravity field, so that The direction of the pipeline can be calculated by using the geomagnetic shielding principle of the pipeline and the component of the acceleration of gravity;

(2) It can detect the direction of the pipeline and obtain high-precision internal detection mileage, and then can calculate the geographic coordinates of the submarine pipeline without the need for ground marking devices; the internal detection system is not fully sealed with the pipe wall, but installed on the support frame The annular distribution support roller array is in contact with the inner wall of the pipe with a slight pre-tightening force, and the material and structure of the support wheel in contact with the pipe wall are optimized, the running resistance and the friction noise with the pipe wall are very small, so that the small leakage sound signal can be identified ;

(3) Due to the adoption of a new detection principle, the internal detection system has extremely low energy consumption, extremely small volume and weight, requires extremely small thrust for operation, low power consumption, and strong endurance; at the same time, the thrust circle with adjustable aperture is added The thrust plate can be adjusted independently according to the driving speed, so as to ensure the smoothness of operation and the ability to climb slopes and pass through standpipes.

(4) The internal detection system can be used intensively for repeated detection to avoid false detection and missed detection; this system can be applied not only to submarine oil and gas pipelines, but also to land oil and gas pipelines.

(5) The weight of the internal detection system is only a few kilograms to tens of kilograms, the cost is low, the size is small, and the detection cycle is only a few hours. The internal detection system moves freely in the pipeline under the push of the conveying medium, without affecting the normal transportation of the pipeline.

(6) This method realizes the detection of tiny leaks, improves the detection accuracy, reduces the difficulty and cost of detection, and shortens the detection cycle.

Description of drawings

Fig. 1 is a structural schematic diagram of an internal detection system for a submarine pipeline provided by the present invention;

Fig. 2 is the structural representation of the power disk provided by the present invention;

Fig. 3 is the structural representation of the electronic sealed cabin provided by the present invention;

Fig. 4 is the structural representation of the data interface board provided by the present invention;

Fig. 5 is the schematic diagram of the magnetic field signal provided by the present invention at the peak moment;

Fig. 6 is a schematic diagram of sound signal, pressure signal and temperature signal when leakage occurs;

Fig. 7 is a flow chart of the control method of the internal detection system provided by the present invention.

detailed description

In order to make the object, technical solution and advantages of the present invention clearer, the implementation manner of the present invention will be further described in detail below in conjunction with the accompanying drawings.

In order to solve the above problems, there is an urgent need for a practical in-pipeline detection system with stronger pertinence, higher reliability, and more convenient implementation in order to conduct shorter cycle and higher frequency detection of submarine pipelines, so as to grasp the quality of submarine pipelines in time. Abnormal conditions such as leakage, drift, deformation, damage, etc., and early defects such as small leakages are found in the first time, and repair measures are taken as soon as possible to prevent problems before they happen.

An internal detection system for submarine pipelines, as shown in Figure 1, includes: a support frame 2, an electronic airtight cabin 1 is arranged inside the support frame 2, and an annularly distributed support roller array 3, a mileage wheel are arranged on the support frame 2 5. Pressure sensor 6, temperature sensor 7 and sound sensor 8, mileage wheel 5, pressure sensor 6, temperature sensor 7 and sound sensor 8 are connected to electronic airtight cabin 1 by watertight cables. The specifications and dimensions of the electronic airtight chamber 1 are fixed, and a series of products of different specifications can be designed for the support frame 2 according to requirements, so as to adapt to pipe diameters of different specifications.

Wherein, the support frame 2 includes: the first roller support disk 21, the second roller support disk 22, the first electronic airtight cabin support disk 23, the second electronic airtight cabin support disk 24, also includes: for fixing four A support rod 25 supporting the disc,

The size of the first roller support disk 21 and the second roller support disk 22 is consistent, and the center has a hole for passing fluid; the size of the first electronic airtight cabin support disk 23 and the second electronic airtight cabin support disk 24 consistent, and the center is provided with a hole for installing the electronic airtight cabin 1; the first roller support disc 21 and the second roller support disc 22 are equipped with a supporting roller array 3; the first electronic airtight cabin support disc 23 or the second At least one mileage wheel 5 is installed on the supporting disc 24 of the electronic airtight cabin; a pressure sensor 6 , a temperature sensor 7 and a sound sensor 8 are installed on the second roller supporting disc 22 .

During specific implementation, the support rod 25 runs through the four support discs, and the through parts are fastened with bolts.

Wherein, the supporting roller array 3 is composed of several rollers, which are in contact with the inner wall of the pipeline with a slight pre-tightening force. The number of rollers is determined by the pipe diameter. In order to increase the wear resistance of the roller and reduce friction and noise, the surface of the roller is bonded with polyurethane.

In order to adjust the flow through the internal detection system, and then change the thrust, so that the internal detection system runs smoothly, referring to Figure 2, a power disc 4 is provided on the hole of the first roller support disc 21 (the size of the power disc 4 Slightly larger than the size of the hole), the power disc 4 includes: an aperture seat 41, a driving ring 42, a rotary vane 43, a servo motor 44 and a transmission gear 45, and the shaft of the transmission gear 45 and the servo motor 44 is fixedly connected.

A boss 46 with a hole is provided at the center of the aperture seat 41 for fixing the driving ring 42 , and a rotating hole 47 is provided around the aperture seat 41 . A circular hole 51 is provided in the center of the driving ring 42 for fixing on the boss 46 . The driving ring 42 is provided with an external gear for cooperating with the transmission gear 45 . The driving ring 42 is also provided with a bar-shaped hole 50 . Also be provided with a driving lever 48 and a rotating shaft 49 on each rotating blade 43, rotating blade rotating hole 47, driving lever 48, rotating shaft 49, strip hole 50 quantity are identical, driving lever 48, rotating shaft 49 pass through bar Shaped hole 50, the rotating shaft 49 cooperates with the rotary blade rotating hole 47.

Referring to Fig. 3 , the electronic airtight cabin 1 includes: a container cylinder 10, a front cover 9 is arranged on the container cylinder 10, and a data interface 12 is arranged inside the front cover 9, and the data interface 12 is used for communicating with the upper computer, and through the external plug 11 seal;

The bottom of the container barrel 10 is designed with a watertight joint 13 for connecting the mileage wheel 5, the pressure sensor 6, the temperature sensor 7 and the sound sensor 8; the inside of the container barrel 10 is provided with a battery 14, a controller 15, a data acquisition module 16, and a power management module 19 and a storage module 26; the inside of the container cylinder 10 is provided with a data interface board 20 matched with the data interface 12, and an acceleration sensor 17 and a magnetic sensor 18 are arranged on the axis of the container cylinder 10, and the sensitivity of the acceleration sensor 17 and the magnetic sensor 18 The axis coincides with the axis of the cartridge 10 .

During specific implementation, the electronic devices inside the container cylinder 10 are all connected by the data line 27. When the acceleration sensor 17 and the magnetic sensor 18 are all three-component, a sensitive axis is selected as the X sensitive axis, which coincides with the axis of the container cylinder 10. .

Referring to Fig. 4, the data interface board 20 is provided with a toggle switch 28 for powering on each component in the electronic airtight cabin 1, an internal data interface 29 for connecting the controller 15, and an external data interface 30 for connecting The upper computer (after the inspection is completed and recovered) downloads data and charges.

A control method for an internal detection system of a submarine pipeline, see Fig. 7, comprising the following steps:

Before executing the control method, the internal detection system needs to be assembled as follows: the three-component magnetic sensor 17 is installed near the inner axis of the electronic airtight cabin 1, so that its X-sensitive axis coincides with the axis of the electronic airtight cabin; the three-component accelerometer 18 is installed near the inner axis of the electronic airtight cabin 1, so that the X-sensitive axis coincides with the axis of the electronic airtight cabin; the battery 14, the controller 15, the data acquisition module 16, the power management module 19, the data interface board 20, and the storage module 26 are fixed Any position in the electronic airtight cabin 1; fasten the front cover 9 and the container barrel 10; fix the electronic airtight cabin 1 on the support frame 2; fix the sound sensor 8 on the support frame 2, and the data connector at the other end is watertight The joint 13 is connected with the electronic airtight cabin 1; the pressure sensor 6 is fixed on the support frame 2, and the data joint at the other end is connected with one end of the electronic airtight cabin 1 through the watertight joint 13; the temperature sensor 7 is fixed on the support frame 2, and the other end is The data connector at the other end is connected with one end of the electronic airtight cabin 1 through the watertight joint 13; the mileage wheel 5 is fixed on the support frame 2, and the data joint at the other end is connected with one end of the electronic airtight cabin 1 through the watertight joint 13; screw the external plug 11, The data interface 12 is blocked.

101: Put the pig for several times in the pipeline to be inspected, use the pig’s ball to launch the internal detection system into the oil pipeline, collect and store the magnetic field signal, sound signal, acceleration signal, and pressure signal in the pipeline along the way , temperature signal and mileage wheel signal;

The detailed operation of this step is: put the pigs in the pipeline to be inspected several times to ensure that the pigs are recovered normally and intact each time before proceeding to the following steps, otherwise the operation is terminated; unscrew the electronic 1 external plug 11 on the sealed cabin 1; start the electronic control system through the switch at the data interface 12 of the electronic sealed cabin 1; screw the external plug 11 to plug the data interface 12 of the electronic sealed cabin 1; check the power circle Check whether there is any looseness or damage in the assembly of disc 4, support roller array 3, mileage wheel 5, etc. If not, proceed to the following steps, and if so, terminate the operation; launch the internal detection system into the oil pipeline with the pig launcher. The internal detection system advances under the thrust of the oil in the pipeline, collects and stores the magnetic field signal, sound signal, acceleration signal, pressure signal, temperature signal and mileage wheel signal in the pipeline along the way; after the detection is completed, the ball is collected from the end pig Take out the above-mentioned internal detection system in the cylinder. Wherein, the pipe pig is a tool commonly used in the prior art for cleaning the pipe wall and monitoring the internal conditions of the pipe, which will not be described in detail in the embodiment of the present invention.

102: The internal detection system connects the data interface 12 to the host computer, downloads the signals collected by each sensor, performs filtering and noise reduction processing on the signals, and obtains the processed signals;

The detailed operation of this step is: unscrew the external plug 11 at the data interface 12 of the electronic airtight cabin 1, connect the data interface 12 to the host computer, download the recorded data of each sensor, filter and reduce the noise of the signal of each sensor , wherein the steps of filtering and denoising are well known to those skilled in the art, and will not be described in detail in this embodiment of the present invention.

103: Calculate the mileage L _{t traveled by the internal detection system at any time t} ;

The detailed operation of this step is:

1) As shown in Figure 5, find the time T _i at which the peak appears from the processed magnetic field signal, and this time T _i is used as the time when the internal detection system passes through each weld;

2) Preset time t, search for peak moments T _n and T _n+1 adjacent to time t among all peak moments T _i , that is, make T _n ≤t<T _n+1 ;

Wherein, the peak times T _n and T _n+1 correspond to the moments when the internal detection system passes through the nth and n+1th welds, respectively.

3) Calculate the mileage traveled when the internal detection system passes through the nth weld, that is, at time T _n l _i is the length of the i-th section pipeline recorded in the construction information, that is, the distance between the i-1th weld and the i-th weld;

4) Find the number of pulses in the time period from T _n to t from the processed mileage wheel signal, multiply the mileage represented by each pulse, and obtain the mileage l _t of the internal detection system in the time period from T _n to t;

Wherein, the mileage represented by each pulse is determined by the mileage wheel 5 itself, which will not be described in detail here in the embodiment of the present invention.

5) Calculate L _t =L _n +l _t .

104: Calculate the included angles between the axis of the internal detection system and the local geomagnetic field and local gravitational acceleration at any time t and γ, obtain the axis direction vector n ₃ of the inner detection system through the included angle;

The detailed operation of this step is:

1) Calculate the included angles between the axis of the internal detection system and the local geomagnetic field and local gravitational acceleration at any time t according to formulas (1) and (2) and gamma;

Where B _is the total amount of the local geomagnetic field, B _x is the axial magnetic component in the pipeline measured by the magnetic sensor; g is the local gravitational acceleration, and a _x is the component of the local gravitational acceleration measured by the accelerometer in the pipeline axial direction.

B _x = B _ground ·cosφ(1)

a _x = g cos gamma (2)

2) According to formulas (3) and (4), calculate the axis direction vector n ₃ of the detection system at any time t, and n ₃ also represents the direction of the pipeline.

In the geographical coordinate system of the experimental site [see literature: Chen Liang, Application of Inertial Navigation System in Pipeline Inspection, Master Thesis of Shenyang University of Technology, 2009], n ₁ is the direction vector of the plumb line of the experimental site, and n ₂ is The direction vectors of the geomagnetic field at the experimental site, n ₁ and n ₂ are known.

$\mathrm{<span\; class="notranslate">\; cos</span>}\mathrm{<span\; class="notranslate">\; \&phi;</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; cos</span>}<span\; class="notranslate">\; <</span>{\mathrm{<span\; class="notranslate">\; no</span>}}_{\mathrm{<span\; class="notranslate">\; 3</span>}}<span\; class="notranslate">\; ,</span>{\mathrm{<span\; class="notranslate">\; no</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; ></span><span\; class="notranslate">\; =</span>\frac{{\mathrm{<span\; class="notranslate">\; no</span>}}_{\mathrm{<span\; class="notranslate">\; 3</span>}}<span\; class="notranslate">\; \&Center\; Dot;</span>{\mathrm{<span\; class="notranslate">\; no</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}}{{\mathrm{<span\; class="notranslate">\; no</span>}}_{\mathrm{<span\; class="notranslate">\; 3</span>}}}<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 3</span>}<span\; class="notranslate">\; )</span>$

$\mathrm{<span\; class="notranslate">\; cos</span>}\mathrm{<span\; class="notranslate">\; \&gamma;</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; cos</span>}<span\; class="notranslate">\; <</span>{\mathrm{<span\; class="notranslate">\; no</span>}}_{\mathrm{<span\; class="notranslate">\; 3</span>}}<span\; class="notranslate">\; ,</span>{\mathrm{<span\; class="notranslate">\; no</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; ></span><span\; class="notranslate">\; =</span>\frac{{\mathrm{<span\; class="notranslate">\; no</span>}}_{\mathrm{<span\; class="notranslate">\; 3</span>}}<span\; class="notranslate">\; \&Center\; Dot;</span>{\mathrm{<span\; class="notranslate">\; no</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}}{{\mathrm{<span\; class="notranslate">\; no</span>}}_{\mathrm{<span\; class="notranslate">\; 3</span>}}}<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 4</span>}<span\; class="notranslate">\; )</span>$

105: Obtain the position s _t of the internal detection system at any time according to the mileage L _t traveled by the internal detection system, the axis direction vector n ₃ of the internal detection system, and the initial position s ₀ of the internal detection system;

The detailed operation of this step is:

1) The pipeline is divided into many sections according to the sampling period of the pipeline direction, and the corresponding sampling time of each section is counted as T _j , and the displacement of the internal detection system in each period s _j =L _j n _3j ;

Among them, L _j is the mileage of the detection system in the time period from T _j to T _j+1 , and n _3j is the direction vector n ₃ of the detection system passing through the pipe section in the time period from T _j to T _j+1 .

2) Preset time t, search for sampling time T _m and T _m+1 adjacent to time t in all sampling time T _j , that is, make T _m ≤t<T _m+1 ;

3) Calculate the displacement of the internal detection system at time t ${\mathrm{the\; s}}_t=\underset{j=1}{\overset{m}{\mathrm{\&Sigma;}}}{\mathrm{the\; s}}_j+\frac{t-T_m}{T_{m+1}-T_m}{\mathrm{the\; s}}_{j+1}+{\mathrm{the\; s}}_0,$ s ₀ is the initial position of the internal detection system, that is, the starting position of the pipeline, which is known; s _j+1 =L _j+1 ·n _{3 (j+1)} .

106: By comparing the processed sound signal, pressure signal, and temperature signal, determine whether there is leakage in the pipeline, and estimate the size of the leakage.

As shown in Figure 6, when a leak occurs, the sound signal, pressure signal, and temperature signal will be significantly different from the rest of the time (there are large changes in the amplitude of the three signals, and the threshold of the change is determined according to the needs of actual applications) , and the greater the leakage, the greater the difference in amplitude. Through the observation of technicians, when the amplitude of the sound signal, pressure signal and temperature signal is abnormal, it can be known that there is a leak in the pipeline, and the amount of leakage can be roughly estimated.

In the specific implementation, multiple internal detection systems are used to detect the entire pipeline at the same time, and the pipeline direction, internal detection system mileage, and internal detection system (pipeline) position at each moment detected by each internal detection system are compared, and then summed and averaged , to improve the detection accuracy of pipeline direction, internal detection system mileage, and internal detection system (pipeline) position. Combine the leak detection results of each internal detection system to finally determine whether there is a leak in the pipeline, and estimate the leak location and leak volume. For example: there are 10 internal detection systems testing at the same time, and when at least 6 internal detection systems detect leakage at the same position of the pipeline, it indicates that a leak has occurred at that position.

Those skilled in the art can understand that the accompanying drawing is only a schematic diagram of a preferred embodiment, and the serial numbers of the above-mentioned embodiments of the present invention are for description only, and do not represent the advantages and disadvantages of the embodiments.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included in the protection of the present invention. within range.

Claims (6)

1. one kind for detection system in submarine pipeline, comprise: supporting frame, it is characterized in that, support frame as described above inside is provided with electronic seal cabin, support frame as described above is provided with the support roller array of annular spread, mileage wheel, pressure transducer, temperature transducer and sound transducer, described mileage wheel, described pressure transducer, described temperature transducer are connected described electronic seal cabin with described sound transducer by watertight cable;

Wherein, support frame as described above comprises: the first roller supporting disk, the second roller supporting disk, the first electronic seal cabin support disk, the second electronic seal cabin support disk, also comprise: for fixing the strut of the first roller supporting disk, the second roller supporting disk, the first electronic seal cabin support disk, the second electronic seal cabin support disk

The consistent size of described first roller supporting disk and described second roller supporting disk, and the center of described first roller supporting disk and described second roller supporting disk is offered porose for passing through fluid; The consistent size of described first electronic seal cabin support disk and described second electronic seal cabin support disk, and the center of described first electronic seal cabin support disk and described second electronic seal cabin support disk is offered porose for installing described electronic seal cabin; Described first roller supporting disk and described second roller supporting disk are provided with described support roller array; Described first electronic seal cabin support disk or described second electronic seal cabin support disk at least install a described mileage wheel; Described second roller supporting disk is provided with described pressure transducer, described temperature transducer and described sound transducer.

2. according to claim 1 a kind of for detection system in submarine pipeline, it is characterized in that, the hole of described first roller supporting disk is also provided with power disk, described power disk comprises: aperture seat, driving annulus, blade, actuating motor and transmission gear, and the axle of described transmission gear and described actuating motor connects firmly;

Described aperture seat center is provided with boss with holes, for fixing described driving annulus, is provided with blade rotating hole around described aperture seat; Described driving circle Ring current distribution offers circular hole, and for being fixed on described boss, described driving annulus is provided with external gear for coordinating described transmission gear, and described driving annulus also offers bar hole; Each described blade is also provided with a driving lever and a running shaft, described blade rotating hole, described driving lever, described running shaft, described bar hole quantity are identical, described driving lever, described running shaft are through described bar hole, and described running shaft coordinates with described blade rotating hole.

3. according to claim 1 a kind of for detection system in submarine pipeline, it is characterized in that, described electronic seal cabin comprises: container cartridge, described container cartridge is provided with protecgulum, described protecgulum inside is provided with data-interface, described data-interface is used for and upper machine communication, and is sealed by outside plug;

The bottom design of described container cartridge has water-joint for connecting described mileage wheel, described pressure transducer, described temperature transducer and described sound transducer; Described container cartridge inside is provided with battery, controller, data acquisition module, power management module and memory module; Described container cartridge inside is provided with the data interface board matched with described data-interface, the axis of described container cartridge is provided with acceleration transducer and magnetic quantity transducer, the sensitive axes of described acceleration transducer and described magnetic quantity transducer and the dead in line of described container cartridge.

4., for a kind of controlling method for detection system in submarine pipeline described in claim arbitrary in claims 1 to 3, it is characterized in that, said method comprising the steps of:

(1) in the oil transport pipeline that preparation is patrolled and examined, wiper pigging is repeatedly thrown in, utilize wiper service cylinder to be transmitted in oil transport pipeline by described interior detection system, gather on the way and store oil transport pipeline internal magnetic field signal, sound signal, acceleration signal, pressure signal, temperature signal and mileage wheel signal;

(2) described interior detection system is connected to upper-position unit, downloads the signal that each sensor gathers, carries out filtering noise reduction process to signal, obtains the rear signal of process;

(3) when calculating any time t, the mileage L that described interior detection system runs over _t;

(4) when calculating any time t, the axis of described interior detection system respectively with the angle of local terrestrial magnetic field and local gravitational acceleration and γ, detection system axial direction vector n in being obtained by angle ₃;

(5) according to the mileage L that described interior detection system runs over _t, described interior detection system axial direction vector n ₃with interior detection system initial position s ₀obtain detection system position s in any time _t;

(6) by sound signal, pressure signal, the temperature signal after contrast process, judge whether oil transport pipeline exists leakage, and estimate the size of leakage rate.

5. controlling method according to claim 4, is characterized in that, during described calculating any time t, and the mileage L that described interior detection system runs over _tstep be specially:

1) from the rear field signal of process, the moment T occurring spike is searched _i, described moment T _ias the moment of described interior detection system through each weld seam;

2) predetermined time t, at all Rush Hour T _iin search the Rush Hour T adjacent with moment t _nand T _n+1, make T _n≤ t < T _n+1;

3) described interior detection system is calculated through the n-th weld seam, i.e. T _nduring the moment, the mileage run over l _ifor the length of the i-th joint oil transport pipeline of construction information record, i.e. the distance of the i-th-1 weld seam and i-th weld seam;

4) from process rear mileage wheel signal, T is searched _nthe number of pulse within the t time period, is multiplied by the mileage representated by each pulse, obtains described interior detection system at T _nto the mileage l in the t time period _t;

5) L is calculated _t=L _n+ l _t.

6. controlling method according to claim 4, is characterized in that, the described mileage L run over according to interior detection system _t, interior detection system axial direction vector n ₃with interior detection system initial position s ₀obtain detection system position s in any time _tstep be specially:

1) according to the sampling period of oil transport pipeline trend, oil transport pipeline is separated into many sections, T is counted in every section of corresponding sampling instant _j, the displacement s of described interior detection system within each cycle _j=L _jn _3j;

Wherein, L _jfor T _jto T _j+1the mileage of detection system in time period, n _3jfor T _jto T _j+1in time period, detection system is through the direction vector n of pipeline section ₃;

2) predetermined time t, at all sampling instant T _jin search the sampling instant T adjacent with moment t _mand T _m+1, make T _m≤ t < T _m+1;

3) displacement of described interior detection system in t is calculated $s_t=\underset{j=1}{\overset{m}{\mathrm{\&Sigma;}}}{s}_j+\frac{t-T_m}{T_{m+1}-T_m}{s}_{j+1}+s_0.$