CN103244830A - Inner detection system for submarine pipelines and detection method thereof - Google Patents
Inner detection system for submarine pipelines and detection method thereof Download PDFInfo
- Publication number
- CN103244830A CN103244830A CN2013101748301A CN201310174830A CN103244830A CN 103244830 A CN103244830 A CN 103244830A CN 2013101748301 A CN2013101748301 A CN 2013101748301A CN 201310174830 A CN201310174830 A CN 201310174830A CN 103244830 A CN103244830 A CN 103244830A
- Authority
- CN
- China
- Prior art keywords
- detection system
- pipeline
- mileage
- support disk
- signal
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Abstract
The invention discloses an inner detection system for submarine pipelines and a detection method thereof. The inner detection system comprises an electronic sealed cabin arranged in a supporting frame. The supporting frame is provided with a supporting roller array, an odometer wheel, a pressure sensor, a temperature sensor and a sound sensor, wherein the supporting roller array, the odometer wheel, the pressure sensor, the temperature sensor and the sound sensor are distributed in an annular mode. The detection method includes: the inner detection system is connected to an upper computer to download signals collected by the sensors, and filtering and noise reduction processing is performed on the signals; traveling mileage of the inner detection system and included angles of the axis of the inner detection system and a local geomagnetic field and local gravitational acceleration are calculated at any time t, and a direction vector of the axis of the inner detection system is obtained through the included angles; the position of the inner detection system at any time is obtained; and whether leakage exists is judged through comparison of processed sound signals, pressure signals and temperature signals, and leakage rate is estimated. The inner detection system for submarine pipelines and the detection method of the inner detection system achieve detection of little leakage, improve detection accuracy, reduce detection difficulty and cost, and shorten detection period.
Description
Technical field
The present invention relates to the pipeline detection field, particularly a kind of interior detection system and detecting method thereof for submarine pipeline.
Background technique
The submarine oil-transportation feed channel plays in national economy in the extremely important effect, and startling pipe leakage accident often takes place again, and along with the increase of submarine pipeline quantity becomes worse.Yet a lot of serious submarine pipeline leakage accidents all are from the minute leakage that is difficult for realizing or unconspicuous early defect progressively develops and come.If can make regular check on and security evaluation the drift of submarine pipeline, bending, abnormal condition such as exposed or unsettled, and in time find because of the minute leakage that burn into is aging, crackle, distortion cause, adopt remedial measures to remove the potential potential safety hazard of pipeline operation as early as possible, then can effectively prevent the generation of the big leakage accident of submarine pipeline, thereby ensure and carry oil gas normally, safely, avoid serious environmental pollution, enormous economic loss and abominable social influence.Submarine pipeline is because starting is late, Service Environment is special, and detecting method is very limited.
Methods such as traditional negative pressure wave method, sound wave method, real-time model method only can detect greater than the crude oil leakage of total discharge 1% with greater than the natural gas leaking of total discharge 5%, in the Leak testtion of submarine pipeline, do not see effective application as yet, because so big oil and gas leakage can be found across the sea.The water surface monitors that method can only be effective than gross leak to the shoal water, and is then helpless to little leakage, and detection has very big hysteresis quality.The segmented seal method requires pipeline to stop transport, and it can roughly determine the size of leakage point, but can not determine the particular location of leak source.The physical parameter of the Sensitive Apparatus that oil Detecting element method, oily molten pressure tube leak detecting, leak detection cables method dependence leakage liquid cause changes determines to have or not leakage, but can't determine leak source, and can only detect by single, can not reuse.The acoustics leak detecting has cable distance type underwater robot by ROV() carry or the hand-held hydrophorce of diver etc. detects suspicious leak source, determine according to the noise that the pipeline leakage point sends whether leakage takes place and the leak source position, be difficult to realize that full pipeline leakage detects.In a word, present leak hunting method all can not realize to minute leakage full pipeline, quasi real time detect.
Aspect the submarine pipeline position probing, both economical method is to utilize inertial navigation technology to determine interior detection system position, and then definite pipeline location.But because there is drift in inertial measurement component itself, inertial guidance is difficult to satisfy the demand that works alone at a distance for a long time, needs outer secondary assisted correction technology (as Global Positioning System GPS) usually, could guarantee Location accuracy.And the double-skin duct of imbedding the seabed does not arrange signalized point on the way, can't obtain pipeline GPS information on the way.Detect for submarine pipeline geographic coordinate position and military service situation, relatively effective method is the engineering geophysics method at present, namely comprehensively adopt the underwater sound detection method, as side-scan sonar, multibeam echosounder, sub-bottom profiler etc., Underwater Camera, or sea magetometer etc., finish reaching the seabed following pipeline of mud face under water and bury situation and Routing Area seabottom geology status investigation.Wherein, side-scan sonar and multibeam echosounder can be used for investigating proud exposure or the suspended span length that exposes pipeline; Sub-bottom profiler can be used for investigating the buried depth of embedded pipe, type and the thickness of overlying sediments thing.Underwater camera machine testing submarine pipeline intuitive is strong, but visibility is very low.Whether sea magetometer can be used for detecting pipeline and exists, but spatiality that can not pipelines.These methods have not enough separately, need comprehensive utilization, Conjoint Analysis.The problem that this will cause detection task complexity, difficulty is big, cost is high, the cycle is long.
Summary of the invention
The invention provides a kind of interior detection system and detecting method thereof for submarine pipeline, the present invention has realized the detection to minute leakage, has improved testing precision, has reduced the difficulty and the cost that detect, and shortened sense cycle, sees for details hereinafter and describes:
A kind of interior detection system for submarine pipeline, comprise: supporting frame, support frame as described above inside is provided with the electronic seal cabin, support frame as described above is provided with support roller array, mileage wheel, pressure transducer, temperature transducer and the sound transducer of annular spread, and described mileage wheel, described pressure transducer, described temperature transducer are connected described electronic seal cabin with described sound transducer by watertight cable.
Support frame as described above comprises: the first roller support disk, the second roller support disk, the first electronic seal cabin support disk, the second electronic seal cabin support disk also comprise: be used for fixing the strut of four support disk,
The consistent size of the described first roller support disk and the described second roller support disk, and the center is offered porose be used to passing through fluid; The consistent size of the described first electronic seal cabin support disk and the described second electronic seal cabin support disk, and the center is offered porose for described electronic seal cabin is installed; On the described first roller support disk and the described second roller support disk described support roller array is installed; A described mileage wheel is installed on the described first electronic seal cabin support disk or the described second electronic seal cabin support disk at least; On the described second roller support disk described pressure transducer, described temperature transducer and described sound transducer are installed.
Also be provided with the power disk on the hole of the described first roller support disk, described power disk comprises: aperture seat, driving annulus, blade, actuating motor and transmission gear, and the axle of described transmission gear and described actuating motor connects firmly;
Described aperture seat center is provided with boss with holes, is used for fixing described driving annulus, is provided with the blade rotating hole around the described aperture seat; Circular hole is offered at the center of described driving annulus, is used for being fixed on described boss, and described driving annulus is provided with external gear and is used for cooperating described transmission gear, also offers bar hole on the described driving annulus; Also be provided with a driving lever and a running shaft on each described blade, described blade rotating hole, described driving lever, described running shaft, described bar hole quantity are identical, described driving lever, described running shaft pass described bar hole, and described running shaft cooperates with described blade rotating hole.
Described electronic seal cabin comprises: container cartridge, and described container cartridge is provided with protecgulum, and described protecgulum inside is provided with data-interface, and described data-interface is used for and upper machine communication, and by outside plug sealing;
The bottom design of described container cartridge has water-joint to be used to connect described mileage wheel, described pressure transducer, described temperature transducer and described sound transducer; Described container cartridge inside is provided with battery, controller, data acquisition module, power management module and memory module; Described container cartridge inside is provided with the data interface board that matches with described data-interface, the axis of described container cartridge is provided with acceleration transducer and magnetic quantity transducer, the sensitive axes of described acceleration transducer and described magnetic quantity transducer and the dead in line of described container cartridge.
A kind of controlling method of the interior detection system for submarine pipeline said method comprising the steps of:
(1) in preparing the pipeline of patrolling and examining, repeatedly throws in the wiper pigging, utilize wiper service tube that detection system in described is transmitted in the oil transport pipeline, gather and store pipeline internal magnetic field signal, sound signal, acceleration signal, pressure signal, temperature signal and mileage wheel signal on the way;
(2) described interior detection system is connected to upper-position unit, downloads the signal that each sensor is gathered, and signal is carried out the filtering noise reduction process, obtains and handles the back signal;
When (3) calculating any time t, the mileage L that described interior detection system was travelled
t
When (4) calculating any time t, described in detection system axis respectively with the angle of local terrestrial magnetic field and local gravitational acceleration
And γ, obtain interior detection system axial direction vector n by angle
3
(5) the mileage L that travelled according to interior detection system
t, interior detection system axial direction vector n
3With interior detection system initial position s
0Obtain detection system position s in any time
t
(6) by sound signal, pressure signal, temperature signal after the contrast processing, judge whether pipeline exists leakage, and estimate the size of leakage rate.
During described calculating any time t, described in the mileage L that travelled of detection system
tStep be specially:
1) from handle the back field signal, searches the moment T that spike occurs
i, this is T constantly
iAs the moment of interior detection system through each weld seam;
2) default t constantly is at all Rush Hour T
iIn search the Rush Hour T adjacent with moment t
nAnd T
N+1, make T
n≤ t＜T
N+1
3) calculate in detection system during through n weld seam, i.e. T
nIn the time of constantly, the mileage that travelled
l
iBe the length in the i pipe joint road of construction information record, the i.e. distance of i-1 weld seam and i weld seam;
4) from handle back mileage wheel signal, search T
nTo the number of interior pulse of t time period, multiply by the mileage of each pulse representative, detection system is at T in obtaining
nTo interior mileage l of t time period
t
5) calculate L
t=L
n+ l
t
The mileage L that detection system was travelled in the described basis
t, interior detection system axial direction vector n
3With interior detection system initial position s
0Obtain detection system position s in any time
tStep be specially:
1) sampling period according to pipeline rout is separated into many sections with pipeline, and T is counted in every section corresponding sampling instant
j, the displacement s of interior detection system in each cycle
j=L
jN
3j
Wherein, L
jBe T
jTo T
J+1The mileage of detection system in time period, n
3jBe T
jTo T
J+1Detection system is through the direction vector n of pipeline section in time period
3
2) default t constantly is at all sampling instant T
jIn search the sampling instant T adjacent with moment t
mAnd T
M+1, make T
m≤ t＜T
M+1
3) calculate described interior detection system in t displacement constantly
The beneficial effect of technological scheme provided by the invention is:
(1) this interior detection system is when design and installation, its axis overlaps with sensitive axes and the conduit axis of magnetic quantity transducer, acceleration transducer, operate steadily, spiral motion can be not influential to magnetic field and gravity field component in the axial direction, thereby can utilize the geomagnetic shielding principle of pipeline and gravitational acceleration component to calculate pipeline rout;
(2) can detect the high-precision interior detection mileage of pipeline rout and acquisition, and then can calculate the submarine pipeline geographic coordinate, and need not the land mark device; Should in detection system not with the hermetically sealed applying of tube wall, but by the annular spread support roller array installed on the supporting frame and inner-walls of duct slightly pretightening force contact, and the supporting wheel material that contacts with tube wall and structure process optimal design, running resistance and very little with the frictional noise of tube wall, thus the minute leakage sound signal can be identified;
(3) owing to adopted new detection principle, detection system energy consumption is extremely low in this, and volume and weight is minimum, and the operation required thrust is minimum, low in energy consumption, and flying power is strong; Increased the thrust disc of adjustable aperture simultaneously, can be according to travelling speed from main regulation thrust, thus guarantee the smoothness of operation and climbing and the ability by standpipe.
(4) detection system can intensive input duplicate detection in this, avoids the flase drop omission; This system not only can be applicable to the submarine oil-transportation feed channel, also can be applicable to the land oil and gas pipeline.
(5) interior detection system weight is only several kilograms to tens of kilograms, and cheap, compact size, sense cycle only are a few hours.Should interior detection system under the promotion of fed sheet of a media, in pipeline, freely advance, do not influence pipeline and normally transport.
(6) this method has realized the detection to minute leakage, has improved testing precision, has reduced the difficulty and the cost that detect, and shortened sense cycle.
Description of drawings
Fig. 1 is the structural representation of a kind of interior detection system for submarine pipeline provided by the invention;
Fig. 2 is the structural representation of power disk provided by the invention;
Fig. 3 is the structural representation in electronic seal provided by the invention cabin;
Fig. 4 is the structural representation of data interface board provided by the invention;
Fig. 5 is that field signal provided by the invention is at the schematic representation of Rush Hour;
When Fig. 6 leaks for generation, the schematic representation of sound signal, pressure signal, temperature signal;
Fig. 7 is the flow chart of the controlling method of interior detection system provided by the invention.
Embodiment
For making the purpose, technical solutions and advantages of the present invention clearer, embodiment of the present invention is described further in detail below in conjunction with accompanying drawing.
In order to address the above problem, press for that a kind of practicable specific aim is stronger, reliability is higher, implement more easily the pipeline detection system in order to submarine pipeline is carried out the more detection of short period, higher frequency, thereby in time grasp abnormal conditions such as submarine pipeline leakage, drift, distortion, damage, and at early defects such as very first time discovery minute leakage, take reclamation activities early, accomplish to prevent trouble before it happens.
A kind of interior detection system for submarine pipeline, as shown in Figure 1, comprise: supporting frame 2, supporting frame 2 inside are provided with electronic seal cabin 1, supporting frame 2 is provided with support roller array 3, mileage wheel 5, pressure transducer 6, temperature transducer 7 and the sound transducer 8 of annular spread, and mileage wheel 5, pressure transducer 6, temperature transducer 7 are connected electronic seal cabin 1 with sound transducer 8 by watertight cable.Electronic seal cabin 1 specification immobilizes, and supporting frame 2 can be designed the product of a series of different sizes according to demand, to adapt to the caliber of different size.
Wherein, supporting frame 2 comprises: the first roller support disk 21, the second roller support disk 22, the first electronic seal cabin support disk 23, the second electronic seal cabin support disk 24 also comprise: be used for fixing the strut 25 of four support disk,
The consistent size of the first roller support disk 21 and the second roller support disk 22, and the center is offered porose be used to passing through fluid; The consistent size of the first electronic seal cabin support disk 23 and the second electronic seal cabin support disk 24, and the center is offered porose for electronic seal cabin 1 is installed; On the first roller support disk 21 and the second roller support disk 22 support roller array 3 is installed; A mileage wheel 5 is installed on the first electronic seal cabin support disk 23 or the second electronic seal cabin support disk 24 at least; Pressure transducer 6, temperature transducer 7 and sound transducer 8 are installed on the second roller support disk 22.
During specific implementation, strut 25 runs through four support disk, and the through part bolton.
Wherein, support roller array 3 is made up of several rollers, with inner-walls of duct slightly pretightening force contact.The number of roller is determined by caliber.In order to increase the wear resistance of roller, and reduce friction and noise, roller surface adhering to polyurethane.
In order to regulate the flow that passes interior detection system, and then change thrust size, detection system operates steadily in making, referring to Fig. 2, the size that the hole of the first roller support disk 21 is provided with power disk 4(power disk 4 is slightly larger than the size in hole), power disk 4 comprises: aperture seat 41, driving annulus 42, blade 43, actuating motor 44 and transmission gear 45, the axle that transmits gear 45 and actuating motor 44 connects firmly.
Referring to Fig. 3, electronic seal cabin 1 comprises: container cartridge 10, and container cartridge 10 is provided with protecgulum 9, and protecgulum 9 inside are provided with data-interface 12, and data-interface 12 is used for and upper machine communication, and by outside plug 11 sealings;
The bottom design of container cartridge 10 has water-joint 13 to be used for connecting mileage wheel 5, pressure transducer 6, temperature transducer 7 and sound transducer 8; Container cartridge 10 inside are provided with battery 14, controller 15, data acquisition module 16, power management module 19 and memory module 26; Container cartridge 10 inside are provided with the data interface board 20 that matches with data-interface 12, and the axis of container cartridge 10 is provided with acceleration transducer 17 and magnetic quantity transducer 18, the sensitive axes of acceleration transducer 17 and magnetic quantity transducer 18 and the dead in line of container cartridge 10.
During specific implementation, the electronic device of container cartridge 10 inside all passes through datawire 27 and connects, and when acceleration transducer 17 and magnetic quantity transducer 18 all be three-component, then chooses a sensitive axes wantonly as the X sensitive axes, with the dead in line of container cartridge 10.
Referring to Fig. 4, data interface board 20 is provided with toggle switch 28, is used for powering on to each parts in the electronic seal cabin 1, internal data interface 29, be used for connecting controller 15, external data interface 30 is used for connecting upper-position unit (after patrolling and examining the recovery that finishes) and downloads data and charging.
A kind of controlling method of the interior detection system for submarine pipeline referring to Fig. 7, may further comprise the steps:
Before carrying out this controlling method, also need internal detection system to carry out following assembling: three-component magnetic quantity transducer 17 to be installed near axis in the electronic seal cabin 1, to make its X sensitive axes and the dead in line of electronic seal cabin; Three-component accelerometer 18 is installed near axis in the electronic seal cabin 1, makes its X sensitive axes and the dead in line of electronic seal cabin; Battery 14, controller 15, data acquisition module 16, power management module 19, data interface board 20, memory module 26 are fixed on arbitrary position in the electronic seal cabin 1; With protecgulum 9 and container cartridge 10 fastenings; Electronic seal cabin 1 is fixed on the supporting frame 2; Sound transducer 8 is fixed on the supporting frame 2, and the data connector of the other end is connected with electronic seal cabin 1 through water-joint 13; Pressure transducer 6 is fixed on the supporting frame 2, and the data connector of the other end is connected with electronic seal cabin 1 one ends through water-joint 13; Temperature transducer 7 is fixed on the supporting frame 2, and the data connector of the other end is connected with electronic seal cabin 1 one ends through water-joint 13; Mileage wheel 5 is fixed on the supporting frame 2, and the data connector of the other end is connected with electronic seal cabin 1 one ends through water-joint 13; Screw outside plug 11, data-interface 12 is blocked up.
101: in preparing the pipeline of patrolling and examining, repeatedly throw in the wiper pigging, utilize wiper service tube that interior detection system is transmitted in the oil transport pipeline, gather and store pipeline internal magnetic field signal, sound signal, acceleration signal, pressure signal, temperature signal and mileage wheel signal on the way;
The detail operations of this step is: in preparing the pipeline of patrolling and examining, repeatedly throws in the wiper pigging, guarantees all normally recovery and excellent of each wiper, can carry out following steps, otherwise terminating operation; Screw out 1 outside plug 11 on the electronic seal cabin 1; The switch activated automatical control system at data-interface 12 places by electronic seal cabin 1; Screw outside plug 11, the data-interface 12 in electronic seal cabin 1 is stifled on; It is loosening and damaged to check whether parts assemblings such as power disk 4, support roller array 3, mileage wheel 5 have, and does not then enter following steps if having, if then terminating operation is arranged; Utilize wiper service tube interior detection system to be transmitted in the oil transport pipeline.Advance under the thrust of interior detection system oil product in pipeline, gather and store pipeline internal magnetic field signal, sound signal, acceleration signal, pressure signal, temperature signal and mileage wheel signal on the way; After detection finishes, in terminal wiper ball collecting chamber, take out above-mentioned interior detection system.Wherein, wiper is the instrument that is used for cleaning tube wall and monitoring pipeline internal state commonly used in the prior art, and the embodiment of the invention is not done this and given unnecessary details.
102: interior detection system connects data-interface 12 to upper-position unit, downloads the signal that each sensor is gathered, and signal is carried out the filtering noise reduction process, obtains and handles the back signal;
The detail operations of this step is: the outside plug 11 of screwing out the data-interface place 12 in electronic seal cabin 1, connect data-interface 12 to upper-position unit, the data of each sensor of Download History, signal filtering noise reduction to each sensor, wherein, the step of filtering noise reduction is conventionally known to one of skill in the art, and the embodiment of the invention is not done this and given unnecessary details.
103: when calculating any time t, the mileage L that interior detection system was travelled
t
The detail operations of this step is:
1) as shown in Figure 5, from handle the back field signal, searches the moment T that spike occurs
i, this is T constantly
iAs the moment of interior detection system through each weld seam;
2) default t constantly is at all Rush Hour T
iIn search the Rush Hour T adjacent with moment t
nAnd T
N+1, namely make T
n≤ t＜T
N+1
Wherein, Rush Hour T
nAnd T
N+1Corresponding interior detection system is through the moment of n and n+1 weld seam respectively.
3) calculate in detection system during through n weld seam, i.e. T
nIn the time of constantly, the mileage that travelled
l
iBe the length in the i pipe joint road of construction information record, the i.e. distance of i-1 weld seam and i weld seam;
4) from handle back mileage wheel signal, search T
nTo the number of interior pulse of t time period, multiply by the mileage of each pulse representative, detection system is at T in obtaining
nTo interior mileage l of t time period
t
Wherein, the mileage of each pulse representative itself determines that the embodiment of the invention is not done at this and given unnecessary details by mileage wheel 5.
5) calculate L
t=L
n+ l
t
104: when calculating any time t, the axis of interior detection system respectively with the angle of local terrestrial magnetic field and local gravitational acceleration
And γ, obtain interior detection system axial direction vector n by angle
3
The detail operations of this step is:
When 1) calculating any time t according to formula (1) and (2), the axis of interior detection system respectively with the angle of local terrestrial magnetic field and local gravitational acceleration
And γ;
B wherein
GroundBe local terrestrial magnetic field total amount size, B
xBe axial magnetic component in the pipeline of magnetic quantity transducer measurement; G is the local gravitational acceleration size, a
xThe component of local gravitational acceleration on pipeline axial for accelerometer measures.
B
x=B
GroundCos φ (1)
a
x=g·cosγ （2）
Detection system axial direction vector n in during 2) according to formula (3) and (4) calculating any time t
3, n
3Also represent simultaneously pipeline rout.
Under the on-the-spot geographic coordinate system of experiment [seeing document: Chen Liang, the application of inertial navigation system in pipeline detection, Shenyang University of Technology's master thesis, 2009], n
1For testing the direction vector of on-the-spot vertical line, n
2For testing the direction vector of on-the-spot terrestrial magnetic field, n
1, n
2Known.
105: the mileage L that travelled according to interior detection system
t, interior detection system axial direction vector n
3With interior detection system initial position s
0Obtain detection system position s in any time
t
The detail operations of this step is:
1) sampling period according to pipeline rout is separated into many sections with pipeline, and T is counted in every section corresponding sampling instant
j, the displacement s of interior detection system in each cycle
j=L
jN
3j
Wherein, L
jBe T
jTo T
J+1The mileage of detection system in time period, n
3jBe T
jTo T
J+1Detection system is through the direction vector n of pipeline section in time period
3
2) default t constantly is at all sampling instant T
jIn search the sampling instant T adjacent with moment t
mAnd T
M+1, namely make T
m≤ t＜T
M+1
3) calculate interior detection system in t displacement constantly
s
0Be the initial position of interior detection system, namely the start position of pipeline is known; s
J+1=L
J+1N
3(j+1)
106: by sound signal, pressure signal, the temperature signal after the contrast processing, judge whether pipeline exists leakage, and estimate the size of leakage rate.
As shown in Figure 6, when taking place to leak, sound signal, pressure signal, temperature signal have obviously different (there is bigger variation in the amplitude of three signals, and the threshold value of variable quantity is determined according to the needs in the practical application) constantly with all the other, and leakage rate is more big, and this amplitude difference is just more big.By technician's observation, when sound signal, pressure signal and temperature signal all exist amplitude unusual, can learn that there is leakage in this pipeline, and probably estimate leakage rate.
During specific implementation, adopt a plurality of interior detection systems that whole pipe is detected simultaneously, contrast each pipeline rout, interior detection system mileage, interior detection system (pipeline) position constantly that detection system detects in each, summation is done on average respectively then, to improve the testing precision of pipeline rout, interior detection system mileage, interior detection system (pipeline) position.Comprehensive each interior detection system detects the result of leaking, and determines finally whether pipeline leaks, and estimates leak position and leakage rate.For example: have 10 interior detection systems to detect simultaneously, when there is leakage at the same position place that has at least 6 interior detection systems to detect pipeline, show that just leakage has taken place in this position.
It will be appreciated by those skilled in the art that accompanying drawing is the schematic representation of a preferred embodiment, the invention described above embodiment's sequence number does not represent embodiment's quality just to description.
The above only is preferred embodiment of the present invention, and is in order to limit the present invention, within the spirit and principles in the present invention not all, any modification of doing, is equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (7)
1. interior detection system that is used for submarine pipeline, comprise: supporting frame, it is characterized in that, support frame as described above inside is provided with the electronic seal cabin, support frame as described above is provided with support roller array, mileage wheel, pressure transducer, temperature transducer and the sound transducer of annular spread, and described mileage wheel, described pressure transducer, described temperature transducer are connected described electronic seal cabin with described sound transducer by watertight cable.
2. a kind of interior detection system for submarine pipeline according to claim 1, it is characterized in that, support frame as described above comprises: the first roller support disk, the second roller support disk, the first electronic seal cabin support disk, the second electronic seal cabin support disk, also comprise: be used for fixing the strut of four support disk
The consistent size of the described first roller support disk and the described second roller support disk, and the center is offered porose be used to passing through fluid; The consistent size of the described first electronic seal cabin support disk and the described second electronic seal cabin support disk, and the center is offered porose for described electronic seal cabin is installed; On the described first roller support disk and the described second roller support disk described support roller array is installed; A described mileage wheel is installed on the described first electronic seal cabin support disk or the described second electronic seal cabin support disk at least; On the described second roller support disk described pressure transducer, described temperature transducer and described sound transducer are installed.
3. a kind of interior detection system for submarine pipeline according to claim 1, it is characterized in that, also be provided with the power disk on the hole of the described first roller support disk, described power disk comprises: aperture seat, driving annulus, blade, actuating motor and transmission gear, and the axle of described transmission gear and described actuating motor connects firmly;
Described aperture seat center is provided with boss with holes, is used for fixing described driving annulus, is provided with the blade rotating hole around the described aperture seat; Circular hole is offered at the center of described driving annulus, is used for being fixed on described boss, and described driving annulus is provided with external gear and is used for cooperating described transmission gear, also offers bar hole on the described driving annulus; Also be provided with a driving lever and a running shaft on each described blade, described blade rotating hole, described driving lever, described running shaft, described bar hole quantity are identical, described driving lever, described running shaft pass described bar hole, and described running shaft cooperates with described blade rotating hole.
4. a kind of interior detection system for submarine pipeline according to claim 1, it is characterized in that, described electronic seal cabin comprises: container cartridge, described container cartridge is provided with protecgulum, described protecgulum inside is provided with data-interface, described data-interface is used for and upper machine communication, and by outside plug sealing;
The bottom design of described container cartridge has water-joint to be used to connect described mileage wheel, described pressure transducer, described temperature transducer and described sound transducer; Described container cartridge inside is provided with battery, controller, data acquisition module, power management module and memory module; Described container cartridge inside is provided with the data interface board that matches with described data-interface, the axis of described container cartridge is provided with acceleration transducer and magnetic quantity transducer, the sensitive axes of described acceleration transducer and described magnetic quantity transducer and the dead in line of described container cartridge.
5. a controlling method that is used for the described a kind of interior detection system for submarine pipeline of the arbitrary claim of claim 1 to 4 is characterized in that, said method comprising the steps of:
(1) in preparing the pipeline of patrolling and examining, repeatedly throws in the wiper pigging, utilize wiper service tube that detection system in described is transmitted in the oil transport pipeline, gather and store pipeline internal magnetic field signal, sound signal, acceleration signal, pressure signal, temperature signal and mileage wheel signal on the way;
(2) described interior detection system is connected to upper-position unit, downloads the signal that each sensor is gathered, and signal is carried out the filtering noise reduction process, obtains and handles the back signal;
When (3) calculating any time t, the mileage L that described interior detection system was travelled
t
When (4) calculating any time t, described in detection system axis respectively with the angle of local terrestrial magnetic field and local gravitational acceleration
And γ, obtain interior detection system axial direction vector n by angle
3
(5) the mileage L that travelled according to detection system in described
t, described in detection system axial direction vector n
3With interior detection system initial position s
0Obtain detection system position s in any time
t
(6) by sound signal, pressure signal, temperature signal after the contrast processing, judge whether pipeline exists leakage, and estimate the size of leakage rate.
6. controlling method according to claim 5 is characterized in that, during described calculating any time t, described in the mileage L that travelled of detection system
tStep be specially:
1) from handle the back field signal, searches the moment T that spike occurs
i, described moment T
iAs the moment of detection system in described through each weld seam;
2) default t constantly is at all Rush Hour T
iIn search the Rush Hour T adjacent with moment t
nAnd T
N+1, make T
n≤ t＜T
N+1
3) calculate described in detection system during through n weld seam, i.e. T
nIn the time of constantly, the mileage that travelled
l
iBe the length in the i pipe joint road of construction information record, the i.e. distance of i-1 weld seam and i weld seam;
4) from handle back mileage wheel signal, search T
nTo the number of interior pulse of t time period, multiply by the mileage of each pulse representative, obtain described interior detection system at T
nTo interior mileage l of t time period
t
5) calculate L
t=L
n+ l
t
7. controlling method according to claim 5 is characterized in that, the mileage L that detection system was travelled in the described basis
t, interior detection system axial direction vector n
3With interior detection system initial position s
0Obtain detection system position s in any time
tStep be specially:
1) sampling period according to pipeline rout is separated into many sections with pipeline, and T is counted in every section corresponding sampling instant
j, the described interior displacement s of detection system in each cycle
j=L
jN
3j
Wherein, L
jBe T
jTo T
J+1The mileage of detection system in time period, n
3jBe T
jTo T
J+1Detection system is through the direction vector n of pipeline section in time period
3
2) default t constantly is at all sampling instant T
jIn search the sampling instant T adjacent with moment t
mAnd T
M+1, make T
m≤ t＜T
M+1
3) calculate described interior detection system in t displacement constantly
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310174830.1A CN103244830B (en) | 2013-05-13 | 2013-05-13 | A kind of for detection system in submarine pipeline and detecting method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310174830.1A CN103244830B (en) | 2013-05-13 | 2013-05-13 | A kind of for detection system in submarine pipeline and detecting method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103244830A true CN103244830A (en) | 2013-08-14 |
| CN103244830B CN103244830B (en) | 2016-02-24 |
Family
ID=48924557
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310174830.1A Active CN103244830B (en) | 2013-05-13 | 2013-05-13 | A kind of for detection system in submarine pipeline and detecting method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103244830B (en) |
Cited By (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104199123A (en) * | 2014-08-07 | 2014-12-10 | 上海瑞洋船舶科技有限公司 | Submarine cable laying quality detection system |
| CN104567914A (en) * | 2013-10-24 | 2015-04-29 | 上海佳友市政建筑有限公司 | Pipeline track instrument provided with novel logging wheel |
| CN104709336A (en) * | 2013-12-11 | 2015-06-17 | 郑州新力光电技术有限公司 | Self-adaptive elastic bracket bogie |
| CN104931649A (en) * | 2015-05-18 | 2015-09-23 | 中海石油(中国)有限公司 | Submarine pipeline land simulation test platform and test method |
| CN105240643A (en) * | 2015-09-14 | 2016-01-13 | 中国海洋石油总公司 | Commissioning installation method for deepwater pipeline plugger |
| CN105423138A (en) * | 2016-01-18 | 2016-03-23 | 肖兴江 | Intelligent detector for detecting leakage of oil-gas pipeline |
| CN106122772A (en) * | 2016-06-17 | 2016-11-16 | 北方工业大学 | Pressure gas pipeline leakage detection system and method |
| CN106741753A (en) * | 2015-11-23 | 2017-05-31 | 中国科学院沈阳自动化研究所 | A kind of autonomous underwater robot magnetic probe stretches loading device |
| CN107166174A (en) * | 2017-05-28 | 2017-09-15 | 东北大学 | A kind of real-time tracking of submarine pipeline internal detector and alignment system and method |
| CN107262467A (en) * | 2017-06-26 | 2017-10-20 | 长春理工大学 | Intelligent creeping robot device for pipeline cleaning |
| CN109406186A (en) * | 2018-12-07 | 2019-03-01 | 中国石油大学(北京) | Deep Water Steel catenary riser pigging simulation test device |
| CN109459711A (en) * | 2018-12-26 | 2019-03-12 | 中国船舶重工集团公司第七〇九研究所 | A kind of underwater high-precision magnetic field measurement system |
| CN109556700A (en) * | 2018-12-26 | 2019-04-02 | 天津大学 | A kind of free spanning submarine pipeline method for detecting vibration |
| CN109676597A (en) * | 2018-11-01 | 2019-04-26 | 国网江西省电力有限公司检修分公司 | A kind of interior Gua Gui robot operating system |
| CN109780370A (en) * | 2019-01-21 | 2019-05-21 | 深圳大学 | A kind of pipeline three-dimensional curve robot measurement and its implementation |
| CN112128628A (en) * | 2020-09-08 | 2020-12-25 | 青岛派科森光电技术股份有限公司 | Sensing device and method for monitoring leakage of submarine oil and gas pipeline |
| CN112557514A (en) * | 2020-12-22 | 2021-03-26 | 中国海洋大学 | Hand-held type submarine sediment sample section acoustics full-automatic measuring device |
| CN113033396A (en) * | 2021-03-24 | 2021-06-25 | 东北大学 | Variable frequency pipeline ball passing indicating device based on feature fusion and ball passing detection method |
| CN113217824A (en) * | 2021-04-20 | 2021-08-06 | 中国石油大学(华东) | Sulfur-containing natural gas pipeline leakage detection device and method based on parallel pipeline continuous sampling analysis |
| CN114138033A (en) * | 2021-11-25 | 2022-03-04 | 西安石油大学 | Constant temperature control method and device for quick-opening ball collecting barrel |
| CN114323505A (en) * | 2022-03-18 | 2022-04-12 | 山西华羽盛泰科技有限公司 | Pressure container detection device |
| CN114910024A (en) * | 2021-02-08 | 2022-08-16 | 广东景奕装备技术有限公司 | Underwater sludge thickness detection method and system |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3719492C2 (en) * | 1987-06-11 | 1995-04-13 | Pipetronix Gmbh | Bulb Search Pig |
| CN2646659Y (en) * | 2003-07-15 | 2004-10-06 | 杨文博 | Pipeline geometric detector |
| CN101221152A (en) * | 2008-01-24 | 2008-07-16 | 上海交通大学 | Pipe data collection and memory detecting device |
| CN102798666A (en) * | 2012-08-06 | 2012-11-28 | 中国石油天然气集团公司 | Axial crack defect internal detector for pipe wall based on magnetostrictive effect |
-
2013
- 2013-05-13 CN CN201310174830.1A patent/CN103244830B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3719492C2 (en) * | 1987-06-11 | 1995-04-13 | Pipetronix Gmbh | Bulb Search Pig |
| CN2646659Y (en) * | 2003-07-15 | 2004-10-06 | 杨文博 | Pipeline geometric detector |
| CN101221152A (en) * | 2008-01-24 | 2008-07-16 | 上海交通大学 | Pipe data collection and memory detecting device |
| CN102798666A (en) * | 2012-08-06 | 2012-11-28 | 中国石油天然气集团公司 | Axial crack defect internal detector for pipe wall based on magnetostrictive effect |
Cited By (34)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104567914A (en) * | 2013-10-24 | 2015-04-29 | 上海佳友市政建筑有限公司 | Pipeline track instrument provided with novel logging wheel |
| CN104709336B (en) * | 2013-12-11 | 2017-02-01 | 郑州金润高科电子有限公司 | Self-adaptive elastic bracket bogie |
| CN104709336A (en) * | 2013-12-11 | 2015-06-17 | 郑州新力光电技术有限公司 | Self-adaptive elastic bracket bogie |
| CN104199123A (en) * | 2014-08-07 | 2014-12-10 | 上海瑞洋船舶科技有限公司 | Submarine cable laying quality detection system |
| CN104931649A (en) * | 2015-05-18 | 2015-09-23 | 中海石油(中国)有限公司 | Submarine pipeline land simulation test platform and test method |
| CN105240643A (en) * | 2015-09-14 | 2016-01-13 | 中国海洋石油总公司 | Commissioning installation method for deepwater pipeline plugger |
| CN105240643B (en) * | 2015-09-14 | 2017-08-08 | 中国海洋石油总公司 | The adjustment and installation method of deep underwater pipes plugging device |
| CN106741753A (en) * | 2015-11-23 | 2017-05-31 | 中国科学院沈阳自动化研究所 | A kind of autonomous underwater robot magnetic probe stretches loading device |
| CN106741753B (en) * | 2015-11-23 | 2018-07-31 | 中国科学院沈阳自动化研究所 | A kind of flexible loading device of autonomous underwater robot magnetic probe |
| CN105423138A (en) * | 2016-01-18 | 2016-03-23 | 肖兴江 | Intelligent detector for detecting leakage of oil-gas pipeline |
| CN106122772A (en) * | 2016-06-17 | 2016-11-16 | 北方工业大学 | Pressure gas pipeline leakage detection system and method |
| CN107166174A (en) * | 2017-05-28 | 2017-09-15 | 东北大学 | A kind of real-time tracking of submarine pipeline internal detector and alignment system and method |
| CN107166174B (en) * | 2017-05-28 | 2019-01-22 | 东北大学 | A kind of real-time tracking of submarine pipeline internal detector and positioning system and method |
| CN107262467A (en) * | 2017-06-26 | 2017-10-20 | 长春理工大学 | Intelligent creeping robot device for pipeline cleaning |
| CN109676597A (en) * | 2018-11-01 | 2019-04-26 | 国网江西省电力有限公司检修分公司 | A kind of interior Gua Gui robot operating system |
| CN109406186A (en) * | 2018-12-07 | 2019-03-01 | 中国石油大学(北京) | Deep Water Steel catenary riser pigging simulation test device |
| CN109406186B (en) * | 2018-12-07 | 2019-10-18 | 中国石油大学(北京) | Deep Water Steel catenary riser pigging simulation test device |
| CN109556700A (en) * | 2018-12-26 | 2019-04-02 | 天津大学 | A kind of free spanning submarine pipeline method for detecting vibration |
| CN109459711A (en) * | 2018-12-26 | 2019-03-12 | 中国船舶重工集团公司第七〇九研究所 | A kind of underwater high-precision magnetic field measurement system |
| CN109556700B (en) * | 2018-12-26 | 2020-10-23 | 天津大学 | Vibration detection method for submarine suspended span pipeline |
| CN109780370B (en) * | 2019-01-21 | 2020-05-26 | 深圳大学 | Pipeline three-dimensional curve measuring robot and implementation method thereof |
| WO2020151363A1 (en) * | 2019-01-21 | 2020-07-30 | 深圳大学 | Pipeline three-dimensional curve measuring robot and implementation method therefor |
| CN109780370A (en) * | 2019-01-21 | 2019-05-21 | 深圳大学 | A kind of pipeline three-dimensional curve robot measurement and its implementation |
| US11796299B2 (en) | 2019-01-21 | 2023-10-24 | Shenzhen University | Pipeline three-dimensional curve measuring robot and implementation method therefor |
| CN112128628A (en) * | 2020-09-08 | 2020-12-25 | 青岛派科森光电技术股份有限公司 | Sensing device and method for monitoring leakage of submarine oil and gas pipeline |
| CN112557514A (en) * | 2020-12-22 | 2021-03-26 | 中国海洋大学 | Hand-held type submarine sediment sample section acoustics full-automatic measuring device |
| CN112557514B (en) * | 2020-12-22 | 2021-09-21 | 中国海洋大学 | Hand-held type submarine sediment sample section acoustics full-automatic measuring device |
| CN114910024A (en) * | 2021-02-08 | 2022-08-16 | 广东景奕装备技术有限公司 | Underwater sludge thickness detection method and system |
| CN113033396A (en) * | 2021-03-24 | 2021-06-25 | 东北大学 | Variable frequency pipeline ball passing indicating device based on feature fusion and ball passing detection method |
| CN113217824A (en) * | 2021-04-20 | 2021-08-06 | 中国石油大学(华东) | Sulfur-containing natural gas pipeline leakage detection device and method based on parallel pipeline continuous sampling analysis |
| CN114138033B (en) * | 2021-11-25 | 2022-08-05 | 西安石油大学 | Constant temperature control method and device for quick-opening ball collecting barrel |
| CN114138033A (en) * | 2021-11-25 | 2022-03-04 | 西安石油大学 | Constant temperature control method and device for quick-opening ball collecting barrel |
| CN114323505B (en) * | 2022-03-18 | 2022-06-10 | 山西华羽盛泰科技有限公司 | Pressure container detection device |
| CN114323505A (en) * | 2022-03-18 | 2022-04-12 | 山西华羽盛泰科技有限公司 | Pressure container detection device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103244830B (en) | 2016-02-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103244830B (en) | A kind of for detection system in submarine pipeline and detecting method thereof | |
| US4945775A (en) | Inertial based pipeline monitoring system | |
| CN102171559B (en) | Device and method to assess impairment of pipeline wall strength | |
| CN107218942B (en) | Small-diameter pipeline defect positioning device and positioning method based on fast orthogonal search algorithm | |
| CN111699379B (en) | Intelligent data acquisition system and method for pipeline | |
| CN102330887B (en) | Pipeline sound wave leakage detection positioning device and pipe cleaner | |
| CN101886743B (en) | Method and device for positioning submarine pipeline robot | |
| US8841901B2 (en) | System and method for inspecting a subsea pipeline | |
| CN105066917A (en) | Miniature pipeline geographic information system measuring apparatus and measuring method thereof | |
| MXPA00006237A (en) | Method and apparatus for determining location of characteristics of a pipeline. | |
| EP2737242B1 (en) | System and method for inspecting a subsea pipeline | |
| US20070199383A1 (en) | Pipeline Integrity Analysis Using an In-Flow Vehicle | |
| MX2011006207A (en) | Intelligent tool for detecting perforations and interpretation of data online. | |
| CN105864644A (en) | Intelligent detector for deep sea submarine pipelines and detection method | |
| EA009913B1 (en) | System and method for measuring electric current in a pipeline | |
| US20230176015A1 (en) | Advanced caliper for a pipe and method of use | |
| EP4176241A1 (en) | In-line fluid and solid sampling within flowlines | |
| CN107219335B (en) | Pipeline connector detection method based on complex continuous wavelet transform | |
| Ariaratnam et al. | Development of an innovative free-swimming device for detection of leaks in oil and gas pipelines | |
| RU2442072C1 (en) | Method for emergency maintenance of high pressure pipelines | |
| RU2439550C1 (en) | On-line diagnostic device of main piping | |
| GB2578607A (en) | Level sensing apparatus | |
| Ariaratnam et al. | Development of a free-swimming acoustic tool for liquid pipeline leak detection including evaluation for natural gas pipeline applications | |
| CN103363880A (en) | Pipeline girth weld joint identification and positioning method | |
| WO2020165558A1 (en) | Leak detection apparatus |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |