CN108398153A - A kind of submarine pipeline buckling detection method - Google Patents

A kind of submarine pipeline buckling detection method Download PDF

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Publication number
CN108398153A
CN108398153A CN201810072919.XA CN201810072919A CN108398153A CN 108398153 A CN108398153 A CN 108398153A CN 201810072919 A CN201810072919 A CN 201810072919A CN 108398153 A CN108398153 A CN 108398153A
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China
Prior art keywords
turntable
laser sensor
support wheel
information
pipeline
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CN201810072919.XA
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Chinese (zh)
Inventor
刘迎澍
赵曜
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Tianjin University
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Tianjin University
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Priority to CN201810072919.XA priority Critical patent/CN108398153A/en
Publication of CN108398153A publication Critical patent/CN108398153A/en
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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01DMEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D21/00Measuring or testing not otherwise provided for
    • G01D21/02Measuring two or more variables by means not covered by a single other subclass

Abstract

The present invention relates to a kind of submarine pipeline buckling detection methods, used system includes the carrier trolley driven by walking power motor, controller, turntable, testing agency, inertia measuring module IMU, electric rotating machine and the anti-skidding support wheel group being made of multigroup laser sensor, wherein, turntable is mounted vertically in the front of carrier trolley, turntable is rotated by the driving of electric rotating machine, it is disposed with multigroup laser sensor in the different location of turntable, testing agency is used to scan the outline data of submarine pipeline inner wall.Detection method is:Car body is moved with speed along inner wall of the pipe according to direction initialization, while motor drives turntable to be rotated by setting speed in testing agency so that multigroup laser sensor carries out continuous multicycle scanning to inner wall of the pipe profile;Profile scan information, the vehicle body attitude information obtained using IMU, rotary motor encoder information are sent to remote monitoring center by master controller.

Description

A kind of submarine pipeline buckling detection method
Technical field
The present invention relates to a kind of submarine pipeline buckling detecting systems.
Background technology
Currently, during undersea pipe-laying, need to carry out the submarine pipeline in laying using buckling detecting system Buckling monitors, and to find the deformation of pipeline and elbow in time, to rationally control laying speed, avoids Pipeline damage and peace The generation of full hidden danger.
Traditional submarine pipeline buckling detecting system (such as patent CN204115765 and patent CN203809952) is mainly adopted With full mechanical, core detection device is a round gauging disc, and occupation mode is the certain distance after submarine pipeline mud point By one buckling detecting system of rope traction, the other end of steel wire rope is connected on the internal clamp of pipe laying barge production line, is led to The deformation of the variation or gauging disc that perceive tractive force size is crossed to judge whether pipeline occurs serious deformation.
This detection mode has many restrictions using mechanical towed, to detection environment.The tractive force of buckling detecting system It is mainly used for overcoming the dead weight of haulage cable, the frictional force of steel wire rope and submarine pipeline, and tractive force proportion very little, very Difficulty judges the state of measurement plate in buckling detecting system by the variation of tractive force.And often there is detecting system quilt in such mode Block, haulage cable fracture, detecting system disintegrate the problems such as, if occur buckling detecting system fall accident, need to recycle again Pipeline is cut, and loss is huge.If being related to deepwater field, problem will be more serious.
In addition, the Technique of Subsea Pipeline Inspection detection device of this type can not in real time, really reflect the stress shape of pipeline State, pipeline deformation feature.
Invention content
The object of the present invention is to provide a kind of submarine pipeline buckling detection methods, realize pipeline during undersea pipe-laying Buckling information digitalization, the detection of image conversion real-time online, precisely can really restore seabed scene, while having higher work Make reliability, improves the efficiency of marine pipe-laying construction.The technical solution adopted in the present invention is as follows:
A kind of submarine pipeline buckling detection method, used detecting system include the carrier driven by walking power motor Trolley, controller, turntable, the testing agency being made of multigroup laser sensor, inertia measuring module IMU, electric rotating machine and anti- Sliding support wheel group, wherein
The turntable is mounted vertically in the front of carrier trolley, and turntable is rotated by the driving of electric rotating machine, turntable not There are multigroup laser sensor, testing agency to be used to scan the outline data of submarine pipeline inner wall with location arrangements;
It hangs down with electric machine main shaft along the radial direction of turntable in the direction of installation direction, that is, laser beam of each group laser sensor Directly;
The anti-skidding support wheel group is arranged on carrier trolley, is made of support wheel and two groups of elastic telescopic guide rods, supports Wheel is used to support in pipeline top inner wall, logical with the different parts of the car body of carrier trolley respectively by two groups of elastic telescopic guide rods It crosses rotation axis to be connected, forms link mechanism, the working method of the anti-skidding support wheel group is:Link mechanism in a certain range may be used It is adjusted with automatic telescopic, support wheel is made to be contacted always with inner wall of the pipe;
The inertia measuring module IMU is arranged in the body gravity position of carrier trolley, including three-axis gyroscope sensor, 3-axis acceleration flowmeter sensor, can directly export spatial attitude and status information, and the encoder of cooperation walking power motor is surveyed Fast mechanism and inverting movement locus;And inclination conditions and Orientation differences for monitoring pipeline.Detection method is:
1) car body is moved with speed along inner wall of the pipe according to direction initialization, while motor drives turntable by setting in testing agency Constant speed degree rotates so that multigroup laser sensor carries out continuous multicycle scanning to inner wall of the pipe profile;
2) master controller by profile scan information, using IMU obtain vehicle body attitude information, rotary motor encoder information It is sent to remote monitoring center;
3) the host computer real-time reception of remote monitoring center and the data of reception are parsed, it is anti-using reconstructing three-dimensional model algorithm Complete inner wall of the pipe profile is performed, and calculates the Pipeline Curvature radius of test position, stress distribution information;
4) when testing result is more than the secure threshold of setting, remote monitoring center can send out alarm signal.
The present invention is by preposition in the initial position for corresponding to operating mode in scanning motion by sweep mechanism, according to set Sweep speed and travel speed complete the scanning search campaign of continuous multicycle, to improve submarine pipeline construction detection Efficiency;The limitation for breaking away from tradition machinery gauging disc, be adapted to the pipeline of different-diameter, and package unit system can be done Very little, weight can be very light, and pipeline buckling information non-contact digitalization is examined in real time during capable of realizing undersea pipe-laying It surveys, to reduce the damage to pipeline.
Description of the drawings
Fig. 1 is the basic structure schematic diagram of the present invention;
Fig. 2 is the hardware overall structure functional diagram of the present invention;
Fig. 3 is testing agency's structural schematic diagram of the present invention;
Fig. 4 is the basic structure side view of the present invention;
The operating diagram of present system when Fig. 5 is undersea pipe-laying;
Fig. 6 is the laser sensor scanning profile trajectory diagram of the present invention;
Description of the drawings is as follows:
0- submarine pipelines 1- the first governor circuit 2- turntable 3- electric rotating machines 4,6- elastic telescopicing rods
The anti-skidding support wheel 7- rotation axis 8-485 communication interfaces 9- rear drive sprockets of 5-
14 holder of 10- the second governor circuit 11- battery case 12- chassis of vehicle body 13- front driving wheels
15- laser sensor 16- run indicator 17- acquires indicator light
18- communicates indicator light 19- mounting flange 20- remote monitoring center 21- pipelaying work ships
22- submarine pipeline 23-485 communication lines
Specific implementation mode
Referring to Fig. 1, Fig. 2 and Fig. 4, in embodiments of the present invention, a kind of submarine pipeline buckling detecting system, including main control Device, the testing agency equipped with multigroup laser sensor, data communication module, 485 communication lines, inertia measurement (IMU) module, data Memory module, electric power detection module, motor, battery pack, carrier trolley, anti-skidding support wheel group and remote monitoring center;It is described Testing agency is installed on the front of carrier trolley, and installed above has multigroup laser sensor.
Specifically, referring to Fig. 2, the master controller is divided into the first master controller and the second master controller;The data are logical Believe that module includes wireless data communication module and wired 485 communication module;It is first master controller and laser sensor, wireless Data communication transmitting end module, electric power detection module are connected, and form the first governor circuit, are mainly used for adopting for sensing data Collection and transmission;Second master controller receives end module, data memory module, motor, electric power detection with wireless data communication The part such as module is connected, and forms the second governor circuit, and carry out data with remote monitoring center 20 by 485 communication lines 23 and lead to Letter;First master controller and the second master controller carry out wireless data transmission, and two parts electricity using wireless communication module Road is independently-powered, without any electrical connection.
As shown in Figure 1,3, the testing agency by holder 14, electric rotating machine 3, turntable 2 and multigroup laser sensor (with 3 For group laser sensor) 15 compositions, the holder is fixed on trolley front, and motor is fixed on holder, and turntable 2 passes through flange 19 are mounted on electric machine main shaft, vertical with the axis of electric machine main shaft, and sensor is uniformly mounted on turntable excircle, with the first master Controller 1 is connected, the outline data for scanning submarine pipeline inner wall.Installation direction (i.e. the direction of laser beam) edge of sensor The radial direction of turntable, it is vertical with electric machine main shaft.And with the increase of sensor group number, measuring accuracy can improve therewith.
As shown in figure 3, the testing agency is provided with groove in each group laser sensor installation place, laser sensor is packed into In groove, that is, use installation by adhering mode;In addition it is additionally provided with run indicator 16, acquisition indicator light 17 in testing agency and leads to Interrogate indicator light 18.
The anti-skidding support wheel group is led on trolley, the rear of testing agency by support wheel 5 and two groups of elastic telescopics Bar 4,6 forms, and support wheel is connected with car body by rotation axis 7 by two groups of elastic telescopic guide rods, forms link mechanism;It is described The working method of anti-skidding support wheel group is:Link mechanism can be adjusted in a certain range with automatic telescopic, make support wheel always and Inner wall of the pipe contacts, and forms gusseted with walking power wheel, enhances mobile flexibility, adaptability and stability.
The inertia measuring module is installed on body gravity position, including three-axis gyroscope sensor, three axis accelerometer Sensor, can directly export spatial attitude and status information, and the encoder velocity measurement mechanisms of cooperation walking power motor simultaneously pass through intelligence It can algorithm inverting movement locus;Further, inclination conditions, Orientation differences of institute's laying pipeline etc. can also be monitored in real time.
The data memory module is connected with the second master controller, and function is real-time storage profile scan information, inertia The information such as measurement module posture information, each motor encoder information, battery level information, time, convenient for later data export point Analysis and troubleshooting.
485 communication line 23 uses the flexible twisted-pair feeder with shielded layer, connects remote monitoring center 20 and detecting system 485 communication interfaces 8, effectively prevent the signal shielding problem of deepwater field.And communication line uses similar volume in remote control terminal The spring wire-collecting structure of ruler structure is collected, and is prevented communication line redundancy section to be wound in pipeline and is hindered car body operation.
The remote monitoring center 20 may be designed as any form of band and show that the terminal with data operation processing capacity is set Standby, when use, is typically placed on pipelaying work ship.The data of reception can be timely by forms such as curve, data, 3 d poses It is presented on human-computer interaction interface, is referred to for operating personnel;
Car body uses four-wheel drive structure, power motor to use self-locking motor, fix, carry convenient for position of car body when static High car body runs control stability.
The effect of battery capacity detection module in the present invention is:Module monitors detecting system electricity consumption situation in real time, ensures Detecting system has the electric energy storage returned safely, and when not enough power supply, detecting system sends out low battery to remote monitoring center Alarm signal simultaneously executes task of making a return voyage automatically.
Further, the walking power motor and the included encoder velocity measurement mechanisms of detection motor.
Further, power electric wheel uses wear-resisting antiskid periderm, tyre surface to be provided with twill anti-slip tank with support wheel.
By taking Fig. 5 as an example, the submarine pipeline buckling detection method provided by the invention realized using above system is by such as What lower step was realized:
1) remote monitoring center manoeuvring platform sends to detecting system and instructs, and makes detecting system automatic moving to specific bit It sets, such as position 1, position (such as position 1,2,3) can be judged by the obliquity and attitude information for the IMU module feedbacks that car body is installed, Travel route carries out graphical display with position, posture information by man-machine interface;
2) detecting system enters detecting state after receiving work order, according to setting moving direction with setting speed along pipe Road inner wall movement, while motor drives turntable at the uniform velocity to be rotated by setting speed in testing agency so that multigroup laser sensor pair Inner wall of the pipe profile carries out continuous multicycle scanning, and control unit receives laser sensor data according to setpoint frequency and leads to successively It crosses wireless data communication module and sends the second master controller to, while what is sent also has the electricity powered to the first main controller circuit Pond information about power;
3) the second master controller will receive each profile scan data and collected IMU posture informations, each motor The information such as encoder information, battery level information and time are put into an array and are sent to remotely by 485 communication lines Control centre, while being preserved in data memory module, convenient for later data export analysis and troubleshooting;
4) data frame that the host computer real-time reception detecting system of remote control center is sent, by parsing data and using Reconstructing three-dimensional model algorithm is finally inversed by complete inner wall of the pipe contour pattern and by display interface graphic software platform;
5) in addition to detecting state real-time graph shows convenient for staff intuitively observation, monitoring center host computer can also be real When calculate the data informations such as pipeline radius of curvature, deformation characteristics, stress distribution, when testing result is more than the safety and stability threshold of setting When value, monitoring center can send out alarm signal, pinpoint the problems in time convenient for construction personnel and adjust Construction State;
Three-dimensional coordinate system of the realization of the above method based on the self-built complete set of system upper computer software, all sensings The information of device acquisition carries out the unification of spatial position under unified coordinate system.
To ensure system reliability, wireless signal is added and interrupts discretionary protection function, steps are as follows:Detecting system with it is long-range Monitoring center timing sends handshake and is then held immediately if not receiving handshake, i.e. interrupt time-out in detecting system 10s Row makes a return voyage, and until detecting that signal of communication restores, original place stops waiting for next step operational order.
Automatic or manual detection method for this detecting system is:Judge that detecting system reaches detection according to vehicle body attitude When zone position, you can detection or automatic mode manually are opened in selection.The common ground of two kinds of detection patterns is in pipe laying construction process Middle detecting system moves reciprocatingly in detection zone, such as the reciprocating motion in Fig. 5 between position 1 and position 3, to constantly more New testing result, convenient for finding pipe deforming problem in time.Wherein automatic mode is that detecting system is automatically periodically being examined It surveys in area and moves reciprocatingly, movement endpoint is determined that wherein position 1 corresponds to tilting of car body by the vehicle body attitude threshold value pre-set Angle minimum value, position 3 correspond to car body angle maximum value.Coordinate wheel encoder ranging information simultaneously, setting be moved forward and backward away from From the upper limit, problem is constantly moved forward or back due to preventing the detecting system caused by pipeline angle change to be unable to reach threshold value. Manual mode principle is identical as automatic mode, and all athletic performances of whole detecting system are by operating personnel's operational order control System.Both of which can be selected according to Specific construction situation.
The detection zone of Fig. 5 is at pipeline maximum flexion deformation, in process of deployment this position most easily occur local dent or Damage and caused by buckling unstable phenomenon, and according to long-term industry experience from the point of view of, other positions without in real time detection.
In the method for the present invention, by taking three groups of laser sensors as an example, rotating mechanism axis is not weighed with central axis Ordinary circumstance when conjunction, testing agency's laser sensor under corresponding operating mode are such as schemed in the scanning profile track of inner wall of the pipe Shown in 6.Scanning curve mass motion track is to do uniformly spiral forward travel namely helical scanning movement around inner wall of the pipe.

Claims (1)

1. a kind of submarine pipeline buckling detection method, used detecting system includes that the carrier that is driven by walking power motor is small Vehicle, controller, turntable, the testing agency being made of multigroup laser sensor, inertia measuring module IMU, electric rotating machine and anti-skidding Support wheel group, wherein
The turntable is mounted vertically in the front of carrier trolley, and turntable is rotated by the driving of electric rotating machine, in the different positions of turntable It sets and is disposed with multigroup laser sensor, testing agency is used to scan the outline data of submarine pipeline inner wall;
The direction of installation direction, that is, laser beam of each group laser sensor along turntable radial direction, it is vertical with electric machine main shaft;
The anti-skidding support wheel group is arranged on carrier trolley, is made of support wheel and two groups of elastic telescopic guide rods, and support wheel is used In being supported on pipeline top inner wall, by two groups of elastic telescopic guide rods respectively with the different parts of the car body of carrier trolley by turning Moving axis is connected, and forms link mechanism, and the working method of the anti-skidding support wheel group is:Link mechanism in a certain range can be certainly Dynamic telescopic adjustment, makes support wheel be contacted always with inner wall of the pipe;
The inertia measuring module IMU is arranged in the body gravity position of carrier trolley, including three-axis gyroscope sensor, three axis Acceierometer sensor can directly export spatial attitude and status information, the encoder tachometer of cooperation walking power motor Structure and inverting movement locus;And inclination conditions and Orientation differences for monitoring pipeline.Detection method is:
1) car body is moved with speed along inner wall of the pipe according to direction initialization, while motor drives turntable by setting speed in testing agency Degree rotation so that multigroup laser sensor carries out continuous multicycle scanning to inner wall of the pipe profile;
2) master controller sends profile scan information, the vehicle body attitude information obtained using IMU, rotary motor encoder information To remote monitoring center;
3) the host computer real-time reception of remote monitoring center and the data of reception are parsed, is finally inversed by using reconstructing three-dimensional model algorithm Complete inner wall of the pipe profile, and calculate the Pipeline Curvature radius of test position, stress distribution information;
4) when testing result is more than the secure threshold of setting, remote monitoring center can send out alarm signal.
CN201810072919.XA 2018-01-25 2018-01-25 A kind of submarine pipeline buckling detection method Pending CN108398153A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109027514A (en) * 2018-08-17 2018-12-18 江苏火禾信息技术有限公司 A kind of underground piping detection device and method

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101051089A (en) * 2007-04-26 2007-10-10 上海非开挖信息工程技术有限公司 Underground pipeline measuring system based on inertial technology and its measuring and its calculating method
CN102042811A (en) * 2010-11-25 2011-05-04 天津大学 High-precision multi-parameter automatic inner diameter measurement mechanism and method
CN203809952U (en) * 2014-04-23 2014-09-03 中国海洋石油总公司 Buckling detector
CN204115765U (en) * 2014-08-14 2015-01-21 中国石油天然气集团公司 A kind of Technique of Subsea Pipeline Inspection device
CN205781370U (en) * 2016-05-27 2016-12-07 中国海洋石油总公司 Driven by power Flection detector
CN107063119A (en) * 2017-04-02 2017-08-18 天津大学 Inner-walls of duct pattern and central shaft linearity measurer and method

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101051089A (en) * 2007-04-26 2007-10-10 上海非开挖信息工程技术有限公司 Underground pipeline measuring system based on inertial technology and its measuring and its calculating method
CN102042811A (en) * 2010-11-25 2011-05-04 天津大学 High-precision multi-parameter automatic inner diameter measurement mechanism and method
CN203809952U (en) * 2014-04-23 2014-09-03 中国海洋石油总公司 Buckling detector
CN204115765U (en) * 2014-08-14 2015-01-21 中国石油天然气集团公司 A kind of Technique of Subsea Pipeline Inspection device
CN205781370U (en) * 2016-05-27 2016-12-07 中国海洋石油总公司 Driven by power Flection detector
CN107063119A (en) * 2017-04-02 2017-08-18 天津大学 Inner-walls of duct pattern and central shaft linearity measurer and method

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109027514A (en) * 2018-08-17 2018-12-18 江苏火禾信息技术有限公司 A kind of underground piping detection device and method

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Application publication date: 20180814