CN106015944B - Deep seafloor pipeline cruising inspection system and its working method - Google Patents
Deep seafloor pipeline cruising inspection system and its working method Download PDFInfo
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- CN106015944B CN106015944B CN201610286878.5A CN201610286878A CN106015944B CN 106015944 B CN106015944 B CN 106015944B CN 201610286878 A CN201610286878 A CN 201610286878A CN 106015944 B CN106015944 B CN 106015944B
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- inspection
- patrol task
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- logging
- controlled vehicle
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F17—STORING OR DISTRIBUTING GASES OR LIQUIDS
- F17D—PIPE-LINE SYSTEMS; PIPE-LINES
- F17D5/00—Protection or supervision of installations
- F17D5/02—Preventing, monitoring, or locating loss
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F17—STORING OR DISTRIBUTING GASES OR LIQUIDS
- F17D—PIPE-LINE SYSTEMS; PIPE-LINES
- F17D5/00—Protection or supervision of installations
- F17D5/02—Preventing, monitoring, or locating loss
- F17D5/06—Preventing, monitoring, or locating loss using electric or acoustic means
Abstract
The invention discloses a kind of deep seafloor pipeline cruising inspection system and its working method, cruising inspection system includes administrator's operating terminal, GIS database, Core server, gateway, mobile communication base station and remote-controlled vehicle logging；The remote-controlled vehicle logging is made of optical imaging system, master controller, GPS module, depth gauge, altimeter, LCD MODULE, acoustic imaging system, memory module, optical fibre gyro, compass and network communication module；Its working method, comprises the following steps：(1) patrol task list is generated；(2) it is detailed to generate circuit；(3) patrol task executes；(4) inspection defect record；(5) defect elimination records.
Description
Technical field
The present invention relates to a kind of pipeline inspection technical fields, specifically, more particularly to a kind of deep seafloor pipeline inspection
System.
Background technology
China's sea-bottom oil-gas pipeline construction progresses into peak period, and the companies such as China Petroleum, China sea oil, Sinopec are only
Submarine pipeline in Bohai Sea Gulf has just reached hundreds of kms.Submarine pipeline is the ocean engineering that investment is high, risk is big, with terrestrial pipeline
It compares, submarine pipeline faces marine environment complicated and changeable, by effect of natural environment such as stormy waves, ocean current, storm tides, and adopts
The human factors such as sand, anchor evil influence, and easily occur the security risks such as exposed, suspended span of pipeline, the long-term suspended span of submarine pipeline, exposed,
Stormy waves, ocean current impact under, easily generate fatigue fracture, once the accidents such as occurring leaking, will cause to stop production, Marine Pollution ring
Ecocatas-trophe is caused in border, or even sets off an explosion or involve downstream user installation security, causes personal injury and economic loss.Often
Rule detection is general directly by surface mother ship as carrier, carries high frequency side-scan sonar and executes, which does not support finely to detect.It passes
The fine detection of system carries extraordinary detection device by diver and executes, but diver is in working depth, operating efficiency ability, equipment
The adaptability etc. of carrying ability and complicated sea situation all has significant limitation.
Invention content
In view of the above-mentioned deficiencies in the prior art, the technical problem to be solved by the present invention is that disclosing a kind of deep-sea sea
Bottom pipeline cruising inspection system and its working method, meet line data-logging work quickly, efficiently, timely require, circuit is patrolled
Inspection management level has been increased to a new level, inspection work electronization, information-based and intelligence is realized, to ensure to manage
The safe and stable operation of road system high efficiency rate, less trouble.
The technical solution adopted by the present invention to solve the technical problems is：A kind of deep seafloor pipeline cruising inspection system, including
Administrator's operating terminal, GIS database, Core server, gateway, mobile communication base station and remote-controlled vehicle logging；It is described
Administrator's operating terminal, GIS database and Core server are all connected by gateway with mobile communication base station, the remote control diving
Device logging is connected with mobile communication base station by radio communication, and the remote-controlled vehicle logging is by optical imaging system, master
Controller, GPS module, depth gauge, altimeter, LCD MODULE, acoustic imaging system, memory module, optical fibre gyro, compass
It is formed with network communication module, the optical imaging system, GPS module, acoustic imaging system, memory module and network communication mould
Block is all connected with master controller, and the master controller is using ARM microprocessor chip and is equipped with embedded OS, described
Depth gauge, altimeter, optical fibre gyro and compass are connect with master controller, and the LCD MODULE is connect with master controller.
As a kind of preferred embodiment of the present invention, the optical imaging system on the remote-controlled vehicle logging is by shining
Subsystem, video camera and holder subsystem composition.
As a kind of preferred embodiment of the present invention, pacify on the acoustic imaging system on the remote-controlled vehicle logging
Equipped with multi-beam image sonar.
As a kind of preferred embodiment of the present invention, the memory module includes FLASH memory and SDRAM storages
Device.
The invention also discloses a kind of working methods of deep seafloor pipeline cruising inspection system, comprise the following steps：
(1) patrol task list is generated；Patrol task is generated according to pipeline company's information, inspection group information and line information
It is single；Pipeline company's information is to pass through a kind of any of the above-described inspection that deep seafloor pipeline cruising inspection system feedack is assigned
Task；
(2) it is detailed to generate circuit；It is detailed that circuit is generated according to patrol task list；
(3) patrol task executes；Patrol task is executed according to circuit detail；
(4) inspection defect record；Record executes the line defct of the discovery during patrol task；
(5) defect elimination records；Record executes the process eliminated to the line defct of discovery during patrol task.
A kind of preferred embodiment as above-mentioned working method：
It also include the inspection process that inspection must be examined；The inspection process that the inspection must be examined includes：
S1：Generating inspection according to line information must examine；
S2：Inspection step S1's must examine；
S3：The logging geographical coordinate during the execution patrol task in the step (3) is obtained in real time；
S4：The patrol task that must be examined is carried out according to the logging geographical coordinate of step S3 and the information that must be examined to verify.
A kind of preferred embodiment as above-mentioned working method：
The deep seafloor pipeline cruising inspection system feedack obtains as follows：
S10：Live inspection is carried out by submersible logging；
S20：The field data that the submersible logging of transmitting step S10 obtains；
S30：The step S20 field datas obtained are stored in field data library；
S40：The information of field data library storage is the deep seafloor pipeline cruising inspection system feedack.
The operation principle of the present invention is that：By embedded system, three kinds of GPS, GIS, wireless communication technologies are integrated, establish one
Cover unified pipeline cruising inspection system.Remote-controlled vehicle logging not only can be accurate according to GIS database and GPS positioning information
Patrol task is completed, and can be by the GPS real-time spatial datas obtained and the inspection data net by radio communication of typing
Network is transferred in relevant generalized information system, to allow administrative department to grasp the work of remote-controlled vehicle logging intuitively, in real time
Make situation and the operating condition of pipeline, realizes the informationization of visualized operation and production management.
System may be implemented to generate from patrol task, assign, go to inspection data feedback, statistics, analysis etc. a series of
The informationization and intelligence of program, have thoroughly broken away from past paper stock.
Remote-controlled vehicle logging configures perfect movement and alignment sensor system, for support automatic control function and
Underwater fine detection function.Sensor includes compass, optical fibre gyro, depth gauge, altimeter (adjustable type), GPS positioning system.It is distant
It controls submersible logging control system and uses ARM microprocessor, realize automatic fixing depth, Ding Gao and orientating function.Remote-controlled vehicle
Logging tail portion configures magnetic coupling propeller, has stronger anti-current ability.In addition, remote-controlled vehicle logging reserves loading pipe
The interface of the equipment such as road survey meter.
Underwater Imaging detecting system includes at optical imaging system, acoustic imaging system, aiding sensors and informix
Reason system.The basic configuration of optical imaging system includes lighting system, video camera, clouds terrace system.The core of acoustic imaging system
Component is multi-beam image sonar.When seawater visibility is relatively low, optical imaging system can only play a role in smaller range,
Acoustic imaging system can then obtain clearly image within the scope of 1~10m.Therefore, optics and sound system, which are combined, to obtain
Obtain good Underwater Imaging detection result.
Compared with the prior art, the present invention has the following advantages：
It is fast to meet line data-logging work for a kind of deep seafloor pipeline cruising inspection system disclosed by the invention and its working method
Speed, efficiently, timely require, line data-logging management level has been increased to a new level, has realized inspection working electronic
Change, is information-based and intelligent, to ensure the safe and stable operation of pipe-line system high efficiency, less trouble；Optics and acoustics system
System is combined the Underwater Imaging detection result for improving logging, and inspection effect is more preferable.
Description of the drawings
Fig. 1 is a kind of structural schematic diagram of specific implementation mode of the present invention；
Fig. 2 is a kind of structural schematic diagram of specific implementation mode remote-controlled vehicle logging of the present invention；
Fig. 3 is that a kind of specific implementation mode system workflow of the present invention turns figure.
Reference sign：
1：Administrator's operating terminal, 2：GIS database, 3：Core server, 4：Gateway, 5：Mobile communication base station, 6：It is distant
Control submersible logging；
601：Optical imaging system, 602：Master controller, 603：GPS module, 604：Depth gauge, 605：Altimeter, 606：
LCD MODULE, 607：Acoustic imaging system, 608：Memory module, 609：Optical fibre gyro, 610：Compass, 611：Network communication
Module.
Specific implementation mode
The specific embodiment of the invention is described with reference to the accompanying drawings and embodiments：
It should be noted that structure, ratio, the size etc. illustrated in this specification institute attached drawing, only coordinating explanation
The revealed content of book is not limited to the enforceable restriction of the present invention so that those skilled in the art understands and reads
Condition, the modification of any structure, the change of proportionate relationship or the adjustment of size, do not influence the effect of present invention can be generated and
Under the purpose that can reach, should all still it fall in the range of disclosed technology contents obtain and can cover.
Meanwhile cited such as "upper" in this specification, "lower", "left", "right", " centre " and " one " term, also
Only being illustrated for ease of narration, rather than to limit the scope of the invention, relativeness is altered or modified, in nothing
Under essence change technology contents, when being also considered as the enforceable scope of the present invention.
As shown, it illustrates the specific implementation modes of the present invention；As shown, a kind of deep-sea sea disclosed by the invention
Bottom pipeline cruising inspection system, including administrator's operating terminal 1, GIS database 2, Core server 3, gateway 4, mobile communication base station 5
With remote-controlled vehicle logging 6；Administrator's operating terminal 1, GIS database 2 and Core server 3 all by gateway 4 with
Mobile communication base station 5 is connected, and the remote-controlled vehicle logging 6 is connected with mobile communication base station 5 by radio communication, described distant
Control submersible logging 6 by optical imaging system 601, master controller 602, GPS module 603, depth gauge 604, altimeter 605,
LCD MODULE 606, acoustic imaging system 607, memory module 608, optical fibre gyro 609, compass 610 and network communication module
611 compositions, the optical imaging system 601, GPS module 603, acoustic imaging system 607, memory module 608 and network communication
Module 611 is all connected with master controller 602, and the master controller 602 is using ARM microprocessor chip and is equipped with embedded behaviour
Make system, the depth gauge 604, altimeter 605, optical fibre gyro 609 and compass 610 are connect with master controller 602, the liquid crystal
Display module 606 is connect with master controller 602.
Preferably, the optical imaging system 601 on the remote-controlled vehicle logging 6 by illumination subsystems, video camera and
Holder subsystem forms.
Preferably, multi-beam image sound is installed on the acoustic imaging system 607 on the remote-controlled vehicle logging 6
It receives.
The invention also discloses a kind of working methods of deep seafloor pipeline cruising inspection system, comprise the following steps：
(1) patrol task list is generated；Patrol task is generated according to pipeline company's information, inspection group information and line information
It is single；Pipeline company's information is to be assigned by a kind of any of the above-described deep seafloor pipeline cruising inspection system feedack
Patrol task；
(2) it is detailed to generate circuit；It is detailed that circuit is generated according to patrol task list；
(3) patrol task executes；Patrol task is executed according to circuit detail；
(4) inspection defect record；Record executes the line defct of the discovery during patrol task；
(5) defect elimination records；Record executes the process eliminated to the line defct of discovery during patrol task.This reality
Regularly patrol task can be executed by disclosed deep seafloor pipeline cruising inspection system according to the present invention by applying working method disclosed in example,
Patrol task list is produced according to feedack, the patrol task in patrol task list can finally investigate defect expressivity and lack
It falls into so that entire inspection workload is more efficient, copes with defect immediately.
Preferably, the working method also includes the inspection process that inspection must be examined；The inspection that the inspection must be examined
Journey includes：
S1：Generating inspection according to line information must examine；
S2：Inspection step S1's must examine；
S3：The logging geographical coordinate during the execution patrol task in the step (3) is obtained in real time；
S4：The patrol task that must be examined is carried out according to the logging geographical coordinate of step S3 and the information that must be examined to verify.
Inspection that the present embodiment must be examined by inspection realizes the perfectly safe of main conduit line position.
Preferably, the deep seafloor pipeline cruising inspection system feedack obtains as follows：
S10：Live inspection is carried out by submersible logging；
S20：The field data that the submersible logging of transmitting step S10 obtains；
S30：The step S20 field datas obtained are stored in field data library；
S40：The information of field data library storage is the deep seafloor pipeline cruising inspection system feedack.
The present embodiment can allow submersible logging periodically to obtain pipeline information in real time, it is ensured that pinpoint the problems immediately.
The preferred embodiment for the present invention is explained in detail above in conjunction with attached drawing, but the present invention is not limited to above-mentioned implementations
Mode within the knowledge of a person skilled in the art can also be without departing from the purpose of the present invention
It makes a variety of changes.
Many other changes and remodeling can be made by not departing from the spirit and scope of the present invention.It should be appreciated that the present invention is not
It is limited to specific embodiment, the scope of the present invention is defined by the following claims.
Claims (7)
1. deep seafloor pipeline cruising inspection system, it is characterised in that：Including administrator's operating terminal, GIS database, kernel service
Device, gateway, mobile communication base station and remote-controlled vehicle logging；Administrator's operating terminal, GIS database and kernel service
Device is all connected by gateway with mobile communication base station, the remote-controlled vehicle logging by radio communication with mobile communication base station
It is connected, the remote-controlled vehicle logging is by optical imaging system, master controller, GPS module, depth gauge, altimeter, liquid crystal
Show module, acoustic imaging system, memory module, optical fibre gyro, compass and network communication module composition, the optical imagery system
System, GPS module, acoustic imaging system, memory module and network communication module are all connected with master controller, and the master controller is adopted
With ARM microprocessor chip and embedded OS is installed, the depth gauge, altimeter, optical fibre gyro and compass and master
Controller connects, and the LCD MODULE is connect with master controller.
2. deep seafloor pipeline cruising inspection system as described in claim 1, it is characterised in that：On the remote-controlled vehicle logging
Optical imaging system be made of illumination subsystems, video camera and holder subsystem.
3. deep seafloor pipeline cruising inspection system as described in claim 1, it is characterised in that：On the remote-controlled vehicle logging
Acoustic imaging system on multi-beam image sonar is installed.
4. deep seafloor pipeline cruising inspection system as described in claim 1, it is characterised in that：The memory module includes FLASH
Memory and SDRAM memory.
5. the working method of deep seafloor pipeline cruising inspection system, which is characterized in that comprise the following steps：
(1) patrol task list is generated；Patrol task list is generated according to pipeline company's information, inspection group information and line information；Institute
It is to be assigned by any deep seafloor pipeline cruising inspection system feedack of Claims 1 to 4 to state pipeline company's information
Patrol task；
(2) it is detailed to generate circuit；It is detailed that circuit is generated according to patrol task list；
(3) patrol task executes；Patrol task is executed according to circuit detail；
(4) inspection defect record；Record executes the line defct of the discovery during patrol task；
(5) defect elimination records；Record executes the process eliminated to the line defct of discovery during patrol task.
6. working method as claimed in claim 5, it is characterised in that：
It also include the inspection process that inspection must be examined；The inspection process that the inspection must be examined includes：
S1：Generating inspection according to line information must examine；
S2：Inspection step S1's must examine；
S3：The logging geographical coordinate during the execution patrol task in the step (3) is obtained in real time；
S4：The patrol task that must be examined is carried out according to the logging geographical coordinate of step S3 and the information that must be examined to verify.
7. working method as claimed in claim 5, which is characterized in that the deep seafloor pipeline cruising inspection system feedack
It obtains as follows：
S10：Live inspection is carried out by remote-controlled vehicle logging；
S20：The field data that the remote-controlled vehicle logging of transmitting step S10 obtains；
S30：The step S20 field datas obtained are stored in field data library；
S40：The information of field data library storage is the deep seafloor pipeline cruising inspection system feedack.
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Cited By (1)
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| US11774245B1 (en) | 2023-06-06 | 2023-10-03 | Morgan D. Rosenberg | Vehicle hull with interferometric fiber-optic gyroscope |
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| CN107024545A (en) * | 2017-04-28 | 2017-08-08 | 四川嘉义索隐科技有限公司 | Ultrasonic examination alignment system based on GIS |
| CN107795854B (en) * | 2017-09-18 | 2019-02-19 | 深圳大学 | A kind of method for detecting pipeline, device and storage medium |
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| CN108679457A (en) * | 2018-07-02 | 2018-10-19 | 中国水利水电科学研究院 | The online leak detection apparatus of pressure water pipe and method |
| CN110017431B (en) * | 2019-04-19 | 2020-09-08 | 美钻深海能源科技研发（上海）有限公司 | Base station based on underwater inspection system and inspection method thereof |
| CN110223412A (en) * | 2019-06-12 | 2019-09-10 | 海南大学 | A kind of intelligent inspection system and its method for inspecting towards Ocean Oil And Gas Pipeline |
| CN114910896B (en) * | 2022-07-18 | 2022-10-28 | 生态环境部华南环境科学研究所(生态环境部生态环境应急研究所) | Illegal sand production ecological environment damage assessment system and use method |
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