CN103090193B - Device for detection and location of submarine oil pipeline leakage - Google Patents
Device 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 offshore oilfield pipeline Leak testtion, relate in particular to a kind of device for offshore oilfield pipeline Leak testtion and location.
Background technique
Pipeline transport is the most quick, economic, reliable major way in oil gas transport.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 transport total amount, and the pipeline transport of oil gas has played important function from production, refining, storage and the overall process to user of crude oil, rock gas.
Ocean development is the development field that of being surging forward the sixties after the exploitation of the cosmic space of the atomic power exploitation of the forties, the fifties has strategic importance.In modern marine exploitation, economic implications is marine petroleum development the most significantly.Existing more than 100 country in the whole world carried out 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, in the world existing longer development course.Since having laid Article 1 offshore oilfield pipeline from the Gulf of Mexico in the U.S. in 1954 by Brown & Root Oceanographic Engineering Corporation, the submarine pipeline without several all kinds, various calibers has successfully been laid in each offshore sea waters by the world.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 has been 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; The tightness of sleeve pipe is required strictly, on the screw thread of sleeve pipe, generally to use buttress thread and Special threading connector sleeve pipe.The technical requirements of the stability of offshore oilfield pipeline to tubing inherent quality, the particularly control to carbon equivalent and tube end maching precision, apparently higher than pipe for the oil of land.Only so, the welding quality of guarantee submerged pipeline, avoids leaking.
Offshore oilfield pipeline Leak testtion is a difficult problem for detection field with location always.Compare the oil transport pipeline on land, offshore oilfield pipeline Leak testtion is more complicated with location, and difficulty is also higher.Once leaking appears in pipeline under the ocean, will bring tremendous influence to economy and environment.Therefore, Leak testtion has obvious economic benefit and a social benefit with location accurately timely.Existing domestic technique is to rely on the semaphore of pipeline head and end to determine the situation of conduit running substantially, but the method real-time is poor, and testing precision is not high, and the cost of equipment is high, and model is also had to strict requirement.Especially for complicated leakage situation, model is set up very complicated, and therefore feasibility is not high.Also have more advanced SmartBall technology 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 of location of utilizing, realize the accurate location to offshore oilfield pipeline leakage point.
For a device for offshore oilfield pipeline Leak testtion and location, the intelligent detecting device that comprises upper-position unit and move along petroleum pipeline; Described intelligent detecting device comprises housing and is positioned at the microprocessor of housing, is also provided with to be connected with described microprocessor:
Wireless communication module, for the radio communication between microprocessor and upper-position unit;
Non-destructive inspection unit, carries out Primary Location for the flange-interface of responding to petroleum pipeline to intelligent detecting device;
Navigation system, for determining the exact position of intelligent detecting device in every arthrolith oil-piping;
Pressure transducer, for collecting the pressure information in petroleum pipeline;
Acoustic-electrical transducer, for collecting the acoustic information in petroleum pipeline.
Be provided with the movable storage device being 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 meet the requirement of memory data output, therefore, need be provided with the movable storage device being connected with microprocessor, be generally SD card or USB flash disk, its advantage is to be directly connected with microprocessor, also be convenient to the operation of upper-position unit, and storage capacity is also larger, and equipment compatibility is high, 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 single-unit pipe interior, use 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.In intelligent detecting device running, pressure transducer and acoustic-electrical transducer be the respective physical information of collection conduit inside ceaselessly simultaneously, and real time record is also 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 in the time leaking generation, acoustic signal can have a greater change, 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, especially, in the time that leakage rate is larger, the variation of pressure signal in time domain can show more obviously.As long as these two signals are carried out to allos fusion, just more accurately the position of identification leakage point with big or small.
Described non-destructive inspection unit is the current vortex sensor being arranged on housing.Current vortex sensor is for surveying the flange-interface between adjacent two arthrolith oil-pipings, in the time that intelligent detecting device passes through flange-interface in petroleum pipeline, corresponding electric convolution signal will occur sharply to change, can calculate intelligent detecting device existing in which arthrolith oil-piping, realize the Primary Location to intelligent detecting device.
Described navigation system is with accelerometer, electronic compass and gyrostatic strapdown inertial navigation system.When intelligent detecting device collects after accelerometer, electronic compass and three groups of data of gyroscope storage, upper-position unit carries out a series of filtering algorithm to these data, attitude algorithm, and then calculate concrete position, realize 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 need have penetration to signal, facilitates upper-position unit to send command adapted thereto to intelligent detecting device and communicates and the collection of 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.In housing, be also furnished with 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 makes the center of gravity of intelligent detecting device not in the geometrical center of cylinder, ensured so to a certain extent the relative stability of attitude.
The flexible clad of described housing peripheral hardware, elasticity clad of the present invention is preferably sponge, and sponge wrapping is outside housing, and object is to produce greater impact in order to prevent with pipeline, damages the inner various hardware units of intelligent detecting device.Meanwhile, in order to increase the driving of fluid to intelligent detecting device, the ring segment that the useful rubber material of housing peripheral hardware of intelligent detecting device is made, the fluid interaction in 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) intelligent detecting device is placed in petroleum pipeline, intelligent detecting device moves along petroleum pipeline under the effect of fluid;
2) by non-destructive inspection unit and navigation system in intelligent detecting device, obtain the real time position of intelligent detecting device in petroleum pipeline;
3) intelligent detecting device walking process in, the pressure information in synchronous acquisition petroleum pipeline and acoustic information;
4) by upper-position unit, described pressure information and acoustic information are carried out to 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 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, adopt the Combinated navigation method that combines with strap-down inertial of non-destructive inspection, dexterously both advantages are combined separately, 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.
Brief description of the 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 and the partly composition such as acoustic-electrical transducer 7, strapdown inertial navigation system 5.
Microprocessor 11 adopts the mega128 series of Atmel company, and this series processors has the features such as low power consumption, powerful, fast operation, is applicable to very much collection and the processing of data.The present invention has very large requirement to data collection capacity, but because mega128 only has the memory size of 128KB, external storage has at most can only expand 64KB, reaches far away the requirement of memory data output.Therefore, need to connect and connect 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 to be directly connected with mega128 single-chip microcomputer, is also 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.
Wireless communication module 9 adopts traditional serial communication, and module hardware is the product-CC1101 of TI company.This Transmission distance is 200 meters, and power is 10mW, and working frequency range is 433MHz, and the maximum data transfer rate can reach 500kbps, adds that some peripheral circuits just can directly be connected with serial ports TTL or 232 electric level interfaces of single-chip microcomputer, very convenient to use.With this module just can be directly and upper-position unit communicate.
Strapdown inertial navigation system 5 comprises accelerometer, electronic compass and gyroscope three parts, by the I of mega128
2c interface therewith three parts directly connects.Current vortex sensor 1 is as non-destructive inspection unit, for detection of the flange-interface of petroleum pipeline, and the I that can carry by mega128
2c interface connects.In the time that intelligent detecting device passes 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.In the time flange-interface being detected, the corresponding counter accumulated counts of microprocessor internal, according to the pipeline section distance of Provision in advance, just can calculate corresponding position.When collecting after accelerometer, electronic compass and three groups of data of gyroscope storage, upper-position unit carries out a series of filtering algorithm to these data, and attitude solves, and then calculates concrete position.Aspect intelligent detecting device collection conduit signal, mega128 passes through I equally
2c interface is directly 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, facilitate upper-position unit to send command adapted thereto to intelligent detecting device and communicate and the collection of 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.Meanwhile, in order to increase the driving of fluid to intelligent detecting device, before and after intelligent detecting device, make respectively the ring segment 3 of driving with rubber material.In order to reduce the vibrations of intelligent detecting device in fluid as far as possible, (too much attitude variation meeting brings trouble very greatly to the data processing in later stage, 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, ensured so to a certain extent the relative stability of attitude.Therefore, we are fixed on cylindrical base heavier equipment such as power supply 12, microprocessors 11, and some relatively light installation of sensors in cylinder top.
Intelligent detecting device non-destructive inspection: subsea petroleum pipeline is normally welded by Standard Steel pipe flange, every strip metal weld seam has represented the length information of the accurate steel pipe of a feast-brand mark.Therefore, the identification of the flange-interface to welding just can be used for identifying the rough position of pipeline.Utilize current vortex sensor 1 to survey the seam flange in oil-gas pipeline as non-destructive inspection unit, thereby realize the coarse localization of intelligent detecting device in pipe.Specific implementation principle is: in the time that current vortex sensor 1 passes through offshore oilfield pipeline flange-interface, due to the receptance of weld seam and mother metal electromagnetic property difference (conductivity, permeability different), electric convolution signal can occur sharply to change, by the collection to jump signal, filtering and identification, 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 is installed, and the signal that so just can produce current vortex sensor according to this carries out the extraction of differential signal, 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 for measuring the vector acceleration of x, y, z three axles.The azimuth speed of gyroscope survey x, y, z three axles, electronic compass is measured the angle of 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 cannot provide x, y planar horizontal angle of swing, utilizes electronic compass can record the occurrence of this angle.Gyroscope dynamic response characteristic is good, but while carrying out long-time attitude algorithm, can produce accumulative total drift.Digital compass and acceleration transducer are measured attitude does not have cumulative error, but dynamic response is poor.Therefore, they are characteristic complementation on frequency domain, can adopt complementary filter to merge the data of these three kinds of sensors, improves the dynamic performance of measuring accuracy and system, thereby completes attitude algorithm.
As shown in Figure 3, intelligent detecting device data storage Design of Read-Write: the intelligent detecting device internal microprocessor data that read sensor gathers in the time that timer interrupts occurring, 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 multiple buffer areas.After buffer area is write completely, microprocessor starts the function of writing movable storage device, the data of buffer area is write to 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 regulate according to the motion speed of cylinder, thereby has ensured authenticity, the reliability of data, can save again storage space, avoids the excessive situation of data.
As shown in Figure 4, intelligent detecting device location and detection algorithm research: flange-interface detected in pipeline time, the counter in intelligent detecting device will accumulated counts, because the length parameter of single-unit pipeline can be known in advance.Therefore, just can calculate intelligent detecting device in any pipe joint road.In single-unit petroleum pipeline inside, use strapdown inertial navigation system, just can determine more accurately position, and then complete accurate location.In the middle of intelligent detecting device running, pressure transducer and acoustic-electrical transducer be the corresponding information of collection conduit inside ceaselessly simultaneously, and real time record storage, for the computational analysis of upper-position unit provides reliable data.In the time leaking generation, sound signal can have a greater change, and especially, in frequency domain characteristic, it is fairly obvious that radio-frequency head branch shows.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, especially, in the time that leakage rate is larger, it is more obvious that the variation of pressure signal in time domain can show.As long as these two signals are carried out to allos fusion, the just more accurately position of identification leakage point and leak sizes.
Intelligent detecting device upper-position unit is write: the software platform of later data processing mainly comprises Visual Studio2010 and MATLAB.Visual Studio2010 platform is mainly responsible for the work of writing of serial ports program, reception program and software interface (man-machine interface), communicate by the communication protocol and the mode that set with intelligent detecting device, the runnability of carrying out to intelligent detecting device is controlled, and ensures the normal operation of intelligent detecting device.And MATLAB is mainly responsible for the data information of collecting to process, especially signal is carried out to 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 IAR platform to write.
As shown in Figure 5, function performing step:
1. 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. intelligent detecting device is received after initiation command, replys and receives signal to upper-position unit, and meanwhile, intelligent detecting device starts self-inspection, after self-inspection completes, also replys corresponding answer signal;
3. 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 intelligent detecting device;
5. after data capture finishes, upper-position unit is sent out stop signal, and data capture stops, and meanwhile, upper-position unit sends data transfer signal, and the signal collecting is sent to upper-position unit by intelligent detecting device, and upper-position unit receives and stores;
6.MATLAB processes the data that receive, thereby draws the position of leakage point, size and number.
Claims (3)
1. for a device for offshore oilfield pipeline Leak testtion and location, it is characterized in that, comprise the intelligent detecting device moving along petroleum pipeline, and for the upper-position unit to the collected data analysis processing of intelligent detecting device; Described intelligent detecting device comprises housing and is positioned at the microprocessor of housing, is also provided with to be connected with described microprocessor:
Wireless communication module, for the radio communication between microprocessor and upper-position unit;
Non-destructive inspection unit, carries out Primary Location for the flange-interface of responding to petroleum pipeline to intelligent detecting device;
Navigation system, for determining the exact position of intelligent detecting device in every arthrolith oil-piping;
Pressure transducer, for collecting the pressure information in petroleum pipeline;
Acoustic-electrical transducer, for collecting the acoustic information in petroleum pipeline;
Described housing is horizontal cylindrical, and adopts waterproof, explosion-proof lamp to make, the flexible clad of housing peripheral hardware; And be provided with around described housing layout, with the ring segment of the fluid interaction driving intelligent detecting device walking in described petroleum pipeline;
Be provided with the movable storage device being connected with described microprocessor, 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.
2. 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 being arranged on housing.
3. the device for offshore oilfield pipeline Leak testtion and location as claimed in claim 1, is characterized in that, described navigation system is with accelerometer, electronic compass and gyrostatic strapdown inertial navigation system.
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| CN104832791B (en) * | 2015-04-09 | 2021-06-15 | 安徽理工大学 | Oil leakage detection monitoring device and method for oil pipeline |
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| CN1952825A (en) * | 2006-11-02 | 2007-04-25 | 上海交通大学 | Crawling intelligent controller in submarine pipeline |
| CN101261246A (en) * | 2007-03-09 | 2008-09-10 | 清华大学 | Pipeline crack far-field vortex checking method |
| CN102135221A (en) * | 2011-03-31 | 2011-07-27 | 东北大学 | Pipeline detection robot based on probe detection |
| JP4747834B2 (en) * | 2005-12-27 | 2011-08-17 | 横浜ゴム株式会社 | Marine hose fluid leak detection system |
| CN202082629U (en) * | 2011-04-06 | 2011-12-21 | 黄定军 | Natural gas pipeline leakage monitoring system |
| CN102798660A (en) * | 2012-08-30 | 2012-11-28 | 东北大学 | Device and method for detecting defects of inner and outer walls of pipeline based on three-axis magnetic flux leakage and eddy current |
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2013
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Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4747834B2 (en) * | 2005-12-27 | 2011-08-17 | 横浜ゴム株式会社 | Marine hose fluid leak detection system |
| CN1952825A (en) * | 2006-11-02 | 2007-04-25 | 上海交通大学 | Crawling intelligent controller in submarine pipeline |
| CN101261246A (en) * | 2007-03-09 | 2008-09-10 | 清华大学 | Pipeline crack far-field vortex checking method |
| CN102135221A (en) * | 2011-03-31 | 2011-07-27 | 东北大学 | Pipeline detection robot based on probe detection |
| CN202082629U (en) * | 2011-04-06 | 2011-12-21 | 黄定军 | Natural gas pipeline leakage monitoring system |
| CN102798660A (en) * | 2012-08-30 | 2012-11-28 | 东北大学 | Device and method for detecting defects of inner and outer walls of pipeline based on three-axis magnetic flux leakage and eddy current |
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