CN106093923A - A kind of online displacement monitoring evaluation method of submarine pipeline based on hydrophone - Google Patents
A kind of online displacement monitoring evaluation method of submarine pipeline based on hydrophone Download PDFInfo
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- CN106093923A CN106093923A CN201610397112.4A CN201610397112A CN106093923A CN 106093923 A CN106093923 A CN 106093923A CN 201610397112 A CN201610397112 A CN 201610397112A CN 106093923 A CN106093923 A CN 106093923A
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- hydrophone
- submarine pipeline
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- upper control
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
- G01S11/14—Systems for determining distance or velocity not using reflection or reradiation using ultrasonic, sonic, or infrasonic waves
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- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The present invention discloses a kind of online displacement monitoring evaluation method of submarine pipeline based on hydrophone, the method also includes the equipment for realizing this submarine pipeline online displacement monitoring evaluation method, this equipment is mainly by upper control machine, submarine pipeline, several hydrophone being installed on submarine pipeline and submerged cable or optical cable form hardware foundation, controlled each hydrophone by upper control machine the most in real time and launch ping in turn, other hydrophone receive ping, the time difference between transmitting and reception according to ping judges whether submarine pipeline is subjected to displacement, realize the real-time online formula displacement monitoring estimation of submarine pipeline.The present invention online displacement monitoring evaluation method of a kind of submarine pipeline based on hydrophone can not can be met most submarine pipeline displacement real time on-line monitoring demand by the length limitation of submarine pipeline.
Description
Technical field
The present invention relates to hydrophone repeating query and launch ping, in order to the method realizing submarine pipeline displacement monitoring, especially
A kind of online displacement monitoring evaluation method of submarine pipeline based on hydrophone, belongs to underwater sound electronic technology field.
Background technology
Sea-bottom oil-gas pipeline, for marine oil and gas industry, is equivalent to " life line " in oil field, in order to ensure seabed oil
The safety of feed channel, prevents great oil gas leakage accident, is required for every year using engineering ship coastal bottom pipeline wiring topology
Submarine pipeline is felt in footpath on a large scale, in order to assess the running status of submarine pipeline, seek pipeline whether because of ocean current wash away, ship anchor or
Fishing net hook is shifted over, and owing to sea bed sedimentation makes submarine pipeline suspended span cause unstability hidden danger on sea bed.
Employ engineering ship or use " a kind of submarine pipeline inspection robot based on infrared thermal imaging and controlling party thereof
Method " (domestic patent) carry out submarine pipeline feel on a large scale patrol and examine cannot real time on-line monitoring submarine pipeline displacement state, and
Submarine pipeline length often reaches dozens or even hundreds of kilometer, after there is bigger displacement in submarine pipeline, it is impossible to realize real-time perception,
Immediately emergency repair and post survey is instructed to analyze evidence obtaining.
According to marine acoustics principle, when position or apart from fixed two hydrophone, being positioned under water, sound is between the two
Propagation time determines that, and when both positions or distance change, the sound propagation time between the two will produce
Corresponding change, according to this principle, has invented a kind of online displacement monitoring evaluation method of submarine pipeline based on hydrophone.
Summary of the invention
It is an object of the invention to the shortcomings and deficiencies overcoming prior art to exist, propose a kind of seabed based on hydrophone
Pipeline online displacement monitoring evaluation method, the present invention is capable of monitoring submarine pipeline displacement state, record acoustics prison in real time
Survey data and assist submarine pipeline emergency repair and post survey.
For achieving the above object, the present invention is by using following technical scheme to realize:
A kind of online displacement monitoring evaluation method of submarine pipeline based on hydrophone, also includes for realizing this seabed
The equipment of pipeline online displacement monitoring evaluation method, this equipment mainly by upper control machine (1), submarine pipeline (2), be installed on
Several hydrophone (3) on submarine pipeline (2) and submerged cable or optical cable composition, wherein,
Described upper control machine (1) is arranged on the inlet side of submarine pipeline (2) or is installed on submarine pipeline (2)
Outlet side, it is possible to all install at two；
Described hydrophone (3) is fixedly mounted on submarine pipeline (2), arranges a hydrophone (3) at a certain distance,
Each hydrophone (3) sends ping (5) for the control instruction of real-time reception upper control machine (1) or connects for monitoring in real time
Receive the ping (5) that other hydrophone (3) send.
As the improvement that the present invention is above-mentioned, described upper control machine (1) sends in order to control any hydrophone (3) in real time
Ping (5), and real-time reception, the Monitoring Data of any hydrophone of record (3), by each Monitoring Data that will receive with
The historical data comparison of corresponding hydrophone (3), if there is bigger numerical deviation between the two, is then given by upper control machine (1)
Warning message.
As the further improvement that the present invention is above-mentioned, described hydrophone (3) is used for sending ping (5) or being used for connecing
Receiving the ping (5) that other hydrophone send, the time interval between launching according to ping (5) and receive calculates hydrophone
(3) distance between.
As the further improvement that the present invention is above-mentioned, described submerged cable or optical cable are fixed on submarine pipeline (2),
Submarine pipeline (2) is used for concatenating each hydrophone (3).
As the further improvement that the present invention is above-mentioned, after installation, the original history in cabling orientation of submarine pipeline (2)
Data be by upper control machine (1) by submerged cable or optical cable send the most successively pulsed sound (5) firing order to
Each hydrophone (3), and received, by upper control machine (1), self harmony impulse ejection hydrophone that each hydrophone (3) draws
Distance and give record, estimate the latitude and longitude coordinates data of each hydrophone (3).
As the further improvement that the present invention is above-mentioned, complete submarine pipeline (2) and the items of equipment that process require that
After installation, the original historical data of submarine pipeline (2) is by Side-scan sonar submarine pipeline (2) the scan data shape of engineering ship (4)
Become or the original historical data of submarine pipeline (2) also can by upper control machine (1) by submerged cable or optical cable from the near to the remote
Send pulsed sound (5) firing order successively to each hydrophone (3), and received each hydrophone (3) by upper control machine (1)
The distance of self the harmony impulse ejection hydrophone drawn also gives record.
As above-mentioned the most further the improving of the present invention, between the original historical data of submarine pipeline (2) and hydrophone (3)
Arrangement interval data form the latitude and longitude coordinates data of each hydrophone (3).
As above-mentioned the most further the improving of the present invention, after equipment investment runs, host computer listens in real time each water
Device sends transmitting ping (5) instruction successively, and self the harmony impulse ejection water that each hydrophone of real-time reception (3) draws is listened
The distance of device also gives record, and referred to as one time repeating query is launched；When the sedimentation of sea bed occurrence of large-area or submarine pipeline (2) are by ship anchor
After hook, submarine pipeline (2) is by generation bending and stretcher strain, thus causes the distance between hydrophone (3) to change and quilt
Hydrophone (3) real-time capture record, when the distance changing value when between any two or above hydrophone (3) exceedes preset value,
Providing warning message and the estimated value of pipe deforming position longitude and latitude at upper control machine (1), repeating query is launched can be automatic or manual
Control is carried out.
As above-mentioned the most further the improving of the present invention, upper control machine (1) after providing warning message, continue into
The repeating query ping of each hydrophone of row (3) is launched, and the distance between the hydrophone (3) when being reported to the police the last time is as with reference to depending on
According to, it is determined that there is the significantly change of hydrophone (3) distance in this repeating query, and determines whether to report the most again during launching
Alert.
The present invention compared with prior art produced by provide the benefit that: the present invention compare routine Technique of Subsea Pipeline Inspection side
For formula, this invention can realize the real-time on-line monitoring to submarine pipeline displacement estimation, in time by submarine pipeline it may happen that
The section latitude and longitude information of deformation is supplied to engineering ship and underwater robot, promotes specific aim and the overhaul efficiency of maintenance, and
The water that the marine site noise characteristic of segment record when being subjected to displacement accident can be provided to analyze in use, and the method as accident investigation is listened
Device can concatenate each other by submerged cable or optical cable, can not can be met most Submarine Pipeline by the length limitation of submarine pipeline
Road displacement real time on-line monitoring demand.
Accompanying drawing explanation
Below in conjunction with the accompanying drawings the detailed description of the invention of the present invention is further explained in more detail, wherein:
Fig. 1 is the layout schematic diagram of items of equipment of the present invention；
Fig. 2 is submarine pipeline of the present invention and hydrophone schematic diagram of changes in distribution before and after pipe deforming；
Wherein, indicating: 1 first upper control machine, 2 submarine pipelines in figure, 3 transmit/receive integral type hydrophone, and 4
Working ship, 5 pulsed sounds, 6 second upper control machines.
Detailed description of the invention
Below in conjunction with the accompanying drawings and the detailed description of the invention of the present invention is described in more details by specific embodiment.
Embodiment 1
As it is shown in figure 1, a kind of online displacement monitoring evaluation method of submarine pipeline based on hydrophone, this submarine pipeline exists
Wire type displacement monitoring evaluation method also includes the equipment for realizing this submarine pipeline online displacement monitoring evaluation method, should
Equipment is mainly by upper control machine 1, submarine pipeline 2, several hydrophone 3 and submerged cables of being installed on submarine pipeline 2
Or optical cable composition, wherein,
Upper control machine 1 is arranged on the inlet side of submarine pipeline 2 or is installed on the outlet side of submarine pipeline 2, also
All can install at two；
Hydrophone 3 is fixedly mounted on submarine pipeline 2, arranges a hydrophone 3 at a certain distance, and each hydrophone 3 is used
Control instruction in real-time reception upper control machine 1 sends ping 5 or sends for other hydrophone 3 of monitoring reception in real time
Ping 5.
More specifically, what this invention was used comprises the concrete steps that: hydrophone 3 is fixed on submarine pipeline 2 at certain intervals
On, and connecting upper control machine 1 and each hydrophone 3 by submerged cable, hydrophone 3 is by the movement along with submarine pipeline 2
Synchronizing moving.
Submarine pipeline 2 lay after, utilize upper control machine 1 detect successively each hydrophone 3 ping 5 launch and
Receive capabilities, is numbered and school tune with order from the near to the remote hydrophone 3, makes the time between each hydrophone 3 realize same
Step.
Upper control machine 1 sends pulsed sound 5 firing order to each the most successively by submerged cable or optical cable
Hydrophone 3, and received the distance of self harmony impulse ejection hydrophone that each hydrophone 3 draws by upper control machine 1 and give
With record: a hydrophone sends ping, No. two hydrophone receive ping, and sending out according to ping
Time difference between sending and receiving is multiplied by the velocity of sound and draws the distance of a number hydrophone of distance, is sent to upper control machine 1 and by upper
Position control machine 1 record；No. two hydrophone send ping 5, and No. three hydrophone receive ping 5, and according to sound arteries and veins
Time difference between rushing the transmission of signal 5 and receiving is multiplied by the velocity of sound and draws the distance of No. two hydrophone of distance, is sent to upper control
Machine 1 processed by upper control machine 1 record, the like, upper control machine 1 record each water after submarine pipeline 2 is laid and listen
Spaced between device, is formed original with reference to data.
Finally, the working ship 4 carrying GPS Side-scan sonar is used to carry out submarine pipeline 2 connecting up azimuth scan, in conjunction with each
Spaced between individual hydrophone 3, substantially estimates the latitude and longitude coordinates of each hydrophone 3, and at upper control machine 1 figure circle
Latitude and longitude coordinates value is inputted for each hydrophone 3 on face.
Equipment is in running, and upper control machine 1 sends transmitting ping 5 successively in real time each hydrophone 3 and instructs,
And the distance of self harmony impulse ejection hydrophone that draws of other hydrophone of real-time reception give record, referred to as one time repeating query
Launch.After the sedimentation of sea bed occurrence of large-area or submarine pipeline 2 are hung by ship grasp, generation bending and stretching are become by submarine pipeline 2
Shape, thus cause the distance between hydrophone 3 to change and by hydrophone 3 real-time capture in repeating query emission process, when arbitrarily
When distance changing value between two or more hydrophone 3 exceedes preset value, this preset value is true according to pipe material, size and length
Fixed, the graphical interfaces at upper control machine 1 provides warning message and the estimated value of pipe deforming position longitude and latitude, after record deformation
Hydrophone interval and as determining whether the reference data that are subjected to displacement next time.
When upper control machine 1 is after providing warning message, and the repeating query ping 5 proceeding each hydrophone is launched, and will
Between hydrophone during the last warning, the interval of 3 is as with reference to foundation, it is determined that this repeating query occurs during launching the most again
The significantly change of hydrophone distance, and determine whether to report to the police.
As further, can install an other upper control machine 1 at the other end of submarine pipeline 2, two control meter
The mode of operation of calculation machine is completely the same, the most also can realize, when signal is after a certain node of submarine pipeline disconnects, and still can be real
The now complete displacement monitoring estimation of full pipeline path.
In this utility model, upper control machine both may be installed and can be also mounted at land on ocean platform；Hydrophone is solid
It is scheduled on submarine pipeline；Submerged cable or optical cable are in order to connect upper control machine and hydrophone.Hydrophone in the method can phase
Concatenated by submerged cable or optical cable mutually.
Finally, it should be noted that protection scope of the present invention is not limited solely to above-described embodiment, above-described embodiment is only
It is to aid in explaining and the present invention being described rather than protection scope of the present invention is limited, as long as design and the present invention
As long as the identical or equivalent of design all fall within scope of the present invention.
Claims (9)
1. the online displacement monitoring evaluation method of submarine pipeline based on hydrophone, it is characterised in that: also include for
Realizing the equipment of this submarine pipeline online displacement monitoring evaluation method, this equipment is mainly by upper control machine (1), submarine pipeline
(2) several hydrophone (3) of, being installed on submarine pipeline (2) and in order to connect upper control machine (1) and hydrophone (3)
Submerged cable or optical cable composition, wherein,
Described upper control machine (1) is arranged on the inlet side of submarine pipeline (2) or is installed on the outlet of submarine pipeline (2)
Side, it is possible to all install at two；
Described hydrophone (3) is fixedly mounted on submarine pipeline (2), arranges a hydrophone (3), each water at a certain distance
Device (3) is listened to send ping (5) for the control instruction of real-time reception upper control machine (1) or receive it for monitoring in real time
The ping (5) that his hydrophone (3) sends.
A kind of online displacement monitoring evaluation method of submarine pipeline based on hydrophone the most according to claim 1, it is special
Levy and be: described upper control machine (1) sends ping (5) in order to control in real time any hydrophone (3), and real-time reception,
Record the Monitoring Data of any hydrophone (3), by the history number of each Monitoring Data that will receive with corresponding hydrophone (3)
According to comparison, if there is bigger numerical deviation between the two, then provide warning message by upper control machine (1).
A kind of online displacement monitoring evaluation method of submarine pipeline based on hydrophone the most according to claim 1, it is special
Levy and be: described hydrophone (3) is used for sending ping (5) or for receiving the ping (5) that other hydrophone send,
Time interval between launching according to ping (5) and receive calculates the distance between hydrophone (3).
A kind of online displacement monitoring evaluation method of submarine pipeline based on hydrophone the most according to claim 1, it is special
Levy and be: described submerged cable or optical cable are fixed on submarine pipeline (2), and submarine pipeline (2) is used for concatenating each hydrophone
(3)。
A kind of online displacement monitoring evaluation method of submarine pipeline based on hydrophone the most according to claim 1, it is special
Levying and be: after installation, the original historical data in cabling orientation of submarine pipeline (2) is by under water by upper control machine (1)
Cable or optical cable send pulsed sound (5) firing order the most successively to each hydrophone (3), and by upper control machine
(1) receive the distance of self harmony impulse ejection hydrophone that each hydrophone (3) draws and give record, estimating each water and listen
The latitude and longitude coordinates data of device (3).
A kind of online displacement monitoring evaluation method of submarine pipeline based on hydrophone the most according to claim 1, it is special
Levy and be: after completing submarine pipeline (2) and the installation of items of equipment that process require that, the original history number of submarine pipeline (2)
Formed or the original historical data of submarine pipeline (2) according to by Side-scan sonar submarine pipeline (2) scan data of engineering ship (4)
Also pulsed sound (5) firing order can be sent the most successively to each by upper control machine (1) by submerged cable or optical cable
Individual hydrophone (3), and received, by upper control machine (1), self harmony impulse ejection hydrophone that each hydrophone (3) draws
Distance also gives record.
A kind of online displacement monitoring evaluation method of submarine pipeline based on hydrophone the most according to claim 1, it is special
Levy and be: the arrangement interval data between the original historical data of submarine pipeline (2) and hydrophone (3) form each hydrophone (3)
Latitude and longitude coordinates data.
A kind of online displacement monitoring evaluation method of submarine pipeline based on hydrophone the most according to claim 1, it is special
Levying and be: after equipment investment runs, host computer sends transmitting ping (5) successively in real time each hydrophone and instructs, and in real time
Receive the distance of self harmony impulse ejection hydrophone that each hydrophone (3) draws and give record, and referred to as one time repeating query
Launch；After the sedimentation of sea bed occurrence of large-area or submarine pipeline (2) are hung by ship grasp, submarine pipeline (2) is by generation bending and draws
Stretch deformation, thus cause the distance between hydrophone (3) to change and by hydrophone (3) real-time capture record, when any two
When distance changing value between individual or above hydrophone (3) exceedes preset value, provide warning message and pipeline at upper control machine (1)
The estimated value of deformation position longitude and latitude, repeating query is launched and can automatic or manual control be carried out.
A kind of online displacement monitoring evaluation method of submarine pipeline based on hydrophone the most according to claim 8, it is special
Levy and be: upper control machine (1) is after providing warning message, and the repeating query ping proceeding each hydrophone (3) is launched, and will
The distance between hydrophone (3) during the last warning is as with reference to foundation, it is determined that this repeating query is sent out during launching the most again
The significantly change of raw hydrophone (3) distance, and determine whether to report to the police.
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| CN107479601A (en) * | 2017-09-18 | 2017-12-15 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | A kind of automatic deploying and retracting cable monitoring system and method for ROV umbilical cables winches |
| CN107697246A (en) * | 2017-09-07 | 2018-02-16 | 浙江省海洋开发研究院 | Underwater cable on-line monitoring mechanism |
| CN107957571A (en) * | 2017-10-09 | 2018-04-24 | 中国南方电网有限责任公司调峰调频发电公司 | Hydrophone direction-finding method, device, computer-readable recording medium and computer equipment |
| CN108957464A (en) * | 2018-05-07 | 2018-12-07 | 上海海洋大学 | Four dot matrix fish finding sonars |
| CN109188444A (en) * | 2018-10-10 | 2019-01-11 | 中国船舶重工集团公司七五0试验场 | Seabed underwater sound response formula localization method and its system based on synchronization signal system |
| CN111948632A (en) * | 2020-08-10 | 2020-11-17 | 南京智慧基础设施技术研究院有限公司 | Positioning method of robot in hydraulic pipe culvert |
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| CN111948632A (en) * | 2020-08-10 | 2020-11-17 | 南京智慧基础设施技术研究院有限公司 | Positioning method of robot in hydraulic pipe culvert |
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