CN104237917B - Remote real-time tracking system and method for in-pipeline detector - Google Patents

Abstract

The invention discloses a remote real-time tracking system of a detector in a pipeline, which comprises: the device comprises a plurality of tracking devices, a Beidou system receiver and a remote monitoring terminal; the tracking device is arranged along the pipeline, the Beidou system receiver is used for receiving messages sent by the tracking device through a Beidou system satellite, the Beidou system receiver is connected with the remote monitoring terminal through wired or wireless communication, and the remote monitoring terminal is used for reading the messages received by the Beidou system receiver and tracking the detector in the pipeline. The invention also discloses a remote real-time tracking method for the in-pipeline detector. The invention can realize all-weather, all-area and high-precision tracking for the detection in the long oil and gas transmission pipeline.

Description

A remote real-time tracking system and method for a detector in a pipeline

technical field

The invention relates to a remote real-time tracking system and method for a detector in a pipeline, and relates to the field of pigging and detection of an oil and gas pipeline system.

Background technique

Long-distance oil and gas pipelines often have various abnormalities and failures due to reasons such as manufacturing process, materials, construction, embedment environment, conveying medium, and operating conditions. If they are not discovered and repaired in time, oil/gas leakage will occur, which is harmful to the environment and human Threat to life and property safety. In order to reduce the occurrence of pipeline accidents, oil and gas pipeline companies often use various inspection and evaluation methods to analyze the defects of pipelines. Among them, in-line inspection (ILI) is a commonly used detection method. In-pipeline detection technology is to load various non-destructive testing equipment on the pipeline pig, and operate in the pipeline through the pressure difference between the front and rear of the conveying medium to achieve the purpose of detecting pipeline defects. Due to the operation in the shielded environment inside the pipeline, the internal detector (pig) cannot communicate with the outside world in real time, and the tracking device on the ground must be used to track the internal detector on the one hand, and on the other hand, as a reference for pipeline feature positioning. Corrects piping feature locations.

The current pig tracking device must be retrieved from the field after completing the tracking task before analyzing whether the tracking device is effectively triggered, whether it is working normally, whether there is an error in operation, etc. It cannot analyze the status of the device in real time during the detection process, and cannot detect failures in time The actual tracking distance increases, which reduces the accuracy of pipeline feature positioning.

Moreover, the pig may be blocked. If it is not detected in time, it will cause the danger of pipeline pressure and leakage. Especially for high-waxy crude oil pipelines, pig blockage will affect the normal operation of the pipeline. At present, the main solution is to judge whether the pig passes through according to the predetermined passing time of the pig at each tracking position, and it is necessary to observe the signal of the tracking device at all times. However, long-distance oil and gas pipelines pass through mostly uninhabited areas with complex environments. This not only requires a lot of manpower, but also the harsh working environment cannot guarantee personal safety.

On the other hand, when the tracking device is turned on and in a working state, it is required not to be moved. However, in the field environment, there are inevitably other situations such as mobile devices of other personnel and false movement of tracking personnel. In this way,

The recorded data will be mixed with excessive and useless signals, if not eliminated in time, it will cause serious positioning errors.

In addition, tracking personnel need to manually fill in some tracking records, such as tracking device number, stake number and other information, and data analysts use this information as reference information for pipeline feature location. It is inevitable that there will be errors in personnel records, resulting in errors in the positioning of pipeline features.

BeiDou Navigation Satellite System ("BDS") is a global satellite positioning and communication system independently developed by China. The system consists of a space terminal, a ground terminal and a user terminal. It can provide users with high-precision and high-reliability positioning, navigation, and timing services around the clock and around the world, and has the function of terminal two-way message communication. This feature of all-weather, global coverage, and two-way message communication provides a reliable platform for pig tracking device positioning and remote tracking management.

Contents of the invention

The purpose of the present invention is to provide a remote real-time tracking system for detectors in pipelines, which can realize all-weather, all-area and high-precision tracking for the detection in long-distance oil and gas pipelines.

Another object of the present invention is to provide a tracking method implemented by the above tracking system.

The purpose of the present invention is achieved through the following technical solutions:

A remote real-time tracking system for a detector in a pipeline, comprising: several tracking devices, a Beidou system receiver and a remote monitoring terminal; several tracking devices are arranged along the pipeline, and the Beidou system receiver is used to receive the The tracking device sends a message through the Beidou system satellite, the Beidou system receiver is connected to the remote monitoring terminal through wired or wireless communication, and the remote monitoring terminal is used to read the message received by the Beidou system receiver , to track the detector in the pipeline;

Wherein, the tracking device includes:

The tracking unit is used to detect the passing signal of the detector in the pipeline, and the passing signal is the magnetic field change signal when the detector in the pipeline passes or the signal of the transmitter carried by the detector in the pipeline;

The Beidou system unit is used to receive the data of the Beidou system satellites, and send messages to the Beidou system receiver through the Beidou system satellites, and at the same time provide precise timing for the tracking unit to ensure that all the tracking devices and the pipelines The clocks of the internal detectors are kept synchronized;

The processing and storage unit is used to collect the passing signal of the detector in the pipeline detected by the tracking unit, convert it into a digital signal through analog/digital conversion, and store it according to the specified data structure, and store the satellites collected by the Beidou system unit at the same time data.

Further, the tracking system includes:

A mobile PC device, the mobile PC device is connected to the Beidou system unit through wired or wireless communication, and is used for initial setting of the Beidou system unit.

Further, the remote monitoring terminal uses a GIS interface to display and monitor the status of the tracking device.

A remote real-time tracking method for a detector in a pipeline, comprising the steps of:

Place several tracking devices at predetermined intervals along the pipeline;

run the inline detector;

The tracking unit in the tracking device detects the passing signal of the detector in the pipeline;

The processing and storage unit in the tracking device collects the passing signal of the detector in the pipeline detected by the tracking unit, converts it into a digital signal through analog/digital conversion, and stores it according to a specified data structure;

The Beidou system unit in the tracking device sends a message to the Beidou system receiver at the remote end through the Beidou system satellite through the signal of the in-line detector collected by the processing and storage unit;

Reading the message received by the Beidou system receiver through the remote monitoring terminal, monitoring the position of the tracking device, and the passing signal of the detector in the pipeline;

The data obtained by the remote monitoring terminal is processed to calculate the exact geographical coordinates of the tracking device and the exact time when the in-line detector passes.

Further, placing several tracking devices at predetermined intervals along the pipeline includes: placing the tracking devices at intervals of 1-2 km along the pipeline; The tracking device is convenient for accurately matching the pipeline survey map with the national topographic map.

Further, before arranging several tracking devices at predetermined intervals along the pipeline, the following step is also included: initially setting the Beidou system unit of each tracking device with a mobile PC device.

Further, the following steps are also included before running the detector in the pipeline: tracking the pipeline pig with a signal sending device through several tracking devices, and analyzing whether the surrounding environment of the pipeline and the buried depth of the pipeline will affect the pipeline pig. The triggering of the tracking device determines whether the placement position of the tracking device is reasonable; if it is judged that the placement position of the tracking device is unreasonable, then the placement position of the tracking device is adjusted in time to ensure that each tracking device Effectiveness: if it is judged that the placement of the tracking device is reasonable, then start to run the in-pipe detector.

Further, the method of sending the message in the message sent by the Beidou system unit in the tracking device to the Beidou system receiver at the remote end includes: sending the message for the first time, after the tracking device is turned on, and the Beidou system satellite signal is stable, send the message to The state of the first message sent by the Beidou system receiver is 0; when the sending is triggered, the tracking device is triggered, and the processing and storage unit in the tracking device stores the signal as a message sending sequence, and sequentially sends the message to all The Beidou system receiver sends a message, the state is 1; it is sent regularly, before the tracking device is triggered or after the trigger sending is completed, according to the set time interval, the Beidou system receiver continues to send the message, and the state is 0 , which are used to check the status and location of the tracking device.

Further, reading the message received by the Beidou system receiver through the remote monitoring terminal, and monitoring the passing signal of the detector in the pipeline specifically includes the following steps: the initial speed of the detector in the pipeline is set as the medium output The station rate, that is, the outbound metering rate, the estimated time to reach the first tracking device is the ratio of the distance to the initial rate; due to the influence of pipe wall friction, pipe accessories and terrain, the actual arrival time is slightly different from the estimated value, Set a difference threshold, exceeding this threshold, indicating that there is a possibility of internal detector jamming, and emergency measures should be taken; according to the arrival time of the detector in the pipeline and the distance between the tracking devices, the velocity of the detector in the pipeline is calculated to estimate the following A tracking device arrives in time, and so on, until the end of the inline detector run.

Compared with the prior art, the present invention has the following advantages and beneficial effects:

1. Utilizing the global coverage and message communication characteristics of the BDS satellite system, the remote real-time tracking of the detector in the pipeline is realized, which gets rid of the dependence on other wireless communication resources, and the signal is not limited by time/space and has a high degree of integration;

2. Before running the detector in the pipeline, place the tracking device in advance, and it will work automatically without human intervention, remotely view the passing signal of the detector in the pipeline in real time, track the position of the detector in the pipeline, and reduce the risk of tracking personnel in dangerous areas Working hours in harsh environments reduce the chance of accidental triggering by human factors and ensure the reliability of the tracking device;

3. Accurately predict the passing time of the detector in the pipeline, and make timely decisions on whether the detector in the pipeline is blocked, which improves the emergency response speed and reduces the probability of accidents.

Description of drawings

Fig. 1 is a schematic diagram of a remote real-time tracking system for a detector in a pipeline provided by an embodiment of the present invention;

FIG. 2 is a functional block diagram of a tracking device provided by an embodiment of the present invention;

Fig. 3 is a flow chart of a remote real-time tracking method for an in-line detector provided by an embodiment of the present invention;

Fig. 4 is an estimation diagram of passage time of an in-line detector provided by an embodiment of the present invention.

detailed description

The present invention will be further described in detail below in conjunction with the embodiments and the accompanying drawings, but the embodiments of the present invention are not limited thereto.

Example 1:

As shown in Figure 1 and Figure 2, a remote real-time tracking system for detectors in pipelines includes: several tracking devices, a Beidou system receiver and a remote monitoring terminal; several tracking devices are arranged along the pipeline, so The Beidou system receiver is used to receive the message sent by the tracking device through the Beidou system satellite, the Beidou system receiver is connected to the remote monitoring terminal through wired or wireless communication, and the remote monitoring terminal is used to read the According to the message received by the Beidou system receiver, the detector in the pipeline is tracked;

Wherein, the tracking device has a unique number, which is solidified in ROM to ensure that the tracking device corresponds to the number one by one. The tracking device specifically includes:

The tracking unit is used to detect the passing signal of the detector in the pipeline, and the passing signal is the magnetic field change signal when the detector in the pipeline passes or the signal of the transmitter carried by the detector in the pipeline;

The Beidou system unit is used to receive the data of the Beidou system satellites, and send messages to the Beidou system receiver through the Beidou system satellites, and at the same time provide precise timing for the tracking unit to ensure that all the tracking devices and the pipelines The clocks of the internal detectors are kept synchronized;

The processing and storage unit is used to collect the passing signal of the detector in the pipeline detected by the tracking unit, convert it into a digital signal through analog/digital conversion, and store it according to the specified data structure, and store the satellites collected by the Beidou system unit at the same time data.

In this embodiment, the tracking system further includes: a mobile PC device, which is connected to the Beidou system unit through wired or wireless communication, and is used for initial setting of the Beidou system unit.

In this embodiment, the remote monitoring terminal uses a GIS interface to display and monitor the status of the tracking device.

Example 2:

As shown in Figure 3, this embodiment provides a remote real-time tracking method for the detector in the pipeline:

S101, placing several tracking devices at predetermined intervals along the pipeline;

S102, running the in-line detector;

S103, the tracking unit in the tracking device detects the passing signal of the detector in the pipeline;

S104, the processing and storage unit in the tracking device collects the passing signal of the detector in the pipeline detected by the tracking unit, converts it into a digital signal through analog/digital conversion, and stores it according to a specified data structure;

S105, the Beidou system unit in the tracking device sends a message to the Beidou system receiver at the remote end through the Beidou system satellite through the signal of the in-line detector collected by the processing and storage unit;

S106, read the message received by the Beidou system receiver through the remote monitoring terminal, monitor the position of the tracking device, and the passing signal of the detector in the pipeline;

S107, process the data obtained by the remote monitoring terminal, and calculate the exact geographical coordinates of the tracking device and the exact time when the in-pipeline detector passes.

In this embodiment, the step S101 specifically includes: placing the tracking device every 1-2 km along the pipeline; placing the tracking device at a national surveying and mapping triangle point or other known surveying and mapping points near the pipeline, so as to facilitate Pipeline mapping is accurately matched to national topographic maps.

In this embodiment, before the step S101, the following steps are also included: use a mobile PC device to initially set the Beidou system unit of each tracking device, and the setting content includes the Beidou system at the remote end to which the message is sent. Receiver number, and message sending time interval, etc.

In this embodiment, the following steps are also included before running the detector in the pipeline: tracking the pipeline pig with a signal sending device, analyzing whether the surrounding environment of the pipeline and the buried depth of the pipeline will affect the triggering of the tracking device, Judging whether the placement of the tracking device is reasonable; if it is judged that the placement of the tracking device is unreasonable, then adjust the placement of the tracking device in time to ensure the effectiveness of each tracking device; if judged If the location of the tracking device is found to be reasonable, then the in-line detector is started to run.

Specifically, before running the detector in the pipeline, the pipeline pig will be run several times to remove the debris in the pipeline and judge the passing performance of the pipeline to prevent damage to the detector in the pipeline; , may cause the tracking device to fail to trigger. Before the official operation of the detector in the pipeline, place the tracking device in a reasonable position, that is, the effective trigger position, to ensure that as many tracking devices as possible can be effectively triggered, and to ensure that the later data processing is accurate to the pipeline characteristics. Positioning accuracy.

In this embodiment, in the step S105, the method of sending the message in the message sent by the Beidou system unit in the tracking device to the Beidou system receiver at the remote end includes: the first sending is when the tracking device is turned on, and After the Beidou system satellite signal is stable, the state of the first message sent to the Beidou system receiver is 0; the sending is triggered, the tracking device is triggered, and the processing and storage unit in the tracking device stores the signal as Message sending sequence, sending messages to the Beidou system receiver in turn, the state is 1; timing sending, before the tracking device triggers or after the trigger sending is completed, according to the set time interval, send messages to the Beidou system receiver Continuously send messages with status 0, this type of message is used to check the status and location of the tracking device.

In this embodiment, in the step S105, the content of the sending message includes: tracking device number, time, coordinates, status, and signal, so as to ensure the accuracy and consistency of the recorded information.

In this embodiment, in the step S106, reading the message received by the Beidou system receiver through the remote monitoring terminal, and monitoring the passing signal of the detector in the pipeline specifically includes the following steps: the detector in the pipeline The initial rate is set as the outbound rate of the medium, that is, the outbound metering rate, and the estimated time to reach the first tracking device is the ratio of the distance to the initial rate; affected by pipe wall friction, pipeline accessories, and terrain, the actual arrival time and If the estimated value is slightly different, set a difference threshold. If this threshold is exceeded, it indicates that there is a possibility of jamming the internal detector, and emergency measures should be taken; according to the arrival time of the internal detector and the distance between the tracking devices, calculate rate, so as to estimate the arrival time of the next tracking device, and so on until the end of the operation of the in-line detector.

In this embodiment, the detector in the pipeline is estimated by time and speed, as shown in Figure 4, the formula is as follows:

t ₀ =0

t _{1 estimate} = S ₁ /v ₀

t _{2 estimate} = S ₂ /v _{2 estimate} + t _{1 actual}

Among them, t ₀ is the starting time, v ₀ is the measured medium flow rate, S ₁ and S ₂ are the distance between the tracking devices, t ₁ is the estimated triggering time of the first tracking device after leaving the station, t _{1 is} the actual Trigger time, due to the influence of pipe wall resistance, pipe accessories and elevation, t _{1 is estimated} < t _{1 is real} , v _{1 is estimated} to be the estimated velocity of the journey through S ₁ , less than v ₀ , v _{2 is estimated} to be the estimated velocity of the journey through S ₂ , t _{2 is estimated} to be the estimated time to reach the next tracking device. If the estimated passing time exceeds a certain period of time and the tracking device is still not triggered, it can be considered that the detector may be jammed, and emergency measures should be taken.

To sum up, when using the present invention to perform internal detection on a section of pipeline, the on-site staff first perform initial settings on each tracking device, and press 1 right above the pipeline before running the pipeline pig with a signal sending device. ~2km interval, and a pig tracking device is placed on the national triangle control point. The tracking device sends a message to the BDS receiver at the remote end according to the specified message sending method, and records the received BDS satellite signal at the same time. At the remote end, through monitoring Whether the tracking device is effectively triggered, judge the rationality of the placement position, and make appropriate adjustments to unreasonable positions until all tracking devices are effectively triggered. Then, when the internal detector is running, by comparing the actual trigger time and the estimated trigger time of the tracking device, it is judged whether the detector jamming may occur. After the operation is over, all data are post-processed to obtain an accurate placement Coordinates and exact inner detector transit time.

The present invention has the following advantages and beneficial effects:

1. Utilizing the global coverage and message communication characteristics of the BDS satellite system, the remote real-time tracking of the detector in the pipeline is realized, which gets rid of the dependence on other wireless communication resources, and the signal is not limited by time/space and has a high degree of integration;

2. Before running the detector in the pipeline, place the tracking device in advance, and it will work automatically without human intervention, remotely view the passing signal of the detector in the pipeline in real time, track the position of the detector in the pipeline, and reduce the risk of tracking personnel in dangerous areas Working hours in harsh environments reduce the chance of accidental triggering by human factors and ensure the reliability of the tracking device;

3. Accurately predict the passing time of the detector in the pipeline, and make timely decisions on whether the detector in the pipeline is blocked, which improves the emergency response speed and reduces the probability of accidents.

The above-mentioned embodiment is a preferred embodiment of the present invention, but the embodiment of the present invention is not limited by the above-mentioned embodiment, and any other changes, modifications, substitutions, combinations, Simplifications should be equivalent replacement methods, and all are included in the protection scope of the present invention.

Claims (9)

1. A remote real-time tracking system for a detector in a pipeline, comprising: several tracking devices, a Beidou system receiver and a remote monitoring terminal; several of the tracking devices are arranged along the pipeline, and the Beidou system The receiver is used to receive the message sent by the tracking device through the Beidou system satellite, the Beidou system receiver is connected to the remote monitoring terminal through wired or wireless communication, and the remote monitoring terminal is used to read the Beidou system The message received by the receiver tracks the detector in the pipeline; Wherein, the tracking device includes: The tracking unit is used to detect the passing signal of the detector in the pipeline, and the passing signal is the magnetic field change signal when the detector in the pipeline passes or the signal of the transmitter carried by the detector in the pipeline; The Beidou system unit is used to receive the data of the Beidou system satellites, and send messages to the Beidou system receiver through the Beidou system satellites, and at the same time provide precise timing for the tracking unit to ensure that all the tracking devices and the pipelines The clocks of the internal detectors are kept synchronized; The processing and storage unit is used to collect the passing signal of the detector in the pipeline detected by the tracking unit, convert it into a digital signal through analog/digital conversion, and store it according to the specified data structure, and store the satellites collected by the Beidou system unit at the same time data. 2. The remote real-time tracking system for inline detectors according to claim 1, wherein the tracking system comprises: A mobile PC device, the mobile PC device is connected to the Beidou system unit through wired or wireless communication, and is used for initial setting of the Beidou system unit. 3. The remote real-time tracking system for in-line detectors according to claim 1, wherein the remote monitoring terminal uses a GIS interface to display and monitor the status of the tracking device. 4. A remote real-time tracking method for a detector in a pipeline, comprising the steps of: Place several tracking devices at predetermined intervals along the pipeline; run the inline detector; The tracking unit in the tracking device detects the passing signal of the detector in the pipeline, and the passing signal is the magnetic field change signal when the detector in the pipeline passes or the signal of the transmitter carried by the detector in the pipeline; The processing and storage unit in the tracking device collects the passing signal of the detector in the pipeline detected by the tracking unit, converts it into a digital signal through analog/digital conversion, and stores it according to a specified data structure; The Beidou system unit in the tracking device sends a message to the Beidou system receiver at the remote end through the Beidou system satellite through the signal of the in-line detector collected by the processing and storage unit; Reading the message received by the Beidou system receiver through the remote monitoring terminal, monitoring the position of the tracking device, and the passing signal of the detector in the pipeline; The data obtained by the remote monitoring terminal is processed to calculate the exact geographical coordinates of the tracking device and the exact time when the in-line detector passes. 5. The method for remote real-time tracking of detectors in pipelines according to claim 4, characterized in that placing several tracking devices along the pipeline at predetermined intervals comprises: placing the tracking devices along the pipeline at intervals of 1 to 2 km. Tracking device; the tracking device is placed on the national surveying triangle point or other surveying and mapping known points near the pipeline, so as to facilitate accurate matching of the pipeline surveying map with the national topographic map. 6. The method for remote real-time tracking of detectors in pipelines according to claim 4, characterized in that before placing several tracking devices at predetermined intervals along the pipeline, the method further comprises the following steps: The Beidou system unit of the tracking device of the station is initially set. 7. The remote real-time tracking method of the in-pipeline detector according to claim 4, characterized in that, before running the in-pipeline detector, the following steps are also included: pairing the pipeline with the signal sending device through several tracking devices The pig performs tracking, analyzes whether the surrounding environment of the pipeline and the buried depth of the pipeline will affect the triggering of the tracking device, and judges whether the placement of the tracking device is reasonable; if it is judged that the placement of the tracking device is unreasonable, then timely Adjust the placement position of the tracking device to ensure the effectiveness of each tracking device; if it is judged that the placement position of the tracking device is reasonable, then start to run the in-line detector. 8. The remote real-time tracking method for an in-pipeline detector according to claim 4, characterized in that, the message sending method in the message sent by the Beidou system unit in the tracking device to the Beidou system receiver at the remote end comprises: first Sending is the first message sent to the Beidou system receiver after the tracking device is turned on and the Beidou system satellite signal is stable, and the status is 0; trigger sending, the tracking device is triggered, and the tracking The processing and storage unit in the device stores the signal as a message sending sequence, and sends the message to the Beidou system receiver in turn, and the state is 1; it is sent regularly, before the tracking device triggers or after the trigger sending is completed, according to the setting At regular time intervals, continuously send messages to the Beidou system receiver, the status is 0, and such messages are used to check the status and location of the tracking device. 9. The remote real-time tracking method for the in-pipeline detector according to claim 4, wherein the remote monitoring terminal reads the message received by the Beidou system receiver and monitors the in-pipeline detector Passing the signal specifically includes the following steps: the initial rate of the detector in the pipeline is set to the outbound rate of the conveying medium, that is, the outbound metering rate, and the estimated time to reach the first tracking device is the ratio of the distance to the initial rate; Due to the influence of wall friction, pipeline accessories and terrain, the actual arrival time is slightly different from the estimated value. Set a difference threshold. If this threshold is exceeded, it indicates that there is a possibility of internal detector jamming, and emergency measures should be taken; according to the pipeline internal detector The arrival time and the distance between the tracking devices are used to calculate the speed of the detector in the pipeline, so as to estimate the arrival time of the next tracking device, and so on until the operation of the detector in the pipeline ends.