CN103090193A - Device and method for detection and location of submarine oil pipeline leakage - Google Patents
Device and method for detection and location of submarine oil pipeline leakage Download PDFInfo
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Abstract
The invention discloses a device for detecting and locating submarine oil pipeline leakage. The device for the detecting and locating the submarine oil pipeline leakage comprises an upper computer and an intelligent detector which moves along an oil pipeline. The intelligent detector comprises a shell body and a microprocessor which is located inside the shell body, and further comprises a wireless communication module, a nondestructive detection unit, a guided system, a pressure sensor and an acoustical-electrical transducer, wherein the wireless communication module, the nondestructive detection unit, the guided system, the pressure sensor and the acoustical-electrical transducer are connected with the microprocessor, the wireless communication module is used for wireless communication between the microprocessor and the upper computer, the nondestructive detection unit is used for inducing a flange port of the oil pipeline to primarily locate the intelligent detector, the guided system is used for confirming of the accurate position of the intelligent detector inside each section of the oil pipeline, the pressure sensor is used for collecting pressure information inside the oil pipeline, and the acoustical-electrical transducer is used for collecting acoustic information inside the oil pipeline. Further disclosed is a method for detecting and locating the submarine oil pipeline leakage. The device for detecting and locating the submarine oil pipeline leakage is reasonable in structural design. A different-edge fusion algorithm of acoustic frequency domain signals and pressure time-domain signals is adopted. Accuracy of leakage point identification is high. The size of the leakage point can be inferred.
Description
Technical field
The present invention relates to the offshore oilfield pipeline Leak testtion, relate in particular to a kind of device and method for offshore oilfield pipeline Leak testtion and location.
Background technique
Pipeline transport is the most quick, economic in the oil gas transportation, reliable major way.According to external expert statistics, the pipe oil gas means of transportation of some developed country accounts for 2/3rds more than of oil gas transportation total amount, and the pipeline transport of oil gas has played important function from the production of crude oil, rock gas, refining, storage and to user's overall process.
Ocean development is the atomic power exploitation continue the forties, a development field with strategic importance that is surging forward the sixties after developing in the cosmic space of the fifties.In the modern marine exploitation, economic implications is marine petroleum development the most significantly.Existing more than 100 country in the whole world carried out the Marine Geology exploration, and more than 40 country carries out oil drilling and exploitation at continental shelf sea area.The origin of offshore oilfield pipeline, existing long development course in the world.The Gulf of Mexico from 1954 in the U.S. is by Brown ﹠amp; Since article one offshore oilfield pipeline had been laid by Root Oceanographic Engineering Corporation, the submarine pipeline without several all kinds, various calibers had successfully been laid each offshore sea waters in the world.The pipe laying technology has obtained great development along with the increase of the marine site depth of water is also corresponding.Up to the present, major way has: the method for swimming, suspend drag method, bottom tow method, from " J " type laying-out tube process of bottom tow method, pipelaying vessel metbod and deepwater regions etc., the pipe laying depth of water is greater than 610m.
Offshore oilfield pipeline requires stricter with pipe than land oil, be mainly manifested in: stricter to outward appearance processing dimension, required precision; To the corrosion resistance of tubing, except hydrogen sulfide corrosion resistant, also to resist the corrosion of seawater, marine environment; Tightness to sleeve pipe is strict, on the screw thread of sleeve pipe, generally uses buttress thread and Special threading connector sleeve pipe.The stability of offshore oilfield pipeline to the tubing inherent quality is particularly to the control of carbon equivalent and the technical requirements of tube end maching precision, apparently higher than land oil pipe.Only so, the welding quality of guarantee submerged pipeline is avoided leaking.
The offshore oilfield pipeline Leak testtion is the difficult problem of detection field with the location always.Compare the oil transport pipeline on land, the offshore oilfield pipeline Leak testtion is more complicated with the location, and difficulty is also higher.Pipeline under the ocean will bring tremendous influence to economy and environment in case appearance is leaked.Therefore, Leak testtion has obvious economic benefit and a social benefit with location accurately timely.Existing domestic technique is the situation that the semaphore of dependence pipeline head and end is determined conduit running basically, but the method real-time is relatively poor, and testing precision is not high, and the cost of equipment is high, and model is also had strict requirement.Especially for the leakage situation of complexity, model is set up very complicated, so feasibility is not high.More advanced SmartBall technology is also arranged abroad, but this Technology Need is disposed signal receiver along pipeline, cost is higher, and application area is also very limited, is difficult to carry out in offshore oilfield pipeline.
Summary of the invention
For overcoming the deficiencies in the prior art, the invention provides a kind of offshore oilfield pipeline Leak testtion that non-destructive inspection and strap-down inertial technology combine and device and method of location of utilizing, realize the accurate location to the offshore oilfield pipeline leakage point.
A kind of device for offshore oilfield pipeline Leak testtion and location comprises upper-position unit and the intelligent detecting device that moves along petroleum pipeline; The microprocessor that described intelligent detecting device comprises housing and is positioned at housing also is provided with and is connected with described microprocessor:
Wireless communication module is used for the radio communication between microprocessor and upper-position unit;
The non-destructive inspection unit, the flange-interface that is used for the induction petroleum pipeline carries out Primary Location to the intelligent detecting device;
Navigation system is for the exact position of definite intelligent detecting device in every arthrolith oil-piping;
Pressure transducer is used for collecting the pressure information in petroleum pipeline;
Acoustic-electrical transducer is used for collecting the acoustic information in petroleum pipeline.
Be provided with the movable storage device that is connected with described microprocessor.Data capture amount of the present invention has very large requirement, the internal memory of microprocessor and external storage can not satisfy the requirement of memory data output, therefore, need be provided with the movable storage device that is connected with microprocessor, be generally SD card or USB flash disk, its advantage is and can directly be connected with microprocessor, also be convenient to the operation of upper-position unit, and storage capacity is also larger, and equipment compatibility is high, and data transmission bauds is also very fast.
The non-destructive inspection unit inspection of intelligent detecting device is during to flange-interface, and the counter in microprocessor will add up accordingly, because tubing geometric parameter and topological structure are known.Therefore, just can determine that energy intelligent detecting device is at ducted rough position.At the single-unit pipe interior, use the strap-down inertial technology, can determine more accurately the position of intelligent detecting device, and then complete accurate location, and the real-time position information of intelligent detecting device is stored in movable storage device.Simultaneously in intelligent detecting device running, pressure transducer and acoustic-electrical transducer be the respective physical information of collection conduit inside ceaselessly, and real time record also is stored in movable storage device, for the computational analysis of upper-position unit provides reliable initial data.
Movable storage device is connected to upper-position unit, and upper-position unit is to the data analysis in movable storage device and processing, and when leaking when producing, acoustic signal has larger variation, and especially in frequency domain characteristic, radio-frequency head branch shows fairly obviously.According to the frequency domain scope of different high-frequency signals, can also infer the size of leakage point.And pressure signal also has the variation of different levels, and especially when leakage rate was larger, the variation of pressure signal on time domain can show more obviously.Merge as long as these two signals are carried out allos, just more accurately the position of identification leakage point with big or small.
Described non-destructive inspection unit is the current vortex sensor that is arranged on housing.Current vortex sensor is used for surveying the flange-interface between adjacent two arthrolith oil-pipings, when the intelligent detecting device passes through flange-interface in petroleum pipeline, corresponding electric convolution signal will occur sharply to change, can calculate the intelligent detecting device and now be in which arthrolith oil-piping, realize the Primary Location to the intelligent detecting device.
Described navigation system is with accelerometer, electronic compass and gyrostatic strapdown inertial navigation system.After the intelligent detecting device collects accelerometer, electronic compass and three groups of data of gyroscope and storage, upper-position unit carries out a series of filtering algorithm to these data, attitude algorithm, and then calculate concrete position is realized the accurate location of intelligent detecting device in every arthrolith oil-piping.
In order to have free passage in pipeline, the housing of intelligent detecting device is horizontal cylindrical, material therefor is waterproof, explosion-proof lamp, and this material needs have penetration to signal, facilitates upper-position unit to send command adapted thereto to the intelligent detecting device and communicates collection with the submarine pipeline internal data.
Described microprocessor, wireless communication module and movable storage device are installed in the bottom of housing, and described navigation system, pressure transducer and acoustic-electrical transducer are positioned at case top.Also be furnished with in housing to the power supply of the power supplies such as microprocessor, wireless communication module and navigation system.In order to reduce the vibrations of intelligent detecting device in fluid as far as possible, the module larger for weight can be placed on the bottom of housing, thereby the center of gravity that makes the intelligent detecting device has guaranteed the relative stability of attitude so to a certain extent not in the geometrical center of cylinder.
The flexible clad of described housing peripheral hardware, elasticity clad of the present invention is preferably sponge, and namely sponge wrapping is outside housing, and purpose is to produce greater impact in order to prevent with pipeline, damages the inner various hardware units of intelligent detecting device.Simultaneously, in order to increase fluid to the driving of intelligent detecting device, the fluid interaction in the ring segment that the useful rubber material of housing peripheral hardware of intelligent detecting device is made, this ring segment and petroleum pipeline drives the motion of intelligent detecting device.
The present invention also provides a kind of method for offshore oilfield pipeline Leak testtion and location, comprises following step:
1) the intelligent detecting device is placed in petroleum pipeline, the intelligent detecting device moves along petroleum pipeline under the effect of fluid;
2) by non-destructive inspection unit and navigation system in the intelligent detecting device, obtain the real time position of intelligent detecting device in petroleum pipeline;
3) the intelligent detecting device is in the process of walking, pressure information and acoustic information in the synchronous acquisition petroleum pipeline;
4) by upper-position unit, described pressure information and acoustic information are carried out Treatment Analysis, and integrating step 2) in the real time position of intelligent detecting device in petroleum pipeline, obtain position and the size of petroleum pipeline leakage point.
The invention has the beneficial effects as follows:
1, Design of Mechanical Structure cleverly not only can make the intelligent detecting device convenient current in pipeline, increases flexibility, and has reduced the relative movement of intelligent detecting device itself, has avoided unnecessary collision;
2, the Combinated navigation method that adopts non-destructive inspection to combine with strap-down inertial combines both advantage separately dexterously, and more reliably than locating this method with strap-down inertial separately, degree of accuracy is higher;
3, this intelligent detection device only needs a upper-position unit just can carry out the sending and receiving of instruction, has removed a lot of signal receiving devices, and the cost of product is lower;
4, adopt the frequency-region signal of sound and the different edge blending algorithm of pressure time-domain signal, not only improved the accuracy of leakage point identification, more can infer the size of leakage point.
Description of drawings
Fig. 1 is the structural representation of intelligent detecting device of the present invention.
Fig. 2 is the sectional view of intelligent detecting device of the present invention.
Fig. 3 is the data Stored Procedure figure of intelligent detecting device of the present invention.
Fig. 4 is the combination figure of intelligent detecting device of the present invention and petroleum pipeline.
Fig. 5 is the control flow chart of upper-position unit of the present invention.
Embodiment
As depicted in figs. 1 and 2, intelligent detecting device of the present invention is by current vortex sensor 1, rubber annular sheet 3, housing 2, microprocessor 11, movable storage device 10, wireless communication module 9, power supply 12, pressure transducer 6 partly forms with acoustic-electrical transducer 7, strapdown inertial navigation system 5 etc.
Microprocessor 11 adopts the mega128 series of Atmel company, and this series processors has the characteristics such as low power consumption, powerful, fast operation, is fit to very much collection and the processing of data.The present invention has very large requirement to the data collection capacity, but only has the memory size of 128KB due to mega128, and external storage has at most can only expand 64KB, reaches far away the requirement of memory data output.Therefore, need to connect connection movable storage device 10 at the SPI of mega128 mouth, be generally SD card or USB flash disk.The advantage of these memory devices is and can directly be connected with the mega128 single-chip microcomputer, also be convenient to the operation of upper-position unit, and storage capacity is also larger, and equipment compatibility is high, and data transmission bauds is also very fast.
Strapdown inertial navigation system 5 comprises accelerometer, electronic compass and gyroscope three parts, by the I of mega128
2C interface three parts therewith directly connects.Current vortex sensor 1 is as the non-destructive inspection unit, for detection of the flange-interface of petroleum pipeline, and the I that can carry by mega128
2C interface connects.When the intelligent detecting device passed through flange-interface in pipeline, corresponding electric convolution signal will occur sharply to change, and just can obtain this sudden change by certain filtering algorithm.When flange-interface being detected, the corresponding counter accumulated counts of microprocessor internal, the pipeline section distance according to Provision in advance just can calculate corresponding position.After collecting accelerometer, electronic compass and three groups of data of gyroscope and storage, upper-position unit carries out a series of filtering algorithm to these data, and attitude is found the solution, and then calculates concrete position.Aspect intelligent detecting device collection conduit signal, mega128 passes through I equally
2C interface directly is connected with pressure transducer, acoustic-electrical transducer, and these sensors just can be stored in the data that collect in movable storage device 10 by this interface.
The global design structure of intelligent detecting device: in order to have free passage in pipeline, the housing of intelligent detecting device is cylindrical shape, material is waterproof, explosion-proof lamp, and this material has penetration to signal, facilitates upper-position unit to send command adapted thereto to the intelligent detecting device and communicates collection with the submarine pipeline internal data.Outside with sponge wrapping 13, in order to prevent producing greater impact with pipeline, damage the inner various hardware units of intelligent detecting device.Simultaneously, in order to increase fluid to the driving of intelligent detecting device, make respectively the ring segment 3 of driving before and after the intelligent detecting device with rubber material.(too much attitude variation meeting processes to the data in later stage the trouble of bringing very greatly in order to reduce the vibrations of intelligent detecting device in fluid as far as possible, also can reduce the precision of detection), can be placed on the bottom of intelligent detecting device for the larger module of weight, thereby make the center of gravity of intelligent detecting device not in the geometrical center of cylinder, guaranteed so to a certain extent the relative stability of attitude.Therefore, we are fixed in cylindrical base to heavier equipment such as power supply 12, microprocessors 11, and some relatively light installation of sensors in cylinder top.
The non-destructive inspection of intelligent detecting device: subsea petroleum pipeline normally is welded by the Standard Steel pipe flange, and every strip metal weld seam has represented the length information of an accurate steel pipe of feast-brand mark.Therefore, the identification of flange-interface of welding just be can be used for identifying the rough position of pipeline.Utilize current vortex sensor 1 as the seam flange in non-destructive inspection unit detection oil-gas pipeline, thereby realize the coarse localization of intelligent detecting device in pipe.The specific implementation principle is: when current vortex sensor 1 passes through the offshore oilfield pipeline flange-interface, receptance due to weld seam and mother metal electromagnetic property difference (conductivity, permeability different), the electric convolution signal can occur sharply to change, collection, filtering and identification by to jump signal just can reach the requirement of Primary Location.The design of current vortex sensor is at the barrel portion of intelligent detecting device, a pair of current vortex sensor 1 to be installed, and so just can carry out the extraction of differential signal to the signal that current vortex sensor produces according to this, has greatly strengthened the disturbance rejection of system.
Intelligent detecting device strapdown inertial navigation system and attitude algorithm: strapdown inertial navigation system mainly comprises accelerometer, electronic compass and gyroscope three parts.Wherein, accelerometer is used for measuring the vector acceleration of x, y, z three axles.The azimuth speed of gyroscope survey x, y, z three axles, electronic compass are measured the angle on x, y plane.Three axis angular rates that gyroscope is measured can obtain corresponding angle through real-time integration.The acceleration magnitude component of three axles just can obtain the angle of x, y, z three axles by force analysis.But three axis accelerometer can't provide x, y planar horizontal angle of swing, utilizes electronic compass can record the occurrence of this angle.The gyroscope dynamic response characteristic is good, but when carrying out long-time attitude algorithm, can produce the accumulative total drift.Digital compass and acceleration transducer are measured attitude does not have cumulative error, but dynamic response is relatively poor.Therefore, their characteristics on frequency domain are complementary, can adopt complementary filter to merge the data of these three kinds of sensors, improve the dynamic performance of measuring accuracy and system, thereby complete attitude algorithm.
As shown in Figure 3, the design of intelligent detecting device data storage read-write: the data that when intelligent detecting device internal microprocessor interrupts occuring at timer, read sensor gathers, complete the reading writing working to movable storage device in main program.Because the time of writing movable storage device may be greater than interval break period, so be provided with a plurality of buffer areas.After buffer area is write completely, microprocessor starts the function of writing movable storage device, the data of buffer area is write movable storage device, and select new effective buffer, prevents the generation of former buffer overflow, has improved the safety and reliability of data.The time lag of interrupting can be regulated according to the motion speed of cylinder, thereby has guaranteed authenticity, the reliability of data, can save storage space again, avoids the excessive situation of data.
As shown in Figure 4, intelligent detecting device location and detection algorithm research: when flange-interface being detected in pipeline, the counter in the intelligent detecting device will accumulated counts, because the length parameter of single-unit pipeline can be known in advance.Therefore, just can calculate the intelligent detecting device in any pipe joint road.Inner at the single-unit petroleum pipeline, use strapdown inertial navigation system, just can determine more accurately the position, and then complete accurate location.Simultaneously in the middle of intelligent detecting device running, pressure transducer and acoustic-electrical transducer be the corresponding information of collection conduit inside ceaselessly, and real time record is also stored, for the computational analysis of upper-position unit provides reliable data.When leak producing, sound signal has larger variation, especially in frequency domain characteristic, and radio-frequency head branch performance fairly obvious.According to the frequency domain scope of different high-frequency signals, can also infer the size of leakage point.And pressure signal also has the sudden change of different levels, and especially when leakage rate was larger, it is more obvious that the variation of pressure signal on time domain can show.As long as being carried out allos, these two signals merge, just more accurately the position of identification leakage point and leak sizes.
Intelligent detecting device upper-position unit is write: the software platform that later data is processed mainly comprises VisualStudio 2010 and MATLAB.Visual Studio 2010 platforms mainly are responsible for the work of writing of serial ports program, reception program and software interface (man-machine interface), communicate by communication protocol and the mode that sets with the intelligent detecting device, the runnability of carrying out to the intelligent detecting device is controlled, and guarantees the normal operation of intelligent detecting device.And MATLAB mainly is responsible for the data information of collecting is processed, and especially signal is carried out corresponding filtering, identification, science calculating, modeling and simulation.By the powerful data processing tools of MATLAB, reach the target that detects leakage point and location.
The software section of man-machine interface carries out writing of program with Visual C++, and the program of single-chip microcomputer adopts the IAR platform to write.
As shown in Figure 5, function performing step:
1. the intelligent detecting device powers on, and uses the man-machine interface platform of Visual C++ software programming by wireless serial transmission work sign on, and waits for and replying;
2. after the intelligent detecting device is received initiation command, reply to upper-position unit and receive signal, simultaneously, the intelligent detecting device begins self check, after self check is completed, also replys corresponding answer signal;
3. the intelligent detecting device is squeezed in petroleum pipeline by special device, freely advanced along the direction of fluid, and image data signal constantly, in real time a series of data are kept in storage;
4. load onto net as reception unit at the end of pipeline, be used for salvaging the intelligent detecting device;
5. after data capture finished, upper-position unit was sent out stop signal, and data capture stops, and simultaneously, upper-position unit sends data transfer signal, and the intelligent detecting device sends to upper-position unit with the signal that collects, and upper-position unit receives and stores;
6.MATLAB the data that receive are processed, thereby the position that draws leakage point, size and number.
Claims (9)
1. a device that is used for offshore oilfield pipeline Leak testtion and location, is characterized in that, comprises the intelligent detecting device that moves along petroleum pipeline, and be used for the upper-position unit to the collected data analysis processing of intelligent detecting device; The microprocessor that described intelligent detecting device comprises housing and is positioned at housing also is provided with and is connected with described microprocessor:
Wireless communication module is used for the radio communication between microprocessor and upper-position unit;
The non-destructive inspection unit, the flange-interface that is used for the induction petroleum pipeline carries out Primary Location to the intelligent detecting device;
Navigation system is for the exact position of definite intelligent detecting device in every arthrolith oil-piping;
Pressure transducer is used for collecting the pressure information in petroleum pipeline;
Acoustic-electrical transducer is used for collecting the acoustic information in petroleum pipeline.
2. the device for offshore oilfield pipeline Leak testtion and location as claimed in claim 1, is characterized in that, is provided with the movable storage device that is connected with described microprocessor.
3. the device for offshore oilfield pipeline Leak testtion and location as claimed in claim 2, is characterized in that, described housing is horizontal cylindrical, and adopt waterproof, explosion-proof lamp to make.
4. the device for offshore oilfield pipeline Leak testtion and location as claimed in claim 3, it is characterized in that, described microprocessor, wireless communication module and movable storage device are installed in the bottom of housing, and described navigation system, pressure transducer and acoustic-electrical transducer are positioned at case top.
5. the device for offshore oilfield pipeline Leak testtion and location as claimed in claim 3, is characterized in that, the flexible clad of described housing peripheral hardware.
6. the device for offshore oilfield pipeline Leak testtion and location as claimed in claim 5, is characterized in that, is provided with around described housing to arrange, drives the ring segment of intelligent detecting device walking with the fluid interaction in described petroleum pipeline.
7. the device for offshore oilfield pipeline Leak testtion and location as claimed in claim 1, is characterized in that, described non-destructive inspection unit is the current vortex sensor that is arranged on housing.
8. the device for offshore oilfield pipeline Leak testtion and location as claimed in claim 6, is characterized in that, described navigation system is with accelerometer, electronic compass and gyrostatic strapdown inertial navigation system.
9. a method that is used for offshore oilfield pipeline Leak testtion and location, is characterized in that, comprises following step:
1) the intelligent detecting device is placed in petroleum pipeline, the intelligent detecting device moves along petroleum pipeline is capable under the effect of fluid;
2) by non-destructive inspection unit and navigation system in the intelligent detecting device, obtain the real time position of intelligent detecting device in petroleum pipeline;
3) the intelligent detecting device is in the process of walking, pressure information and acoustic information in the synchronous acquisition petroleum pipeline;
4) by upper-position unit, described pressure information and acoustic information are carried out Treatment Analysis, and integrating step 2) in the real time position of intelligent detecting device in petroleum pipeline, obtain position and the size of petroleum pipeline leakage point.
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