CN111159639B

CN111159639B - Method and device for aligning detection data in pipeline

Info

Publication number: CN111159639B
Application number: CN201811317740.2A
Authority: CN
Inventors: 王晓霖; 崔凯燕; 王勇; 李明; 齐先志; 周立国
Original assignee: China Petroleum and Chemical Corp; Sinopec Dalian Research Institute of Petroleum and Petrochemicals
Current assignee: Sinopec Dalian Petrochemical Research Institute Co ltd; China Petroleum and Chemical Corp
Priority date: 2018-11-07
Filing date: 2018-11-07
Publication date: 2023-04-18
Anticipated expiration: 2038-11-07
Also published as: CN111159639A

Abstract

The invention provides a method and a device for aligning detection data in a pipeline, wherein the method comprises the following steps: when the alignment of the detection data in the pipeline is carried out for the first time, one-time internal detection data in the two-time internal detection data is selected as alignment reference data, and the internal detection data of the other batch is used as an aligned object; acquiring information of a valve, an elbow, a girth weld and a defect in two groups of internal detection data to be aligned; and (3) sequentially aligning the detection data in the two groups according to the sequence of the valve, the elbow and the girth weld characteristics by taking the alignment reference data as a basis, and judging whether to add a characteristic, delete the characteristic or perform corresponding telescopic adjustment on the characteristic when aligning a certain characteristic. The alignment method for the pipeline internal detection data can quickly and effectively align the internal detection data of multiple rounds, effectively avoid characteristic loss and false alarm caused by detection operation or characteristic inconsistency caused by different detection tools, and provide more accurate source data for the internal detection evaluation of the pipeline.

Description

Method and device for aligning detection data in pipeline

Technical Field

The invention relates to the technical field of petroleum and natural gas pipelines, in particular to a method and a device for aligning detection data in a pipeline.

Background

At present, the detection work in the pipeline is comprehensively carried out in China, and the internal detection is the most effective method for mastering the safety state of the pipeline. The detection work in China petrochemical oil and gas long-distance transmission pipelines has been carried out comprehensively, the detection work in the pipelines is born by detection companies in professional third parties, the maximum time for carrying out the next internal detection in one pipeline is not more than 8 years, the internal detection can be carried out in 3-5 years for the pipelines with serious partial damage, various defects of the pipe body can be found through the internal detection, all characteristic objects of the pipelines, such as welding seams, valves, bends and the like, can be found out, and the safety state and various information of the pipelines can be mastered.

The latest detection data in the pipeline and the last detection data are compared and analyzed, rich and valuable information can be obtained, and the method can be used for analyzing the causes of defect formation, the change of the installation state of the pipeline and the like, including the growth condition of the defect, the corrosion rate of the pipeline and the like, so that the management level of the integrity of the pipeline is improved. In practice, however, it is often the case that the detection characteristics do not match between two or more times. The above mismatch problem is exacerbated for multiple in-turn tests conducted by different test operators or test tools.

Disclosure of Invention

Aiming at the defects in the prior art, the invention provides a method and a device for aligning detection data in a pipeline.

Specifically, the invention provides the following technical scheme:

in a first aspect, the present invention provides a method for aligning detection data in a pipeline, including:

when the alignment of the detection data in the pipeline is carried out for the first time, one-time internal detection data in the two-time internal detection data is selected as the alignment reference data, and the internal detection data of the other batch is used as the aligned object;

acquiring all detection information of the characteristics of valves, elbows, girth welds, defects and the like in the two groups of internal detection data to be aligned;

according to the alignment reference data, firstly, carrying out valve characteristic alignment on the two groups of internal detection data, and when carrying out valve characteristic alignment on the two groups of internal detection data, if judging that the corresponding valve mileage deviations in the two groups of internal detection data are both smaller than or equal to a first deviation threshold value, indicating that the valve characteristics in the two groups of internal detection data are aligned; if the corresponding valve mileage deviation in the two groups of internal detection data is larger than the first deviation threshold value, judging whether one group of data in the two groups of internal detection data has the condition of missing detection of the valve or false detection of the valve, if so, newly adding corresponding valve data to one group of data of the missing detection valve or deleting corresponding valve data to one group of data of the false detection valve, otherwise, stretching or shrinking the mileage of the valve to align the valve data of the two groups of internal detection data; the mileage of the valve is stretched or contracted, and simultaneously, the mileage of other pipeline characteristics between the valve and the front and rear valves is correspondingly stretched and contracted;

aligning the elbow features after the valve features are aligned, and when the elbow features of the two groups of internal detection data are aligned, if the corresponding elbow mileage deviations of the two groups of internal detection data are judged to be less than or equal to a second deviation threshold value, indicating that the elbow features of the two groups of internal detection data are aligned; if the corresponding elbow mileage deviation is larger than a second deviation threshold value in the two groups of internal detection data, judging whether one group of data in the two groups of internal detection data has the condition of missed elbow detection or false elbow detection, if so, adding corresponding elbow data for one group of data of the missed elbow detection, or deleting corresponding elbow data for one group of data of the false elbow detection, otherwise, stretching or shrinking the mileage of the elbow to align the elbow data of the two groups of internal detection data; the mileage of the elbow is stretched or contracted, and the mileage of other pipeline characteristics between the elbow and the front elbow and the rear elbow is correspondingly stretched and contracted;

after the elbow features are aligned, aligning the girth weld features, and when the girth weld features of the two groups of internal detection data are aligned, if the corresponding girth weld mileage deviation of the two groups of internal detection data is judged to be less than or equal to a third deviation threshold value, indicating that the girth weld features of the two groups of internal detection data are aligned; if the corresponding girth joint mileage deviation is larger than a third deviation threshold value in the two groups of internal detection data, judging whether the condition of missing detection of the girth joint or false detection of the girth joint exists in one group of the two groups of internal detection data, if so, adding corresponding girth joint data to the group of data of the missing detection of the girth joint, or deleting corresponding girth joint data to the group of data of the false detection of the girth joint, otherwise, stretching or shrinking the mileage of the girth joint to adjust the girth joint data of the two groups of internal detection data to align the girth joint data of the two groups of internal detection data; the method comprises the following steps of (1) stretching or shrinking the mileage of a circumferential weld, and simultaneously correspondingly stretching and shrinking the mileage of other pipeline characteristics between the circumferential weld and the front and rear circumferential welds;

after the circumferential weld joints are aligned, aligning the defects on the pipeline, when defect characteristics of two groups of internal detection data are aligned, according to the relationship between the mileage difference and the circumferential distribution difference of every two defects in two batches and the corresponding deviation threshold, if the mileage difference and the circumferential distribution difference are simultaneously smaller than or equal to the corresponding deviation threshold, the two defects in the two batches are represented as the same defect, otherwise, the two defects are not the same defect, and finally marking the aligned same defect.

Further, the method further comprises:

after the two batches of internal detection data are aligned, the alignment results of the two batches are respectively stored in an alignment history, and the aligned latest internal detection data are used as a reference frame for storage.

Further, the method further comprises:

judging whether the pipeline has active defects or not after detecting the data alignment in two batches;

wherein, the step of judging whether the pipeline has active defects specifically comprises the following steps:

judging whether the depth of the same defect detected in two batches is increased or not for the volume type defect according to the defect alignment result, if so, determining that the corresponding defect is an active defect; and judging whether the axial length and the circumferential width of the same defect are increased or not for the non-volume type defect, and if so, judging that the corresponding defect is an active defect.

Further, the method further comprises: calculating the corrosion rate of the pipeline;

wherein, the step of calculating the corrosion rate of the pipeline specifically comprises the following steps:

respectively calculating the corrosion rate of each active volume type defect according to the depth change of all the active volume type defects and the time interval of two-time internal detection;

selecting the maximum corrosion rate as the corrosion rate of the pipeline according to the corrosion rate of each active volume type defect; or, according to the corrosion rate of each active volume type defect, calculating the average corrosion rate to be used as the corrosion rate of the pipeline; or, according to the corrosion rate of each active volume type defect, the corrosion rate of the pipeline is obtained on the basis of statistics.

In a second aspect, the present invention further provides an in-pipeline inspection data alignment apparatus, including:

the alignment data determining module is used for selecting one of the two times of internal detection data as alignment reference data when the internal detection data of the pipeline are aligned for the first time, and selecting the other batch of internal detection data as an aligned object;

the acquisition module is used for acquiring all detection information of the characteristics of valves, elbows, girth welds, defects and the like in the two groups of internal detection data to be aligned;

the alignment module is used for firstly performing valve characteristic alignment on the two groups of internal detection data according to the alignment reference data, and when the two groups of internal detection data are subjected to valve characteristic alignment, if the corresponding valve mileage deviation in the two groups of internal detection data is judged to be less than or equal to a first deviation threshold value, the alignment module indicates that the valve characteristics in the two groups of internal detection data are aligned; if the corresponding valve mileage deviation is larger than a first deviation threshold value in the two groups of internal detection data, judging whether one group of data in the two groups of internal detection data has the condition of missing detection of a valve or false detection of the valve, if so, adding corresponding valve data to one group of data of the missing detection valve, or deleting corresponding valve data to one group of data of the false detection valve, otherwise, stretching or shrinking the mileage of the valve to align the valve data of the two groups of internal detection data; the mileage of the valve is stretched or contracted, and simultaneously, the mileage of other pipeline characteristics between the valve and the front and rear valves is correspondingly stretched and contracted;

after the valve characteristics are aligned, aligning the elbow characteristics, and when the elbow characteristics of the two groups of internal detection data are aligned, if the mileage deviation of the corresponding elbows in the two groups of internal detection data is judged to be less than or equal to a second deviation threshold value, indicating that the elbow characteristics in the two groups of internal detection data are aligned; if the situation that the deviation of the mileage of the corresponding elbow is larger than the second deviation threshold value is judged in the two groups of internal detection data, whether the situation of the missed elbow or the false elbow exists in one group of data in the two groups of internal detection data is judged, if yes, the corresponding elbow data is newly added to the group of data of the missed elbow or the corresponding elbow data is deleted from the group of data of the false elbow, and if not, the mileage of the elbow is stretched or shrunk, so that the elbow data of the two groups of internal detection data are aligned; the mileage of the elbow is stretched or contracted, and the mileage of other pipeline characteristics between the elbow and the front elbow and the rear elbow is correspondingly stretched and contracted;

after the elbow features are aligned, aligning the girth weld features, and when the girth weld features of the two groups of internal detection data are aligned, if the corresponding girth weld mileage deviations of the two groups of internal detection data are judged to be less than or equal to a third deviation threshold value, indicating that the girth weld features of the two groups of internal detection data are aligned; if the corresponding girth joint mileage deviation is larger than a third deviation threshold value in the two groups of internal detection data, judging whether the condition of missing detection of the girth joint or false detection of the girth joint exists in one group of the two groups of internal detection data, if so, adding corresponding girth joint data to the group of data of the missing detection of the girth joint, or deleting corresponding girth joint data to the group of data of the false detection of the girth joint, otherwise, stretching or shrinking the mileage of the girth joint to adjust the girth joint data of the two groups of internal detection data to align the girth joint data of the two groups of internal detection data; the method comprises the following steps that firstly, the mileage of a circumferential weld is stretched or shrunk, and meanwhile, the mileage of other pipeline characteristics between the circumferential weld and the front and rear circumferential welds is correspondingly stretched and shrunk;

Further, the apparatus further comprises:

and the benchmark reference system establishing module is used for respectively storing the alignment results of the two batches into the alignment history after the two batches of internal detection data are aligned, and storing the aligned latest internal detection data as a benchmark reference system.

Further, the apparatus further comprises:

the active defect detection module is used for judging whether active defects exist in the pipeline or not after the data alignment is detected in two batches;

wherein, the active defect detection module is specifically configured to:

judging whether the depth of the same defect detected in two batches is increased or not for the volume type defect according to the defect alignment result, if so, determining that the corresponding defect is an active defect; and for the non-volume type defects, judging whether the axial length and the annular width of the same defect are increased, if so, determining that the corresponding defect is an active defect.

Further, the apparatus further comprises: the pipeline corrosion rate calculation module is used for calculating the pipeline corrosion rate;

wherein, the pipeline corrosion rate calculation module is specifically used for:

In a third aspect, the present invention also provides an electronic device, comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor executes the computer program stored on the memory to implement the steps of the in-pipe detection data alignment method according to the first aspect.

In a fourth aspect, the present invention also provides a computer-readable storage medium, on which a computer program is stored, and the computer program stored on the computer-readable storage medium, when executed, implements the steps of the in-pipe detection data alignment method according to the first aspect.

According to the technical scheme, the method for aligning the detection data in the pipeline selects the one-time internal detection data as the alignment reference data, uses the other batch of data as the aligned object, and then acquires all detection information of the characteristics of the valve, the elbow, the girth joint, the defect and the like in the two groups of internal detection data to be aligned; and then, based on the alignment reference data, aligning the characteristics of the valve, the elbow and the girth weld in sequence on the two groups of internal detection data, automatically aligning the defect characteristics according to classification, and then searching for active defect points in the two groups of detection data according to the alignment result and calculating the corrosion rate of the pipeline. According to the method for aligning the detection data in the pipeline, the inherent characteristics of the pipeline body are selected, so that the internal detection data of multiple rounds can be quickly and effectively aligned, the characteristics of loss and misinformation caused by detection operation or the characteristics of non-correspondence caused by different detection tools can be effectively avoided, more accurate source data is provided for the internal detection evaluation of the pipeline, a pipeline enterprise is guided to search for the activity defects, and the maintenance work is more pointed.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

FIG. 1 is a flow chart of a method for detecting data alignment in a pipeline according to an embodiment of the present invention;

FIG. 2 is a schematic diagram illustrating the determination of missing detection, false detection, and misalignment requiring adjustment when a valve is aligned according to an embodiment of the present invention;

FIG. 3 is a schematic diagram of an in-pipeline inspection data alignment apparatus according to another embodiment of the present invention;

fig. 4 is a schematic structural diagram of an electronic device according to still another embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The invention provides a method for aligning detection data in a pipeline, which can quickly and effectively align multiple rounds of internal detection data according to inherent characteristics of a pipe body, can effectively avoid characteristic loss and misinformation caused by detection operation or characteristic non-correspondence caused by different detection tools, and provides more accurate source data for internal detection evaluation of the pipeline. The method for aligning the detection data in the pipeline provided by the invention will be described in detail by specific embodiments.

An embodiment of the present invention provides a method for aligning detection data in a pipeline, and referring to fig. 1, the method includes the following steps:

step 101: when the alignment of the detection data in the pipeline is carried out for the first time, one-time internal detection data in the two-time internal detection data is selected as the alignment reference data, and the internal detection data of the other batch is taken as the aligned object.

In this step, when the in-duct inspection data alignment is performed for the first time for a section of the duct subjected to the several rounds of in-inspection, the two times of in-inspection data are selected, the latest or one time of in-inspection data with high inspection accuracy is used as the alignment reference, and the other batch is used as the object to be aligned. After the two batches of internal detection data to be aligned are determined, acquiring characteristic parameters of the two batches of data to be aligned, wherein the characteristic parameters comprise parameters such as characteristic mileage, girth weld joint number, distance from the girth weld joint, characteristic size and the like. Here, in order to improve the alignment accuracy of the internal detection data, it is preferable to use the primary internal detection data having high detection accuracy as the alignment reference data.

Step 102: and acquiring all detection information of the characteristics such as valves, elbows, girth welds, defects and the like in the two groups of internal detection data to be aligned.

In this step, considering that the subsequent step 103 needs to perform feature alignment one by one according to the sequence of the valves, the elbows, the girth welds and the defects, information of the valves, the elbows, the girth welds and the defects in the two groups of internal detection data to be aligned needs to be acquired first.

Step 103: firstly, performing valve characteristic alignment on the two groups of internal detection data based on the alignment reference data, and when the two groups of internal detection data are subjected to valve characteristic alignment, if the corresponding valve mileage deviation in the two groups of internal detection data is judged to be less than or equal to a first deviation threshold value, indicating that the valve characteristics in the two groups of internal detection data are aligned; and if the corresponding valve mileage deviation is larger than the first deviation threshold value in the two groups of internal detection data, judging whether one group of data in the two groups of internal detection data has the condition of missing detection of the valve or false detection of the valve. The specific judgment of missing detection or false detection can be obtained by comparing the change of the detection valve mileage corresponding to the two valves with large mileage deviation. For example, the judgment can be performed in a graphical manner, fig. 2 shows a graphical manner judgment method for three situations of missing detection, misalignment (adjustment required) and false detection of a valve in the alignment process, specifically, the valve characteristics of two groups of detection data are marked according to a mileage axis (abscissa mileage), and whether missing detection, false detection or misalignment is required to be adjusted can be visually judged and obtained through a graph. For example, for the case of a false positive, where the black mark of the second row is the false positive valve, the valve data should be deleted. As another example, for the case of c missing inspection, in which there is no valve data between two white valve marks in the fourth row, the case is known as missing inspection of one valve data from the valve data on the alignment datum. For another example, in the case of b, since there is neither a false detection nor a missed detection, but the data is not aligned, at this time, the mileage of the valve should be stretched or shrunk for adjustment, so that the valve data of the two sets of internal detection data are aligned; the mileage of the valve is correspondingly stretched and shrunk and adjusted while the mileage of the valve is stretched or shrunk and the mileage of other pipeline characteristics (elbows, girth welds and all defects) between the valve and the front and rear valves is correspondingly stretched and shrunk.

It should be noted that the process may be manually intervened or automatically processed by a computer. If the condition of missing detection or false detection is found, adding corresponding valve data to a group of data of the missing detection valve, or deleting corresponding valve data to a group of data of the false detection valve, otherwise, if the condition of being not aligned and needing to be adjusted is found, stretching or shrinking the mileage of the valve, so that the valve data of the detection data in the two groups are aligned; the mileage of the valve is correspondingly stretched and shrunk and adjusted while the mileage of the valve is stretched or shrunk and the mileage of other pipeline characteristics (elbows, girth welds and all defects) between the valve and the front and rear valves is correspondingly stretched and shrunk;

aligning the elbow features after the valve features are aligned, and when the elbow features of the two groups of internal detection data are aligned, if the corresponding elbow mileage deviations of the two groups of internal detection data are judged to be less than or equal to a second deviation threshold value, indicating that the elbow features of the two groups of internal detection data are aligned; if the situation that the deviation of the corresponding elbow mileage is larger than the second deviation threshold value exists in the two groups of internal detection data is judged, whether the situation that a missed elbow or a false elbow exists in one group of data in the two groups of internal detection data is judged (the judgment process is similar to the judgment process of the valve), if so, corresponding elbow data is newly added to one group of data of the missed elbow, or the corresponding elbow data is deleted from one group of data of the false elbow, otherwise, the mileage of the elbow is stretched or shrunk and adjusted, so that the elbow data of the two groups of internal detection data are aligned; the mileage of the elbow is stretched or contracted, and the mileage of other pipeline characteristics (circumferential weld and all defects) between the elbow and the front elbow and the rear elbow is correspondingly stretched and contracted;

after the elbow features are aligned, the girth weld features are aligned, when the girth weld features are aligned to the detection data in the two groups, if the corresponding girth joint mileage deviation in the two groups of internal detection data is judged to be less than or equal to the third deviation threshold, the girth joint characteristics in the two groups of internal detection data are aligned; if the corresponding girth joint mileage deviation is larger than the third deviation threshold value in the two groups of internal detection data, judging whether the condition of missing detection girth joints or false detection girth joints exists in one group of data in the two groups of internal detection data (the judgment process is similar to the judgment process of the valve), if so, adding corresponding girth joint data to one group of data of the missing detection girth joints, or deleting corresponding girth joint data to one group of data of the false detection girth joints, otherwise, stretching or shrinking the girth joints of the girth joints to align the girth joint data of the two groups of internal detection data; the method comprises the following steps that firstly, the mileage of a circumferential weld is stretched or shrunk and adjusted, and meanwhile, the mileage of other pipeline characteristics (defect characteristics) between the circumferential weld and the front and rear circumferential welds is correspondingly stretched and shrunk and adjusted;

In this step, since the valve features are less, typical, stable and regular features in the feature data of the pipeline, when aligning two sets of pipeline data, alignment of the valve features may be performed preferentially, so that on one hand, the basic quality of data alignment can be ensured, and on the other hand, the efficiency of data alignment can also be ensured. Similarly, in order to further improve the quality of data alignment, a number of elbow features slightly more than the number of valve features, which are more typical, stable and regular, may be further selected as the second type of alignment reference feature. After the valve characteristics and the elbow characteristics are aligned in sequence, actually two groups of pipeline data have a rough alignment frame, but in order to further improve the alignment precision of the defect data on each pipe joint, the girth weld characteristics in the pipeline data can be used as the reference characteristics for further alignment, and because the girth weld characteristics in the pipeline are typical, stable and have certain regularity on one hand and the number of the girth weld characteristics is moderate on the other hand, the alignment of the girth weld characteristics is further carried out after the alignment of the valve characteristics and the elbow characteristics is carried out, so that the efficiency of data alignment can be considered, and the quality of data alignment can be effectively improved. And aligning the defects on the pipeline after the circumferential welds are aligned, when defect characteristics of two groups of internal detection data are aligned, according to the relationship between the mileage difference and the circumferential distribution difference of every two defects in two batches and the corresponding deviation threshold, if the mileage difference and the circumferential distribution difference are simultaneously smaller than or equal to the corresponding deviation threshold, the two defects in the two batches are represented as the same defect, otherwise, the two defects are not the same defect, and finally marking the aligned same defect.

In the step, whether the valve characteristics in the two groups of internal detection data are aligned is judged according to the acceptable threshold (first deviation threshold) of the mileage deviation of the preset valve characteristics of two batches; similarly, judging whether the elbow features in the two groups of internal detection data are aligned according to a preset acceptable threshold (a second deviation threshold) of the mileage deviation of the two batches of elbow features; similarly, judging whether the girth weld features in the two groups of internal detection data are aligned according to a preset acceptable threshold (third deviation threshold) of the girth weld feature mileage deviation of two batches; and similarly, judging whether the defects in the two groups of internal detection data are aligned according to the preset two batches of defect characteristic mileage and the acceptable threshold of the circumferential distribution deviation.

In the actual operation of in-pipeline detection, phenomena such as mileage wheel skidding and detector signal loss can occur, so that the situations of detection characteristic missing report and false report exist in a detection result, and the problem of unmatched detection characteristics is easy to occur when detection data in multiple rounds are aligned. In view of this, in the process of determining whether a certain feature data (such as a valve feature data) is aligned, if the feature data is found to be misaligned, it needs to be further determined whether the feature data has a missing detection condition or a false detection condition, and if so, the data corresponding to the missing detection should be correspondingly added or the data corresponding to the false detection should be correspondingly deleted. In addition, if it is found that there is neither missing detection nor false detection in a certain misaligned feature data (e.g., valve feature data), there may be data mismatch due to different detection tools for two detection batches or other reasons, and at this time, stretching or shrinking adjustment may be performed on the corresponding feature data, so that the corresponding feature data are aligned.

It can be seen that, in the method for aligning the detection data in the pipeline provided by this embodiment, the one-time internal detection data is selected as the alignment reference data, the other batch of data is used as the object to be aligned, and then all detection information of the characteristics of the valve, the elbow, the girth joint, the defect and the like in the two groups of internal detection data to be aligned are obtained; and then, taking the alignment reference data as a basis, aligning the characteristics of the valve, the elbow and the girth weld in sequence on the two groups of internal detection data, automatically aligning the defect characteristics according to classification, searching for active defect points in the two groups of detection data according to the alignment result, and calculating the corrosion rate of the pipeline.

The embodiment is based on some inherent characteristics of the pipeline, can quickly and effectively align the internal detection data of multiple rounds, and can effectively avoid characteristic deletion, misinformation or characteristic non-correspondence caused by different detection tools due to detection operation, thereby providing more accurate source data for the internal detection evaluation of the pipeline.

Based on the content of the foregoing embodiment, in an optional implementation manner, the method further includes:

In the present embodiment, after the alignment of the detection data is detected in two batches, a step of maintaining the reference frame is also performed. Namely, after the features of the two batches of detection data are aligned, the two alignment results are respectively stored in the alignment history, and the latest aligned detection data in the first time are stored as a reference system, including underground valves, elbows, girth welds, all feature defects and the like, so that the maintenance of the reference system is realized to prepare for the next alignment work.

In this embodiment, after alignment of the inspection data within two batches, an active defect inspection step is further performed. Specifically, for the volume type defects, judging whether the defect depth of the same defect detected in two batches is increased, if so, determining the corresponding defect as an active defect; and for the non-volume type defects, judging whether the axial length and the annular width of the same defect are increased, if so, determining that the corresponding defect is an active defect.

calculating the corrosion rate of the pipeline;

respectively calculating the corrosion rate of each active volume type defect according to the depth change of all active volume type defects and the time interval of two internal detections;

In the embodiment, the method for calculating the corrosion rate of the pipeline is a relatively safe and safe method by selecting the maximum corrosion rate as the corrosion rate of the pipeline, and the relatively safe and safe method for calculating the corrosion rate of the pipeline is selected to be beneficial to improving the safety of the pipeline and effectively prevent pipeline accidents.

In addition, the mode of selecting the average corrosion rate as the corrosion rate of the pipeline is a moderate trade-off mode, because the average corrosion rate can basically reflect the corrosion rate of the pipeline on the whole, and has a certain reference meaning, and compared with the mode of selecting the maximum corrosion rate as the corrosion rate of the pipeline, the mode of selecting the average corrosion rate as the corrosion rate of the pipeline can avoid unnecessary pipeline maintenance, save pipeline maintenance resources and cost, but simultaneously is more aggressive, so the mode of selecting the average corrosion rate as the corrosion rate of the pipeline recommends the optimal maximum corrosion rate for densely populated or high-later-fruit areas and high-risk pipeline sections.

In addition, the method for obtaining the corrosion rate of the pipeline based on the statistics has higher scientific basis and statistical basis, so that the obtained corrosion rate of the pipeline has higher reference significance.

In this embodiment, the corrosion rate of the pipeline is obtained based on a statistical method according to the corrosion rate of each active defect, and may be obtained based on a normal distribution method or other statistical methods. For example, the average value of the normal distribution of the corrosion rate is obtained by the maximum likelihood estimation method.

As can be seen, in the present embodiment, after the alignment of the inspection data within two batches, in addition to the inspection step of the active defects, a calculation step of the corrosion rate of the pipe was further performed. Specifically, the corrosion rate of each active defect is respectively calculated according to the depth change of all the active defects and the time interval of two internal detections, and then the maximum corrosion rate is selected as the corrosion rate of the pipeline according to the corrosion rate of each active defect; or, according to the corrosion rate of each active defect, calculating the average corrosion rate to be used as the corrosion rate of the pipeline; or, according to the corrosion rate of each active defect, acquiring the corrosion rate of the pipeline in a statistical mode.

Based on the same inventive concept, another embodiment of the present invention provides an in-pipe inspection data alignment apparatus, referring to fig. 3, including: a to-be-aligned data determining module 21, an obtaining module 22 and an aligning module 23, wherein:

the to-be-aligned data determining module 21 is configured to, when performing alignment of in-pipeline detection data for the first time, select one of the two pieces of the internal detection data as alignment reference data, and use the other piece of the internal detection data as an aligned object;

the acquisition module 22 is used for acquiring all detection information of the characteristics of the valve, the elbow, the girth weld, the defect and the like in the two groups of internal detection data to be aligned;

the alignment module 23 is configured to perform valve feature alignment on the two sets of internal detection data according to the alignment reference data, and when the two sets of internal detection data are subjected to valve feature alignment, if it is determined that the corresponding valve mileage deviations in the two sets of internal detection data are both less than or equal to a first deviation threshold, it indicates that the valve features in the two sets of internal detection data are aligned; if the corresponding valve mileage deviation in the two groups of internal detection data is larger than the first deviation threshold value, judging whether one group of data in the two groups of internal detection data has the condition of missing detection of the valve or false detection of the valve, if so, newly adding corresponding valve data to one group of data of the missing detection valve or deleting corresponding valve data to one group of data of the false detection valve, otherwise, stretching or shrinking the mileage of the valve to align the valve data of the two groups of internal detection data; the mileage of the valve is stretched or contracted, and simultaneously, the mileage of other pipeline characteristics between the valve and the front and rear valves is correspondingly stretched and contracted;

aligning the elbow features after the valve features are aligned, and when the elbow features of the two groups of internal detection data are aligned, if the corresponding elbow mileage deviations of the two groups of internal detection data are judged to be less than or equal to a second deviation threshold value, indicating that the elbow features of the two groups of internal detection data are aligned; if the situation that the deviation of the mileage of the corresponding elbow is larger than the second deviation threshold value is judged in the two groups of internal detection data, whether the situation of the missed elbow or the false elbow exists in one group of data in the two groups of internal detection data is judged, if yes, the corresponding elbow data is newly added to the group of data of the missed elbow or the corresponding elbow data is deleted from the group of data of the false elbow, and if not, the mileage of the elbow is stretched or shrunk, so that the elbow data of the two groups of internal detection data are aligned; the mileage of the elbow is stretched or contracted, and the mileage of other pipeline characteristics between the elbow and the front elbow and the rear elbow is correspondingly stretched and contracted;

after the elbow features are aligned, aligning the girth weld features, and when the girth weld features of the two groups of internal detection data are aligned, if the corresponding girth weld mileage deviation of the two groups of internal detection data is judged to be less than or equal to a third deviation threshold value, indicating that the girth weld features of the two groups of internal detection data are aligned; if the corresponding circumferential weld mileage deviation is larger than a third deviation threshold value in the two groups of internal detection data, judging whether one group of data in the two groups of internal detection data has the condition of missing detection of the circumferential weld or false detection of the circumferential weld, if so, adding corresponding circumferential weld data to one group of data of the missing detection of the circumferential weld, or deleting corresponding circumferential weld data to one group of data of the false detection of the circumferential weld, otherwise, stretching or shrinking the circumferential weld to adjust the circumferential weld mileage so that the circumferential weld data of the two groups of internal detection data are aligned; the method comprises the following steps that firstly, the mileage of a circumferential weld is stretched or shrunk, and meanwhile, the mileage of other pipeline characteristics between the circumferential weld and the front and rear circumferential welds is correspondingly stretched and shrunk;

Based on the content of the foregoing embodiment, in an optional implementation manner, the apparatus further includes:

and a reference frame establishing module 24, configured to, after the two batches of internal detection data are aligned, respectively store the alignment results of the two batches into the alignment history, and store the aligned latest internal detection data as a reference frame.

the active defect detection module 25 is used for judging whether active defects exist in the pipeline after data alignment is detected in two batches;

the active defect detection module 25 is specifically configured to:

Based on the content of the foregoing embodiment, in an optional implementation manner, the apparatus further includes: a pipe corrosion rate calculation module 26;

the pipeline corrosion rate calculation module 26 is specifically configured to:

selecting the maximum corrosion rate as the corrosion rate of the pipeline according to the corrosion rate of each active volume type defect; or, according to the corrosion rate of each active volume type defect, calculating the average corrosion rate and then taking the average corrosion rate as the corrosion rate of the pipeline; or, according to the corrosion rate of each active volume type defect, the corrosion rate of the pipeline is obtained on the basis of statistics.

It should be noted that the in-pipeline detection data alignment apparatus described in this embodiment may be used to execute the in-pipeline detection data alignment method described in the above embodiment, and the principle and the technical effect are similar, and are not described herein again.

Based on the same inventive concept, another embodiment of the present invention provides an electronic device, which specifically includes the following components, with reference to fig. 4: a processor 701, a memory 702, a communication interface 703, and a bus 704;

the processor 701, the memory 702 and the communication interface 703 complete mutual communication through the bus 704; the communication interface 703 is used for realizing information transmission between related devices such as various modeling software and an intelligent manufacturing equipment module library;

the processor 701 is configured to call a computer program in the memory 702, and when the processor executes the computer program, the processor implements all the steps in the method for aligning detection data in a pipeline according to the foregoing embodiment, for example, when the processor executes the computer program, the processor implements the following steps:

Step 103: firstly, performing valve characteristic alignment on the two groups of internal detection data based on the alignment reference data, and when the two groups of internal detection data are subjected to valve characteristic alignment, if the corresponding valve mileage deviation in the two groups of internal detection data is judged to be less than or equal to a first deviation threshold value, indicating that the valve characteristics in the two groups of internal detection data are aligned; and if the corresponding valve mileage deviation is larger than the first deviation threshold value in the two groups of internal detection data, judging whether the condition of missing detection of the valve or false detection of the valve exists in one group of data in the two groups of internal detection data. The specific judgment of missing detection or false detection can be obtained by comparing the change of the detection valve mileage corresponding to the two valves with large mileage deviation. For example, the valve characteristics of two sets of detection data can be marked in a graphical manner according to a mileage axis (abscissa mileage), and then whether a false report or a false report exists can be visually judged and obtained through a graph. If the data belongs to the missing detection or the false detection, adding corresponding valve data for a group of data of the missing detection valve, or deleting corresponding valve data for a group of data of the false detection valve, or else, stretching or shrinking the mileage of the valve to adjust the valve data of the detection data in the two groups to be aligned; the mileage of the valve is correspondingly stretched and shrunk and adjusted while the mileage of the valve is stretched or shrunk and the mileage of other pipeline characteristics (elbows, girth welds and all defects) between the valve and the front and rear valves is correspondingly stretched and shrunk;

aligning the elbow features after the valve features are aligned, and when the elbow features of the two groups of internal detection data are aligned, if the corresponding elbow mileage deviations of the two groups of internal detection data are judged to be less than or equal to a second deviation threshold value, indicating that the elbow features of the two groups of internal detection data are aligned; if the situation that the deviation of the corresponding elbow mileage is larger than the second deviation threshold value exists in the two groups of internal detection data is judged, whether the situation that a missed elbow or a false elbow exists in one group of data in the two groups of internal detection data is judged (the judgment process is similar to the judgment process of the valve), if so, corresponding elbow data is newly added to one group of data of the missed elbow, or the corresponding elbow data is deleted from one group of data of the false elbow, otherwise, the mileage of the elbow is stretched or shrunk and adjusted, so that the elbow data of the two groups of internal detection data are aligned; the mileage of the elbow is stretched or contracted, and the mileage of other pipeline characteristics (girth welds and all defects) between the elbow and the front elbow and the rear elbow is correspondingly stretched and contracted;

after the elbow features are aligned, aligning the girth weld features, and when the girth weld features of the two groups of internal detection data are aligned, if the corresponding girth weld mileage deviations of the two groups of internal detection data are judged to be less than or equal to a third deviation threshold value, indicating that the girth weld features of the two groups of internal detection data are aligned; if the corresponding girth joint mileage deviation is larger than the third deviation threshold value in the two groups of internal detection data, judging whether the condition of missing detection girth joints or false detection girth joints exists in one group of data in the two groups of internal detection data (the judgment process is similar to the judgment process of the valve), if so, adding corresponding girth joint data to one group of data of the missing detection girth joints, or deleting corresponding girth joint data to one group of data of the false detection girth joints, otherwise, stretching or shrinking the girth joints of the girth joints to align the girth joint data of the two groups of internal detection data; the method comprises the following steps of (1) stretching or shrinking the mileage of a circumferential weld, and simultaneously correspondingly stretching and shrinking the mileage of other pipeline characteristics (defect characteristics) between the circumferential weld and the front and rear circumferential welds;

Based on the same inventive concept, yet another embodiment of the present invention provides a computer-readable storage medium, having a computer program stored thereon, which when executed by a processor implements all the steps of the above-mentioned in-pipe detection data alignment method, for example, the computer program stored on the computer-readable storage medium implements the following steps when executed:

Step 103: according to the alignment reference data, firstly, carrying out valve characteristic alignment on the two groups of internal detection data, and when carrying out valve characteristic alignment on the two groups of internal detection data, if judging that the corresponding valve mileage deviations in the two groups of internal detection data are both smaller than or equal to a first deviation threshold value, indicating that the valve characteristics in the two groups of internal detection data are aligned; and if the corresponding valve mileage deviation is larger than the first deviation threshold value in the two groups of internal detection data, judging whether the condition of missing detection of the valve or false detection of the valve exists in one group of data in the two groups of internal detection data. The specific judgment of missing detection or false detection can be obtained by comparing the change of the detection valve mileage corresponding to the two valves with large mileage deviation. For example, the valve characteristics of two sets of detection data can be marked in a graphical manner according to a mileage axis (abscissa mileage), and then whether a false report or a false report exists can be visually judged and obtained through a graph. If the data belongs to the missing detection or the false detection, adding corresponding valve data for a group of data of the missing detection valve, or deleting corresponding valve data for a group of data of the false detection valve, or else, stretching or shrinking the mileage of the valve to align the valve data of the detection data in the two groups; the mileage of the valve is correspondingly stretched and shrunk and adjusted while the mileage of the valve is stretched or shrunk and the mileage of other pipeline characteristics (elbows, girth welds and all defects) between the valve and the front and rear valves is correspondingly stretched and shrunk;

after the valve characteristics are aligned, aligning the elbow characteristics, and when the elbow characteristics of the two groups of internal detection data are aligned, if the mileage deviation of the corresponding elbows in the two groups of internal detection data is judged to be less than or equal to a second deviation threshold value, indicating that the elbow characteristics in the two groups of internal detection data are aligned; if the situation that the deviation of the corresponding elbow mileage is larger than the second deviation threshold value exists in the two groups of internal detection data is judged, whether the situation that a missed elbow or a false elbow exists in one group of data in the two groups of internal detection data is judged (the judgment process is similar to the judgment process of the valve), if so, corresponding elbow data is newly added to one group of data of the missed elbow, or the corresponding elbow data is deleted from one group of data of the false elbow, otherwise, the mileage of the elbow is stretched or shrunk and adjusted, so that the elbow data of the two groups of internal detection data are aligned; the mileage of the elbow is stretched or contracted, and the mileage of other pipeline characteristics (girth welds and all defects) between the elbow and the front elbow and the rear elbow is correspondingly stretched and contracted;

after the elbow features are aligned, aligning the girth weld features, and when the girth weld features of the two groups of internal detection data are aligned, if the corresponding girth weld mileage deviations of the two groups of internal detection data are judged to be less than or equal to a third deviation threshold value, indicating that the girth weld features of the two groups of internal detection data are aligned; if the corresponding girth joint mileage deviation is larger than the third deviation threshold value in the two groups of internal detection data, judging whether the condition of missing detection girth joints or false detection girth joints exists in one group of data in the two groups of internal detection data (the judgment process is similar to the judgment process of the valve), if so, adding corresponding girth joint data to one group of data of the missing detection girth joints, or deleting corresponding girth joint data to one group of data of the false detection girth joints, otherwise, stretching or shrinking the girth joints of the girth joints to align the girth joint data of the two groups of internal detection data; the method comprises the following steps that firstly, the mileage of a circumferential weld is stretched or shrunk and adjusted, and meanwhile, the mileage of other pipeline characteristics (defect characteristics) between the circumferential weld and the front and rear circumferential welds is correspondingly stretched and shrunk and adjusted;

and aligning the defects on the pipeline after the circumferential welds are aligned, when defect characteristics of two groups of internal detection data are aligned, according to the relationship between the mileage difference and the circumferential distribution difference of every two defects in two batches and the corresponding deviation threshold, if the mileage difference and the circumferential distribution difference are simultaneously smaller than or equal to the corresponding deviation threshold, the two defects in the two batches are represented as the same defect, otherwise, the two defects are not the same defect, and finally marking the aligned same defect.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising a … …" does not exclude the presence of another identical element in a process, method, article, or apparatus that comprises the element.

The above examples are only for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims

1. A method for aligning detection data in a pipeline is characterized by comprising the following steps:

when the alignment of the detection data in the pipeline is carried out for the first time, one-time internal detection data in the two-time internal detection data is selected as alignment reference data, and the internal detection data of the other batch is used as an aligned object;

acquiring information of a valve, an elbow, a girth weld and a defect in two groups of internal detection data to be aligned;

after the valve characteristics are aligned, aligning the elbow characteristics, and when the elbow characteristics of the two groups of internal detection data are aligned, if the mileage deviation of the corresponding elbows in the two groups of internal detection data is judged to be less than or equal to a second deviation threshold value, indicating that the elbow characteristics in the two groups of internal detection data are aligned; if the situation that the deviation of the mileage of the corresponding elbow is larger than the second deviation threshold value is judged in the two groups of internal detection data, whether the situation of the missed elbow or the false elbow exists in one group of data in the two groups of internal detection data is judged, if yes, the corresponding elbow data is newly added to the group of data of the missed elbow or the corresponding elbow data is deleted from the group of data of the false elbow, and if not, the mileage of the elbow is stretched or shrunk, so that the elbow data of the two groups of internal detection data are aligned; the mileage of the elbow is correspondingly stretched and contracted while the mileage of the elbow is stretched or contracted;

after the elbow features are aligned, aligning the girth weld features, and when the girth weld features of the two groups of internal detection data are aligned, if the corresponding girth weld mileage deviation of the two groups of internal detection data is judged to be less than or equal to a third deviation threshold value, indicating that the girth weld features of the two groups of internal detection data are aligned; if the corresponding girth joint mileage deviation is larger than a third deviation threshold value in the two groups of internal detection data, judging whether the condition of missing detection of the girth joint or false detection of the girth joint exists in one group of the two groups of internal detection data, if so, adding corresponding girth joint data to the group of data of the missing detection of the girth joint, or deleting corresponding girth joint data to the group of data of the false detection of the girth joint, otherwise, stretching or shrinking the mileage of the girth joint to adjust the girth joint data of the two groups of internal detection data to align the girth joint data of the two groups of internal detection data; the method comprises the following steps that firstly, the mileage of a circumferential weld is stretched or shrunk, and meanwhile, the mileage of other pipeline characteristics between the circumferential weld and the front and rear circumferential welds is correspondingly stretched and shrunk;

2. The method of claim 1, further comprising:

3. The method of claim 1, further comprising:

the step of judging whether the pipeline has the active defects specifically comprises the following steps:

4. The method of claim 3, further comprising: calculating the corrosion rate of the pipeline;

5. An in-pipe inspection data alignment apparatus, comprising:

the acquisition module is used for acquiring information of valves, elbows, girth welds and defects in the two groups of internal detection data to be aligned;

the alignment module is used for firstly performing valve characteristic alignment on the two groups of internal detection data according to the alignment reference data, and when the two groups of internal detection data are subjected to valve characteristic alignment, if the corresponding valve mileage deviation in the two groups of internal detection data is judged to be less than or equal to a first deviation threshold value, the alignment module indicates that the valve characteristics in the two groups of internal detection data are aligned; if the corresponding valve mileage deviation in the two groups of internal detection data is larger than the first deviation threshold value, judging whether one group of data in the two groups of internal detection data has the condition of missing detection of the valve or false detection of the valve, if so, newly adding corresponding valve data to one group of data of the missing detection valve or deleting corresponding valve data to one group of data of the false detection valve, otherwise, stretching or shrinking the mileage of the valve to align the valve data of the two groups of internal detection data; the mileage of the valve is stretched or contracted, and simultaneously, the mileage of other pipeline characteristics between the valve and the front and rear valves is correspondingly stretched and contracted;

aligning the elbow features after the valve features are aligned, and when the elbow features of the two groups of internal detection data are aligned, if the corresponding elbow mileage deviations of the two groups of internal detection data are judged to be less than or equal to a second deviation threshold value, indicating that the elbow features of the two groups of internal detection data are aligned; if the situation that the deviation of the mileage of the corresponding elbow is larger than the second deviation threshold value is judged in the two groups of internal detection data, whether the situation of the missed elbow or the false elbow exists in one group of data in the two groups of internal detection data is judged, if yes, the corresponding elbow data is newly added to the group of data of the missed elbow or the corresponding elbow data is deleted from the group of data of the false elbow, and if not, the mileage of the elbow is stretched or shrunk, so that the elbow data of the two groups of internal detection data are aligned; the mileage of the elbow is correspondingly stretched and contracted while the mileage of the elbow is stretched or contracted;

after the elbow features are aligned, aligning the girth weld features, and when the girth weld features of the two groups of internal detection data are aligned, if the corresponding girth weld mileage deviations of the two groups of internal detection data are judged to be less than or equal to a third deviation threshold value, indicating that the girth weld features of the two groups of internal detection data are aligned; if the corresponding circumferential weld mileage deviation is larger than a third deviation threshold value in the two groups of internal detection data, judging whether one group of data in the two groups of internal detection data has the condition of missing detection of the circumferential weld or false detection of the circumferential weld, if so, adding corresponding circumferential weld data to one group of data of the missing detection of the circumferential weld, or deleting corresponding circumferential weld data to one group of data of the false detection of the circumferential weld, otherwise, stretching or shrinking the circumferential weld to adjust the circumferential weld mileage so that the circumferential weld data of the two groups of internal detection data are aligned; the method comprises the following steps that firstly, the mileage of a circumferential weld is stretched or shrunk, and meanwhile, the mileage of other pipeline characteristics between the circumferential weld and the front and rear circumferential welds is correspondingly stretched and shrunk;

6. The apparatus of claim 5, further comprising:

7. The apparatus of claim 5, further comprising:

wherein, the active defect detection module is specifically configured to:

8. The apparatus of claim 7, further comprising: the pipeline corrosion rate calculation module is used for calculating the pipeline corrosion rate;

9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the steps of the in-pipe detection data alignment method according to any one of claims 1 to 4 when executing the computer program stored on the memory.

10. A computer-readable storage medium, having a computer program stored thereon, wherein the computer program stored on the computer-readable storage medium, when executed, implements the steps of the in-duct inspection data alignment method of any of claims 1 to 4.