CN111895277A - Submarine pipeline defect positioning method, device, equipment and system - Google Patents
Submarine pipeline defect positioning method, device, equipment and system Download PDFInfo
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- CN111895277A CN111895277A CN202010790546.7A CN202010790546A CN111895277A CN 111895277 A CN111895277 A CN 111895277A CN 202010790546 A CN202010790546 A CN 202010790546A CN 111895277 A CN111895277 A CN 111895277A
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F17—STORING OR DISTRIBUTING GASES OR LIQUIDS
- F17D—PIPE-LINE SYSTEMS; PIPE-LINES
- F17D5/00—Protection or supervision of installations
- F17D5/02—Preventing, monitoring, or locating loss
- F17D5/06—Preventing, monitoring, or locating loss using electric or acoustic means
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
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- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Automation & Control Theory (AREA)
- Acoustics & Sound (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention discloses a submarine pipeline defect positioning method, which comprises the steps of receiving defect mileage information, road sign mileage information and mark identity information corresponding to the road sign mileage information; the marked identity information is identity information sent to the in-pipeline detector by the submarine pipeline marker when the in-pipeline detector passes through the submarine pipeline marker; the road sign mileage information is corresponding mileage information determined by the in-pipeline detector according to the mark identity information; determining corresponding marker position information according to the marker identity information; and obtaining the position information of the target defect according to the marker position information, the road sign mileage information and the defect mileage information. The invention further corrects the defect mileage information, and improves the positioning precision of the defect of the submarine pipeline. The invention also provides a submarine pipeline defect positioning device, equipment, a computer readable storage medium and a submarine pipeline defect positioning system with the beneficial effects.
Description
Technical Field
The invention relates to the field of submarine pipeline maintenance, in particular to a submarine pipeline defect positioning method, device, equipment, computer readable storage medium and system.
Background
With the development of science and technology, there is an increasing demand for material transportation, wherein among various fixed point-to-point material transportation modes, pipeline transportation is widely adopted due to its high efficiency and large volume, for example, a submarine pipeline is a pipeline for continuously transporting a large amount of oil (gas) on the seabed through a closed pipeline, is a main component of an oil (gas) field development and production system on the seabed, and is also the fastest, safest and most economic and reliable offshore oil and gas transportation mode.
However, as the pipeline is exposed to the external environment for a long time, the structure of the pipeline is easy to have defects, if the defects cannot be found in time, the pipeline is easy to expand from the small defects, the pipeline structure is damaged finally, the pipeline is broken, the maintenance cost of the pipeline is greatly increased, the positioning of the defects in the pipeline is always a technical difficulty in the field, in the prior art, the positioning of the defects completely depends on the mileage record number of a detector which advances in the pipeline and probes at the same time, the actual pipeline position and the actual pipeline moving track are difficult to accurately record due to the restriction of equipment, process and other factors when most of submarine pipelines in service are laid, and after the submarine pipelines are operated for many years, the position of the pipelines is easy to change and move. Meanwhile, the passing requirement of the detector in the pipeline is considered, the self-positioning sensor cannot be carried with too much accuracy, only the mileage record of the detector is relied on, errors exist inevitably, the recorded position of the defect is inconsistent with the actual position, the cut position when the pipeline is cut for maintenance is not right, manpower and material resources for cutting the pipeline are wasted, the cost is high, and the overhauling efficiency is low.
Therefore, how to improve the positioning accuracy of the defects of the submarine pipeline and improve the maintenance efficiency is a problem to be solved urgently by the technical personnel in the field.
Disclosure of Invention
The invention aims to provide a method, a device, equipment, a computer readable storage medium and a system for positioning submarine pipeline defects, so as to solve the problems of low positioning accuracy and poor overhauling efficiency of the defects in the prior art.
In order to solve the technical problem, the invention provides a submarine pipeline defect positioning method, which comprises the following steps:
receiving defect mileage information, road sign mileage information and mark identity information corresponding to the road sign mileage information; the marked identity information is identity information sent to the in-pipeline detector by the submarine pipeline marker when the in-pipeline detector passes through the submarine pipeline marker; the road sign mileage information is corresponding mileage information determined by the in-pipeline detector according to the mark identity information;
determining corresponding marker position information according to the marker identity information;
and obtaining the position information of the target defect according to the marker position information, the road sign mileage information and the defect mileage information.
Optionally, in the method for locating a defect of a submarine pipeline, the obtaining of the position information of the target defect according to the marker position information, the landmark mileage information, and the defect mileage information includes:
determining a mileage information deviation value according to the road sign mileage information and the marker position information;
obtaining corrected defect mileage information according to the mileage information deviation value and the defect mileage information;
and obtaining the position information of the target defect according to the marker position information and the corrected defect mileage information.
Optionally, in the method for locating a defect of a subsea pipeline, after determining the marker position information, the method further includes:
and obtaining pipeline track information corresponding to the detector in the pipeline according to the marker position information and the road sign mileage information.
Optionally, in the method for locating a submarine pipeline defect, the obtaining method of the correspondence between the marker identity information and the marker position information includes:
receiving marking identity information, ship satellite positioning information of a mother ship and ultra-short baseline positioning information of an underwater laying terminal, wherein the ultra-short baseline positioning information is positioning information obtained by the underwater laying terminal through an ultra-short baseline positioning system formed by the underwater laying terminal and the mother ship;
obtaining underwater laying terminal position information through the ship satellite positioning information and the ultra-short baseline positioning information;
sending underwater navigation information to the underwater laying terminal according to the position information of the underwater laying terminal, enabling the underwater laying terminal to reach a preset installation site, installing the submarine pipeline marker at a preset target laying point, and collecting the laying position information of the underwater laying terminal;
and obtaining marker position information corresponding to the marking identity information according to the layout position information and the marking identity information.
Optionally, in the method for locating a defect of a submarine pipeline, before obtaining the position information of the underwater laying terminal, the method further includes:
acquiring inertial navigation information of the underwater laying terminal;
and obtaining positioning information of the underwater laying terminal through the ship satellite positioning information, the ultra-short baseline positioning information and the inertial navigation information.
A subsea pipeline defect locating device, comprising:
the receiving module is used for receiving the defect mileage information, the road sign mileage information and the mark identity information corresponding to the road sign mileage information; the marked identity information is identity information sent to the in-pipeline detector by the submarine pipeline marker when the in-pipeline detector passes through the submarine pipeline marker; the road sign mileage information is corresponding mileage information determined by the in-pipeline detector according to the mark identity information;
the positioning module is used for determining corresponding marker position information according to the marker identity information;
and the determining module is used for obtaining the position information of the target defect according to the marker position information, the road sign mileage information and the defect mileage information.
A subsea pipeline defect locating apparatus comprising:
the instruction input device is used for inputting an operation instruction;
a memory for storing a computer program;
a processor for implementing the steps of the method for locating a subsea pipeline defect as described in any of the above when executing the computer program.
A computer-readable storage medium having stored thereon a computer program which, when executed by a processor, carries out the steps of the method of subsea pipeline defect localization as claimed in any of the above.
A submarine pipeline defect positioning system comprises a submarine pipeline marker, a pipeline inner detector and a processor;
the in-pipeline detector advances along the submarine pipeline to be detected in the submarine pipeline to be detected, detects the defect of the submarine pipeline and obtains defect mileage information;
the submarine pipeline marker comprises a sensor assembly and an underwater communication assembly;
the sensor assembly is used for determining that the position corresponding to the submarine pipeline marker is passed by the pipeline detector;
the underwater communication component is used for sending mark identity information to the in-pipeline detector when the in-pipeline detector passes through, so that the in-pipeline detector determines corresponding road sign mileage information according to the mark identity information;
the processor is used for determining corresponding marker position information according to the marker identity information and obtaining position information of the target defect according to the marker position information, the road sign mileage information and the defect mileage information.
Optionally, in the submarine pipeline marking system, the submarine pipeline marker includes a submarine fixing end, a water surface floating ball and a signal cable, and the submarine fixing end is connected to the water surface floating ball through the signal cable;
the seabed fixed end comprises the sensor assembly and the underwater communication assembly;
the water surface floating ball comprises a satellite communication component;
the satellite communication component is used for communicating with a superior server through a satellite network.
The submarine pipeline defect positioning method provided by the invention comprises the steps of receiving defect mileage information, road sign mileage information and mark identity information corresponding to the road sign mileage information; the marked identity information is identity information sent to the in-pipeline detector by the submarine pipeline marker when the in-pipeline detector passes through the submarine pipeline marker; the road sign mileage information is corresponding mileage information determined by the in-pipeline detector according to the mark identity information; determining corresponding marker position information according to the marker identity information; and obtaining the position information of the target defect according to the marker position information, the road sign mileage information and the defect mileage information. According to the invention, the mileage information of the submarine pipeline marker passing through a definite position by the detector in the pipeline is obtained by collecting the marking identity information of the submarine pipeline marker installed at a preset position of the submarine pipeline and determining the road sign mileage information according to the marking identity information, which is equivalent to determining the error between the mileage information recorded by the detector in the pipeline and the actual mileage, the defect mileage information can be further corrected to obtain more accurate position information of the target defect, the positioning accuracy of the defect of the submarine pipeline is greatly improved, the cost of subsequent pipeline maintenance is saved, and the maintenance efficiency is improved. The invention also provides a submarine pipeline defect positioning device, equipment, a computer readable storage medium and a submarine pipeline defect positioning system with the beneficial effects.
Drawings
In order to more clearly illustrate the embodiments or technical solutions of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained based on these drawings without creative efforts.
FIG. 1 is a schematic flow chart of an embodiment of a method for locating a defect in a submarine pipeline according to the present invention;
FIG. 2 is a schematic flow chart of another embodiment of the method for locating a defect in a subsea pipeline according to the present invention;
FIG. 3 is a schematic structural diagram of an embodiment of the submarine pipeline defect locating device according to the present invention;
fig. 4 is a schematic flow chart of a specific embodiment of a method for obtaining a correspondence between tag identity information and tag location information according to the present invention;
fig. 5 is a schematic flow chart of another embodiment of a method for obtaining a correspondence between tag identity information and tag location information according to the present invention;
fig. 6 is a schematic structural diagram of an embodiment of an apparatus for obtaining correspondence between tag identity information and tag location information according to the present invention;
FIG. 7 is a partial schematic structural view of an embodiment of the subsea pipeline defect locating system provided in the present invention;
FIG. 8 is a schematic structural view of a subsea pipeline marker of another embodiment of the subsea pipeline defect locating system provided in accordance with the present invention;
fig. 9 is a schematic diagram illustrating connection of a subsea pipeline marker and a superior server according to another embodiment of the subsea pipeline defect locating system of the present invention.
Detailed Description
In order that those skilled in the art will better understand the disclosure, the invention will be described in further detail with reference to the accompanying drawings and specific embodiments. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the 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 core of the invention is to provide a submarine pipeline defect positioning method, a flow diagram of one specific embodiment of which is shown in fig. 1, and is called as a first specific embodiment, and the method comprises the following steps:
s101: receiving defect mileage information, road sign mileage information and mark identity information corresponding to the road sign mileage information; the marked identity information is identity information sent to the in-pipeline detector by the submarine pipeline marker when the in-pipeline detector passes through the submarine pipeline marker; and the road sign mileage information is corresponding mileage information determined by the in-pipeline detector according to the mark identity information.
S102: and determining corresponding marker position information according to the marker identity information.
S103: and obtaining the position information of the target defect according to the marker position information, the road sign mileage information and the defect mileage information.
As a preferred embodiment, after determining the marker position information, the method further includes:
and obtaining pipeline track information corresponding to the detector in the pipeline according to the marker position information and the road sign mileage information.
The obtained pipeline track information can be used for verifying whether the detector in the pipeline advances according to a preset route or not and detecting whether the pipeline is unobstructed or not.
The submarine pipeline defect positioning method provided by the invention comprises the steps of receiving defect mileage information, road sign mileage information and mark identity information corresponding to the road sign mileage information; the marked identity information is identity information sent to the in-pipeline detector by the submarine pipeline marker when the in-pipeline detector passes through the submarine pipeline marker; the road sign mileage information is corresponding mileage information determined by the in-pipeline detector according to the mark identity information; determining corresponding marker position information according to the marker identity information; and obtaining the position information of the target defect according to the marker position information, the road sign mileage information and the defect mileage information. According to the invention, the mileage information of the submarine pipeline marker passing through a definite position by the detector in the pipeline is obtained by collecting the marking identity information of the submarine pipeline marker installed at a preset position of the submarine pipeline and determining the road sign mileage information according to the marking identity information, which is equivalent to determining the error between the mileage information recorded by the detector in the pipeline and the actual mileage, the defect mileage information can be further corrected to obtain more accurate position information of the target defect, the positioning accuracy of the defect of the submarine pipeline is greatly improved, the cost of subsequent pipeline maintenance is saved, and the maintenance efficiency is improved.
On the basis of the first specific embodiment, a method for obtaining the position information of the target defect is further defined to obtain a second specific embodiment, a flow diagram of which is shown in fig. 2, and includes:
s201: receiving defect mileage information, road sign mileage information and mark identity information corresponding to the road sign mileage information; the marked identity information is identity information sent to the in-pipeline detector by the submarine pipeline marker when the in-pipeline detector passes through the submarine pipeline marker; and the road sign mileage information is corresponding mileage information determined by the in-pipeline detector according to the mark identity information.
S202: and determining corresponding marker position information according to the marker identity information.
S203: and determining a mileage information deviation value according to the road sign mileage information and the marker position information.
S204: and obtaining corrected defect mileage information according to the mileage information deviation value and the defect mileage information.
S205: and obtaining the position information of the target defect according to the marker position information and the corrected defect mileage information.
The difference between the present embodiment and the foregoing embodiment is that the present embodiment specifically defines a method for determining location information of the target defect, and the remaining steps are the same as those in the foregoing embodiment and are not described herein again.
In this embodiment, a method for determining the position information of the target defect is specifically defined, and an error value of the detector in the pipeline is directly obtained through the landmark mileage information and the marker position information, for example, if we first obtain through the marker position information, and the detector in the pipeline records mileage when the detector runs to the inside, that is, the landmark mileage should be 100 meters, but the actual landmark mileage information recorded inside is 110 meters, we can conclude that the defect mileage information recorded inside (99 meters is set as inaccurate) should be 90 meters, so that more accurate position information of the target defect can be obtained through a simpler calculation process.
In the following, the device for locating the defect of the submarine pipeline according to the embodiments of the present invention is described, and the device for locating the defect of the submarine pipeline described below and the method for locating the defect of the submarine pipeline described above may be referred to correspondingly.
Fig. 3 is a block diagram illustrating a defect locating apparatus for a submarine pipeline according to an embodiment of the present invention, and referring to fig. 3, the defect locating apparatus for a submarine pipeline may include:
a receiving module 110, configured to receive defect mileage information, landmark mileage information, and mark identity information corresponding to the landmark mileage information; the marked identity information is identity information sent to the in-pipeline detector by the submarine pipeline marker when the in-pipeline detector passes through the submarine pipeline marker; the road sign mileage information is corresponding mileage information determined by the in-pipeline detector according to the mark identity information;
a positioning module 120, configured to determine corresponding marker position information according to the marker identity information;
and the determining module 130 is configured to obtain position information of the target defect according to the marker position information, the landmark mileage information, and the defect mileage information.
As a preferred embodiment, the determining module 130 includes:
the deviation unit is used for determining a mileage information deviation value according to the road sign mileage information and the marker position information;
the correction unit is used for obtaining corrected defect mileage information according to the mileage information deviation value and the defect mileage information;
and the positioning unit is used for obtaining the position information of the target defect according to the marker position information and the corrected defect mileage information.
As a preferred embodiment, the positioning module 120 further includes:
a track unit for obtaining pipeline track information corresponding to the detector in the pipeline according to the marker position information and the road sign mileage information
The submarine pipeline defect locating device of this embodiment is used to implement the submarine pipeline defect locating method, and therefore, the specific implementation manner of the submarine pipeline defect locating device can be seen in the above-mentioned embodiments of the submarine pipeline defect locating method, for example, the receiving module 110, the locating module 120, and the determining module 130 are respectively used to implement steps S101, S102, and S103 of the submarine pipeline defect locating method, and therefore, the specific implementation manner thereof can refer to the description of the corresponding embodiments of each part, and is not described herein again.
The submarine pipeline defect positioning device provided by the invention is used for receiving defect mileage information, road sign mileage information and mark identity information corresponding to the road sign mileage information through a receiving module 110; the marked identity information is identity information sent to the in-pipeline detector by the submarine pipeline marker when the in-pipeline detector passes through the submarine pipeline marker; the road sign mileage information is corresponding mileage information determined by the in-pipeline detector according to the mark identity information; a positioning module 120, configured to determine corresponding marker position information according to the marker identity information; and the determining module 130 is configured to obtain position information of the target defect according to the marker position information, the landmark mileage information, and the defect mileage information. According to the invention, the mileage information of the submarine pipeline marker passing through a definite position by the detector in the pipeline is obtained by collecting the marking identity information of the submarine pipeline marker installed at a preset position of the submarine pipeline and determining the road sign mileage information according to the marking identity information, which is equivalent to determining the error between the mileage information recorded by the detector in the pipeline and the actual mileage, the defect mileage information can be further corrected to obtain more accurate position information of the target defect, the positioning accuracy of the defect of the submarine pipeline is greatly improved, the cost of subsequent pipeline maintenance is saved, and the maintenance efficiency is improved.
The present invention also provides a submarine pipeline defect locating apparatus having the above-mentioned advantageous effects, comprising:
the instruction input device is used for inputting an operation instruction;
a memory for storing a computer program;
a processor for implementing the steps of the method for locating a subsea pipeline defect as described in any of the above when executing the computer program. The submarine pipeline defect positioning method provided by the invention comprises the steps of receiving defect mileage information, road sign mileage information and mark identity information corresponding to the road sign mileage information; the marked identity information is identity information sent to the in-pipeline detector by the submarine pipeline marker when the in-pipeline detector passes through the submarine pipeline marker; the road sign mileage information is corresponding mileage information determined by the in-pipeline detector according to the mark identity information; determining corresponding marker position information according to the marker identity information; and obtaining the position information of the target defect according to the marker position information, the road sign mileage information and the defect mileage information. According to the invention, the mileage information of the submarine pipeline marker passing through a definite position by the detector in the pipeline is obtained by collecting the marking identity information of the submarine pipeline marker installed at a preset position of the submarine pipeline and determining the road sign mileage information according to the marking identity information, which is equivalent to determining the error between the mileage information recorded by the detector in the pipeline and the actual mileage, the defect mileage information can be further corrected to obtain more accurate position information of the target defect, the positioning accuracy of the defect of the submarine pipeline is greatly improved, the cost of subsequent pipeline maintenance is saved, and the maintenance efficiency is improved.
The present invention further provides a method for obtaining a corresponding relationship between the tag identity information and the tag device location information, wherein a flowchart of a specific embodiment is shown in fig. 4, which is called a specific embodiment three, and the method includes:
s301: receiving marking identity information, ship satellite positioning information of a mother ship and ultra-short baseline positioning information of an underwater laying terminal, wherein the ultra-short baseline positioning information is positioning information obtained by the underwater laying terminal through an ultra-short baseline positioning system formed by the underwater laying terminal and the mother ship.
The satellite positioning information can be GPS positioning information or Beidou positioning information or information of other satellite positioning systems.
S302: and obtaining the position information of the underwater laying terminal through the ship satellite positioning information and the ultra-short baseline positioning information.
The underwater laying terminal can be an underwater robot or a diver wearing laying equipment.
S303: and sending underwater navigation information to the underwater laying terminal according to the position information of the underwater laying terminal, enabling the underwater laying terminal to reach a preset installation site, installing the submarine pipeline marker at a preset target laying point, and collecting the laying position information of the underwater laying terminal.
S304: and obtaining marker position information corresponding to the marking identity information according to the layout position information and the marking identity information.
The method for obtaining the corresponding relation between the marking identity information and the marker position information comprises the steps of receiving the marking identity information, ship satellite positioning information of a mother ship and ultra-short baseline positioning information of an underwater laying terminal, wherein the ultra-short baseline positioning information is positioning information obtained by the underwater laying terminal through an ultra-short baseline positioning system formed by the underwater laying terminal and the mother ship; obtaining underwater laying terminal position information through the ship satellite positioning information and the ultra-short baseline positioning information; sending underwater navigation information to the underwater laying terminal according to the position information of the underwater laying terminal, enabling the underwater laying terminal to reach a preset installation site, installing the submarine pipeline marker at a preset target laying point, and collecting the laying position information of the underwater laying terminal; and obtaining marker position information corresponding to the marking identity information according to the layout position information and the marking identity information. According to the invention, the position of the mother ship is determined by using the accurate satellite positioning of the mother ship, and the accurate position information of the underwater position terminal is obtained by accurately measuring the position relation between the mother ship and the underwater laying terminal, so that the accurate installation position of the submarine pipeline marker can be known, the positioning accuracy of the submarine pipeline marker is greatly improved, and the defect position measured by the detector in the pipeline can be more accurately positioned.
On the basis of the third specific embodiment, a determination method of the positioning information of the underwater deployment terminal is further improved to obtain a fourth specific embodiment, and a flow diagram of the fourth specific embodiment is shown in fig. 5, and includes:
s401: receiving marking identity information, ship satellite positioning information of a mother ship and ultra-short baseline positioning information of an underwater laying terminal, wherein the ultra-short baseline positioning information is positioning information obtained by the underwater laying terminal through an ultra-short baseline positioning system formed by the underwater laying terminal and the mother ship.
S402: and acquiring inertial navigation information of the underwater laying terminal.
It should be noted that the step and S401 have no strict sequence relationship, and the information acquisition sequence can be freely adjusted.
S403: and obtaining positioning information of the underwater laying terminal through the ship satellite positioning information, the ultra-short baseline positioning information and the inertial navigation information.
S404: and sending underwater navigation information to the underwater laying terminal according to the position information of the underwater laying terminal, enabling the underwater laying terminal to reach a preset installation site, installing the submarine pipeline marker at a preset target laying point, and collecting the laying position information of the underwater laying terminal.
S405: and obtaining marker position information corresponding to the marking identity information according to the layout position information and the marking identity information.
The difference between the present embodiment and the above embodiments is that the present embodiment introduces the inertial navigation information, and the remaining steps are the same as those in the above embodiments, and are not described herein again.
In this embodiment, the inertial navigation information is obtained, so as to further improve the positioning accuracy of the underwater laying terminal, and accordingly, the accuracy of the marker position information of the submarine pipeline marker is also improved, and finally the positioning accuracy of the defects in the pipeline is improved.
The following introduces an obtaining apparatus of a correspondence between tag identity information and tag location information provided in an embodiment of the present invention, and the obtaining apparatus of the correspondence between tag identity information and tag location information described below and the obtaining method of the correspondence between tag identity information and tag location information described above may be referred to correspondingly.
Fig. 6 is a block diagram of a structure of an apparatus for obtaining a correspondence between tag identity information and tag location information according to an embodiment of the present invention, where the apparatus for obtaining a correspondence between tag identity information and tag location information according to fig. 6 may include:
a positioning information receiving module 210, configured to receive tag identity information, ship satellite positioning information of a mother ship, and ultra-short baseline positioning information of an underwater deployment terminal, where the ultra-short baseline positioning information is positioning information obtained by the underwater deployment terminal through an ultra-short baseline positioning system formed by the underwater deployment terminal and the mother ship;
the underwater positioning module 220 is configured to obtain position information of the underwater deployment terminal through the ship satellite positioning information and the ultra-short baseline positioning information;
the navigation module 230 is configured to send underwater navigation information to the underwater laying terminal according to the position information of the underwater laying terminal, so that the underwater laying terminal reaches a preset installation location, install the submarine pipeline marker at a preset target laying point, and collect the laying position information of the underwater laying terminal;
and a mark determining module 240, configured to obtain, according to the layout position information and the mark identity information, marker position information corresponding to the mark identity information.
As a preferred implementation, the positioning information receiving module 210 further includes:
the inertial unit is used for acquiring inertial navigation information of the underwater laying terminal;
and the inertial integrated positioning unit is used for obtaining positioning information of the underwater laying terminal through the ship satellite positioning information, the ultra-short baseline positioning information and the inertial navigation information.
The apparatus for obtaining the correspondence between the tag identity information and the marker location information in this embodiment is used to implement the method for obtaining the correspondence between the tag identity information and the marker location information, and therefore specific embodiments of the apparatus for obtaining the correspondence between the tag identity information and the marker location information may refer to the embodiment of the method for obtaining the correspondence between the tag identity information and the marker location information in the foregoing, for example, the positioning information receiving module 210, the underwater positioning module 220, the navigation module 230, and the tag determining module 240, which are respectively used to implement steps S301, S302, S303, and S304 in the method for obtaining the correspondence between the tag identity information and the marker location information, so specific embodiments thereof may refer to descriptions of corresponding embodiments of each part, and are not described herein again.
The device for obtaining the corresponding relation between the marking identity information and the marker position information is used for receiving the marking identity information, ship satellite positioning information of a mother ship and ultra-short baseline positioning information of an underwater laying terminal through a positioning information receiving module 210, wherein the ultra-short baseline positioning information is positioning information obtained by the underwater laying terminal through an ultra-short baseline positioning system formed by the underwater laying terminal and the mother ship; the underwater positioning module 220 is configured to obtain position information of the underwater deployment terminal through the ship satellite positioning information and the ultra-short baseline positioning information; the navigation module 230 is configured to send underwater navigation information to the underwater laying terminal according to the position information of the underwater laying terminal, so that the underwater laying terminal reaches a preset installation location, install the submarine pipeline marker at a preset target laying point, and collect the laying position information of the underwater laying terminal; and a mark determining module 240, configured to obtain, according to the layout position information and the mark identity information, marker position information corresponding to the mark identity information. According to the invention, the position of the mother ship is determined by using the accurate satellite positioning of the mother ship, and the accurate position information of the underwater position terminal is obtained by accurately measuring the position relation between the mother ship and the underwater laying terminal, so that the accurate installation position of the submarine pipeline marker can be known, the positioning accuracy of the submarine pipeline marker is greatly improved, and the defect position measured by the detector in the pipeline can be more accurately positioned.
The invention also provides a device for obtaining the corresponding relation between the mark identity information and the marker position information, which has the beneficial effects, and the device comprises:
the instruction input device is used for inputting an operation instruction;
a memory for storing a computer program;
a processor, configured to implement the steps of the method for obtaining a correspondence between tag identity information and tag location information as described in any one of the above when the computer program is executed. The method for obtaining the corresponding relation between the marking identity information and the marker position information comprises the steps of receiving the marking identity information, ship satellite positioning information of a mother ship and ultra-short baseline positioning information of an underwater laying terminal, wherein the ultra-short baseline positioning information is positioning information obtained by the underwater laying terminal through an ultra-short baseline positioning system formed by the underwater laying terminal and the mother ship; obtaining underwater laying terminal position information through the ship satellite positioning information and the ultra-short baseline positioning information; sending underwater navigation information to the underwater laying terminal according to the position information of the underwater laying terminal, enabling the underwater laying terminal to reach a preset installation site, installing the submarine pipeline marker at a preset target laying point, and collecting the laying position information of the underwater laying terminal; and obtaining marker position information corresponding to the marking identity information according to the layout position information and the marking identity information. According to the invention, the position of the mother ship is determined by using the accurate satellite positioning of the mother ship, and the accurate position information of the underwater position terminal is obtained by accurately measuring the position relation between the mother ship and the underwater laying terminal, so that the accurate installation position of the submarine pipeline marker can be known, the positioning accuracy of the submarine pipeline marker is greatly improved, and the defect position measured by the detector in the pipeline can be more accurately positioned.
The present application further provides a subsea pipeline defect locating system, a partial schematic of one embodiment of which is shown in fig. 7, comprising a subsea pipeline marker B, an in-pipeline detector a, and a processor;
the in-pipeline detector A advances along the submarine pipeline to be detected in the submarine pipeline to be detected, detects the defect of the submarine pipeline and obtains defect mileage information;
the submarine pipeline marker B comprises a sensor assembly and an underwater communication assembly;
the sensor assembly is used for determining that the position corresponding to the submarine pipeline marker B is passed by the detector A in the pipeline;
the underwater communication component is used for sending mark identity information to the in-pipeline detector A when the in-pipeline detector A passes through, so that the in-pipeline detector A determines corresponding road sign mileage information according to the mark identity information;
the processor is used for determining corresponding marker position information according to the marker identity information and obtaining position information of the target defect according to the marker position information, the road sign mileage information and the defect mileage information.
The submarine pipeline defect positioning method provided by the invention comprises the steps of receiving defect mileage information, road sign mileage information and mark identity information corresponding to the road sign mileage information; the marked identity information is identity information sent to the in-pipeline detector A by the submarine pipeline marker B when the in-pipeline detector A passes through the submarine pipeline marker B; the road sign mileage information is corresponding mileage information determined by the detector A in the pipeline according to the mark identity information; determining corresponding marker position information according to the marker identity information; and obtaining the position information of the target defect according to the marker position information, the road sign mileage information and the defect mileage information. According to the invention, the mileage information of the submarine pipeline marker B, which is installed at the preset position of the submarine pipeline, is obtained by collecting the marking identity information of the submarine pipeline marker B installed at the preset position of the submarine pipeline and determining the road sign mileage information according to the marking identity information, so that the mileage information of the submarine pipeline marker B, which is obtained by the detector A in the pipeline through a definite position, is equivalent to the fact that the error between the mileage information recorded by the detector A in the pipeline and the actual mileage is determined, the defect mileage information can be further corrected, more accurate position information of the target defect is obtained, the positioning precision of the defect of the submarine pipeline is greatly improved, the cost of subsequent pipeline maintenance is saved, and the maintenance efficiency is improved.
As a preferred embodiment, the schematic structural diagram of the submarine pipeline marker B is shown in fig. 8, and the schematic connection relationship between the submarine pipeline marker B and a superior server is shown in fig. 9, and the submarine pipeline marker B comprises a submarine fixing end, a water surface floating ball 10 and a signal cable 20, wherein the submarine fixing end is connected with the water surface floating ball 10 through the signal cable 20;
the seabed fixed end comprises the sensor assembly 32 and the underwater communication assembly 31;
the water surface floating ball 10 comprises a satellite communication component 11;
the satellite communication component 11 is used for communicating with a superior server through a satellite network.
It should be noted that, in the present embodiment, the submarine pipeline marker B can be connected to a satellite network through the satellite communication component 11, which means that the submarine pipeline marker B can update its own position information through wechat positioning, thereby avoiding the problem that the position of the submarine pipeline changes with the movement of the submarine crust or the impact of ocean current after being laid, and further improving the accuracy of defect positioning.
Note that the onshore device in fig. 9 is the upper server.
Table 1 shows the parameter requirements for one embodiment of the subsea pipeline marker:
TABLE 1 device System requirements
| Item | Index (I) |
| Sensor type | Vibrating wire type |
| Sampling interval | |
| 10 seconds | |
| Duration of a single sample | 3 seconds |
| Duration of continuous operation | 100 hours |
| Depth of working water | ＜100m |
Referring to fig. 9, the output of the vibrating wire sensor is subjected to analog conditioning, then is driven to the electronic device in the water surface floating ball for analog-to-digital conversion, and is transmitted to the shore device through the satellite communication module, processed and displayed. When the satellite communication link is interrupted accidentally, the acquired data can be stored in the floating ball firstly, and the data is uploaded after the link is recovered.
The structural signal acquisition of surface of water floater adopts 4 core cables, 1 core to differential signal line, and external floater is from taking solar power supply, connects sensor and floater through watertight joint, guarantees to have sufficient tensile strength in order to guarantee can not be broken or artificial destruction by bad weather. The gravity center of the floating ball is designed to enable the communication antenna to be upward all the time, and the floating ball has enough strength to prevent the communication antenna from being damaged, stolen and the like.
The monitoring system is located in a shallow sea area, the manual activity is intensive, the survivability of the system is considered emphatically, and the considered measures include the strengthening of the structural part strength and the resistance to the damage of severe weather; a warning area is set, and manual patrol or guard is carried out, so that manual damage is avoided; whether or not there is a water surface facility such as a beacon light nearby is considered as a carrier, and safety is improved.
The embodiments are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same or similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
It is to be noted that, in the present specification, relational terms such as first and second, and the like are 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 an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may reside in Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
The method, apparatus, device, computer readable storage medium and system for locating subsea pipeline defects provided by the present invention are described in detail above. The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.
Claims (10)
1. A submarine pipeline defect positioning method is characterized by comprising the following steps:
receiving defect mileage information, road sign mileage information and mark identity information corresponding to the road sign mileage information; the marked identity information is identity information sent to the in-pipeline detector by the submarine pipeline marker when the in-pipeline detector passes through the submarine pipeline marker; the road sign mileage information is corresponding mileage information determined by the in-pipeline detector according to the mark identity information;
determining corresponding marker position information according to the marker identity information;
and obtaining the position information of the target defect according to the marker position information, the road sign mileage information and the defect mileage information.
2. The method of claim 1, wherein obtaining the location information of the target defect according to the marker location information, the landmark mileage information, and the defect mileage information comprises:
determining a mileage information deviation value according to the road sign mileage information and the marker position information;
obtaining corrected defect mileage information according to the mileage information deviation value and the defect mileage information;
and obtaining the position information of the target defect according to the marker position information and the corrected defect mileage information.
3. The subsea pipeline defect locating method of claim 1, after determining the marker position information, further comprising:
and obtaining pipeline track information corresponding to the detector in the pipeline according to the marker position information and the road sign mileage information.
4. The method for locating subsea pipeline defects according to claim 1, wherein said obtaining of correspondence between marker identity information and marker location information comprises:
receiving marking identity information, ship satellite positioning information of a mother ship and ultra-short baseline positioning information of an underwater laying terminal, wherein the ultra-short baseline positioning information is positioning information obtained by the underwater laying terminal through an ultra-short baseline positioning system formed by the underwater laying terminal and the mother ship;
obtaining underwater laying terminal position information through the ship satellite positioning information and the ultra-short baseline positioning information;
sending underwater navigation information to the underwater laying terminal according to the position information of the underwater laying terminal, enabling the underwater laying terminal to reach a preset installation site, installing the submarine pipeline marker at a preset target laying point, and collecting the laying position information of the underwater laying terminal;
and obtaining marker position information corresponding to the marking identity information according to the layout position information and the marking identity information.
5. The setting method of a submarine pipeline marker according to claim 4, further comprising, before said obtaining underwater laying terminal position information:
acquiring inertial navigation information of the underwater laying terminal;
and obtaining positioning information of the underwater laying terminal through the ship satellite positioning information, the ultra-short baseline positioning information and the inertial navigation information.
6. A submarine pipeline defect locating device, comprising:
the receiving module is used for receiving the defect mileage information, the road sign mileage information and the mark identity information corresponding to the road sign mileage information; the marked identity information is identity information sent to the in-pipeline detector by the submarine pipeline marker when the in-pipeline detector passes through the submarine pipeline marker; the road sign mileage information is corresponding mileage information determined by the in-pipeline detector according to the mark identity information;
the positioning module is used for determining corresponding marker position information according to the marker identity information;
and the determining module is used for obtaining the position information of the target defect according to the marker position information, the road sign mileage information and the defect mileage information.
7. A subsea pipeline defect locating apparatus, comprising:
the instruction input device is used for inputting an operation instruction;
a memory for storing a computer program;
a processor for implementing the steps of the subsea pipeline defect locating method of any of claims 1 to 5 when executing said computer program.
8. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a computer program which, when being executed by a processor, carries out the steps of the subsea pipeline defect localization method according to any one of claims 1 to 5.
9. A submarine pipeline defect positioning system is characterized by comprising a submarine pipeline marker, a pipeline inner detector and a processor;
the in-pipeline detector advances along the submarine pipeline to be detected in the submarine pipeline to be detected, detects the defect of the submarine pipeline and obtains defect mileage information;
the submarine pipeline marker comprises a sensor assembly and an underwater communication assembly;
the sensor assembly is used for determining that the position corresponding to the submarine pipeline marker is passed by the pipeline detector;
the underwater communication component is used for sending mark identity information to the in-pipeline detector when the in-pipeline detector passes through, so that the in-pipeline detector determines corresponding road sign mileage information according to the mark identity information;
the processor is used for determining corresponding marker position information according to the marker identity information and obtaining position information of the target defect according to the marker position information, the road sign mileage information and the defect mileage information.
10. The subsea pipeline marking system according to claim 9, wherein said subsea pipeline marker comprises a subsea fixed end, a surface float, and a signal cable, said subsea fixed end being connected to said surface float via the signal cable;
the seabed fixed end comprises the sensor assembly and the underwater communication assembly;
the water surface floating ball comprises a satellite communication component;
the satellite communication component is used for communicating with a superior server through a satellite network.
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