CN111895277A - A method, device, equipment and system for locating defects in submarine pipelines - Google Patents

Abstract

The invention discloses a method for locating defects of a submarine pipeline, by receiving defect mileage information, road sign mileage information and marking identity information corresponding to the road marking mileage information; wherein, the marking identity information is the marking of an in-pipe detector passing through a submarine pipeline. The identity information sent by the submarine pipeline marker to the in-pipe detector when the device is detected; the road sign mileage information is the corresponding mileage information determined by the in-pipe detector according to the marked identity information; according to the marked identity information The corresponding marker location information is determined from the information; the location information of the target defect is obtained according to the marker location information, the road sign mileage information and the defect mileage information. The present invention further corrects the defect mileage information, thereby improving the positioning accuracy of the defects of the submarine pipeline. The present invention also provides a subsea pipeline defect location device, equipment, computer-readable storage medium and system with the above beneficial effects.

Description

A method, device, equipment and system for locating defects in submarine pipelines

technical field

The present invention relates to the field of maintenance of submarine pipelines, in particular to a method, device, equipment, computer-readable storage medium and system for locating defects of submarine pipelines.

Background technique

With the development of science and technology, there is a higher and higher demand for material transportation. Among various fixed point-to-point material transmission methods, pipeline transportation is widely used due to its high efficiency and large volume. Taking submarine pipelines as an example, submarine pipelines It is a pipeline that continuously transports a large amount of oil (gas) on the seabed through a closed pipeline. It is the main component of the development and production system of offshore oil (gas) fields, and it is also the fastest, safest and most economical and reliable way of offshore oil and gas transportation.

However, because the pipeline is exposed to the external environment for a long time, its structure is prone to defects. If it is not found in time, it is easy to gradually expand from small defects, and finally damage the pipeline structure, causing the pipeline to rupture, greatly increasing the maintenance cost of the pipeline, and the defects in the pipeline. The location of the defect has always been a technical difficulty in this field. In the prior art, the location of the defect completely depends on the number of mileage records of the detectors that are probed while advancing in the pipeline. It is difficult to accurately record the real pipeline position and trajectory due to the constraints of other factors, and after years of operation, the pipeline is prone to position changes and movements. At the same time, considering the passability requirements of the detector in the pipeline, it is impossible to carry too many accurate self-positioning sensors. Based on the mileage record of the detector alone, there will inevitably be errors, which will cause the recorded position of the defect to be inconsistent with the actual position. The position of the incision when opening the pipeline for maintenance is wrong, which wastes the manpower and material resources of cutting the pipeline, the cost is high, and the maintenance efficiency is low.

Therefore, how to improve the positioning accuracy of the defects of the submarine pipeline and improve the maintenance efficiency is an urgent problem to be solved by those skilled in the art.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a method, device, equipment, computer-readable storage medium and system for locating defects of submarine pipelines, so as to solve the problems of low positioning accuracy and poor maintenance efficiency of defects in the prior art.

In order to solve the above-mentioned technical problems, the present invention provides a method for locating defects in a submarine pipeline, comprising:

Receiving defect mileage information, road sign mileage information, and marking identity information corresponding to the road marking mileage information; wherein, the marking identity information is that when the in-pipe detector passes the submarine pipeline marker, the submarine pipeline marker goes into the pipeline. The identity information sent by the detector; the road sign mileage information is the corresponding mileage information determined by the in-pipe detector according to the marked identity information;

Determine corresponding marker location information according to the marker identity information;

According to the marker location information, the road sign mileage information and the defect mileage information, the location information of the target defect is obtained.

Optionally, in the method for locating defects in submarine pipelines, the obtaining of the location information of the target defect according to the marker location information, the road sign mileage information and the defect mileage information includes:

According to the road sign mileage information and the marker position information, determine the mileage information deviation value;

Obtaining corrected defective mileage information according to the deviation value of the mileage information and the defective mileage information;

According to the marker position information and the corrected defect mileage information, the position information of the target defect is obtained.

Optionally, in the method for locating defects in submarine pipelines, after determining the position information of the marker, the method further includes:

According to the position information of the marker and the mileage information of the road marker, the pipeline trajectory information corresponding to the in-pipe detector is obtained.

Optionally, in the method for locating defects in the submarine pipeline, the method for obtaining the correspondence between the marker identity information and the marker location information includes:

Receive marker identity information, ship satellite positioning information of the mother ship, and ultra-short baseline positioning information of the underwater deployment terminal, wherein the ultra-short baseline positioning information is that the underwater deployment terminal communicates with the mother ship through the underwater deployment terminal The positioning information obtained by the composed ultra-short baseline positioning system;

Obtain the position information of the underwater deployment terminal through the ship satellite positioning information and the ultra-short baseline positioning information;

According to the location information of the underwater deployment terminal, underwater navigation information is sent to the underwater deployment terminal, so that the underwater deployment terminal reaches a preset installation location, and the submarine pipeline marker is installed on a preset target. Arrangement point, and collect the arrangement location information of the underwater arrangement terminal;

According to the layout location information and the marker identity information, the marker location information corresponding to the marker identity information is obtained.

Optionally, in the method for locating defects in submarine pipelines, before obtaining the location information of the underwater deployment terminal, the method further includes:

acquiring inertial navigation information of the underwater deployment terminal;

Through the ship satellite positioning information, the ultra-short baseline positioning information and the inertial navigation information, the underwater deployment terminal positioning information is obtained.

A subsea pipeline defect location device, comprising:

A receiving module for receiving defect mileage information, road sign mileage information and marking identity information corresponding to the road marking mileage information; wherein the marking identity information is the submarine pipeline marker when the in-pipe detector passes through the submarine pipeline marker The identity information sent to the in-pipe detector; the road sign mileage information is the corresponding mileage information determined by the in-pipe detector according to the marked identity information;

a positioning module, configured to determine the corresponding marker location information according to the marker identity information;

A determination module, configured to obtain the location information of the target defect according to the marker location information, the road sign mileage information and the defect mileage information.

A submarine pipeline defect location equipment, comprising:

Instruction input device for inputting operation instructions;

memory for storing computer programs;

The processor is configured to implement the steps of any one of the above-mentioned methods for locating defects in a submarine pipeline when executing the computer program.

A computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, implements the steps of any one of the above-mentioned methods for locating defects in a submarine pipeline.

A submarine pipeline defect location system, comprising a submarine pipeline marker, an in-pipe detector and a processor;

The in-pipe detector travels along the undersea pipeline to be detected inside the undersea pipeline to be detected, and detects defects of the undersea pipeline to obtain defect mileage information;

The subsea pipeline marker includes a sensor assembly and an underwater communication assembly;

The sensor assembly is used to determine whether the detector in the pipeline passes through the position corresponding to the submarine pipeline marker;

The underwater communication component is configured to send marked identity information to the in-pipe detector when the in-pipe detector passes, so that the in-pipe detector can determine corresponding road sign mileage information according to the marked identity information ;

The processor is configured to determine corresponding marker location information according to the marker identity information, and obtain location information of the target defect according to the marker location 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 fixed end, a water surface float and a signal cable, and the submarine fixed end is connected to the water surface float through a signal cable;

The seabed fixed end includes the sensor assembly and the underwater communication assembly;

The water surface float includes a satellite communication component;

The satellite communication component is used to communicate with the upper-level server through the satellite network.

The method for locating defects of a submarine pipeline provided by the present invention receives defect mileage information, road sign mileage information, and marked identity information corresponding to the road sign mileage information; wherein, the marked identity information is that the in-pipe detector passes through the submarine pipeline marker. the identity information sent by the submarine pipeline marker to the in-pipe detector; the road marking mileage information is the corresponding mileage information determined by the in-pipe detector according to the marked identity information; according to the marked identity information Determine the corresponding marker location information; obtain the location information of the target defect according to the marker location information, the road sign mileage information and the defect mileage information. In the present invention, the marking identity information of the submarine pipeline marker installed at the preset position of the submarine pipeline is collected, and the road marking mileage information is determined by the marking identity information, so as to obtain the said pipeline with a clear passing position of the detector. The mileage information of the submarine pipeline marker is equivalent to determining the error between the mileage information recorded by the detector in the pipeline and the actual mileage, and the defect mileage information can be further corrected to obtain more accurate target defect location information, greatly The positioning accuracy of the defects of the submarine pipeline is improved, the cost of subsequent pipeline maintenance is saved, and the maintenance efficiency is improved. The present invention also provides a subsea pipeline defect location device, equipment, computer-readable storage medium and system with the above beneficial effects.

Description of drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the following will briefly introduce the accompanying drawings used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only For some embodiments of the present invention, for those of ordinary skill in the art, other drawings can also be obtained according to these drawings without creative efforts.

1 is a schematic flowchart of a specific embodiment of a method for locating defects in a submarine pipeline provided by the present invention;

2 is a schematic flowchart of another specific embodiment of a method for locating defects in a submarine pipeline provided by the present invention;

3 is a schematic structural diagram of a specific embodiment of a device for locating defects in a submarine pipeline provided by the present invention;

4 is a schematic flowchart of a specific embodiment of a method for obtaining a corresponding relationship between marker identity information and marker location information provided by the present invention;

5 is a schematic flowchart of another specific embodiment of the method for obtaining the corresponding relationship between marker identity information and marker location information provided by the present invention;

6 is a schematic structural diagram of a specific embodiment of an apparatus for obtaining the corresponding relationship between marker identity information and marker location information provided by the present invention;

Fig. 7 is a partial structural schematic diagram of a specific embodiment of the submarine pipeline defect location system provided by the present invention;

8 is a schematic structural diagram of a submarine pipeline marker according to another specific embodiment of the submarine pipeline defect location system provided by the present invention;

FIG. 9 is a schematic diagram of the connection between the submarine pipeline marker and the upper-level server in another specific embodiment of the submarine pipeline defect location system provided by the present invention.

Detailed ways

In order to make those skilled in the art better understand the solution of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. Obviously, the described embodiments are only some, but not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

The core of the present invention is to provide a method for locating defects in a submarine pipeline, and a schematic flowchart of a specific implementation of the method is shown in FIG.

S101: Receive defect mileage information, road sign mileage information, and marked identity information corresponding to the road sign mileage information; wherein the marked identity information is that when the in-pipe detector passes through the submarine pipeline marker, the submarine pipeline marker sends to the The identity information sent by the in-pipe detector; the road sign mileage information is the corresponding mileage information determined by the in-pipe detector according to the marked identity information.

S102: Determine corresponding marker location information according to the marker identity information.

S103: Obtain location information of a target defect according to the marker location information, the road sign mileage information, and the defect mileage information.

As a preferred embodiment, after determining the position information of the marker, the method further includes:

According to the position information of the marker and the mileage information of the road marker, the pipeline trajectory information corresponding to the in-pipe detector is obtained.

The obtained pipeline trajectory information can be used to verify whether the in-pipe detector proceeds according to a predetermined route, and can also detect whether the pipeline is unobstructed.

The method for locating defects of a submarine pipeline provided by the present invention receives defect mileage information, road sign mileage information, and marked identity information corresponding to the road sign mileage information; wherein, the marked identity information is that the in-pipe detector passes through the submarine pipeline marker. the identity information sent by the submarine pipeline marker to the in-pipe detector; the road marking mileage information is the corresponding mileage information determined by the in-pipe detector according to the marked identity information; according to the marked identity information Determine the corresponding marker location information; obtain the location information of the target defect according to the marker location information, the road sign mileage information and the defect mileage information. In the present invention, the marking identity information of the submarine pipeline marker installed at the preset position of the submarine pipeline is collected, and the road marking mileage information is determined by the marking identity information, so as to obtain the said pipeline with a clear passing position of the detector. The mileage information of the submarine pipeline marker is equivalent to determining the error between the mileage information recorded by the detector in the pipeline and the actual mileage, and the defect mileage information can be further corrected to obtain more accurate target defect location information, greatly The positioning accuracy of the defects of the submarine pipeline is improved, the cost of subsequent pipeline maintenance is saved, and the maintenance efficiency is improved.

On the basis of the specific embodiment 1, the method for obtaining the position information of the target defect is further limited, and the specific embodiment 2 is obtained. The schematic flowchart is shown in Figure 2, including:

S201: Receive defect mileage information, road sign mileage information, and marked identity information corresponding to the road sign mileage information; wherein the marked identity information is that when the in-pipe detector passes through the submarine pipeline marker, the submarine pipeline marker sends to the The identity information sent by the in-pipe detector; the road sign mileage information is the corresponding mileage information determined by the in-pipe detector according to the marked identity information.

S202: Determine corresponding marker location information according to the marker identity information.

S203: Determine the deviation value of the mileage information according to the mileage information of the road sign and the position information of the marker.

S204: Obtain corrected defective mileage information according to the deviation value of the mileage information and the defective mileage information.

S205: Obtain location information of the target defect according to the marker location information and the corrected defect mileage information.

The difference between this specific implementation and the above specific implementation is that the method for determining the location information of the target defect is specifically limited in this specific implementation, and the remaining steps are the same as the above specific implementation, and will not be repeated here. .

In this specific embodiment, a method for determining the position information of the target defect is specifically defined, and the error value of the detector in the pipeline is directly obtained through the mileage information of the road sign and the position information of the marker. For example, If we first obtain the location information of the marker, and the in-pipe detector has traveled to this time, its internal recorded mileage, that is, the road sign mileage should be 100 meters, but the actual internally recorded road sign mileage information is 110 meters, then we It can be inferred that the internally recorded defect mileage information (set to 99 meters) is inaccurate and should be 90 meters, so that more accurate position information of the target defect can be obtained with a simpler calculation process.

The following describes the apparatus for locating defects of submarine pipelines provided by the embodiments of the present invention. The apparatus for locating defects of submarine pipelines described below and the method for locating defects of submarine pipelines described above can be referred to each other correspondingly.

3 is a structural block diagram of a device for locating defects in a submarine pipeline provided by an embodiment of the present invention. Referring to FIG. 3 , the device for locating defects in a submarine pipeline may include:

The receiving module 110 is configured to receive defect mileage information, road sign mileage information and marking identity information corresponding to the road marking mileage information; wherein the marking identity information is the marking of the submarine pipeline when the in-pipe detector passes through the submarine pipeline marker The identity information sent by the detector to the in-pipe detector; the road sign mileage information is the corresponding mileage information determined by the in-pipe detector according to the marked identity information;

a positioning module 120, configured to determine corresponding marker location information according to the marker identity information;

The determining module 130 is configured to obtain the location information of the target defect according to the marker location information, the road sign mileage information and the defect mileage information.

As a preferred embodiment, the determining module 130 includes:

a deviation unit, configured to determine the deviation value of the mileage information according to the mileage information of the road sign and the position information of the marker;

a correction unit, configured to obtain corrected defective mileage information according to the deviation value of the mileage information and the defective mileage information;

The positioning unit is configured to obtain the position information of the target defect according to the position information of the marker and the information of the corrected defect mileage.

As a preferred embodiment, the positioning module 120 further includes:

A trajectory unit, configured to obtain pipeline trajectory information corresponding to the in-pipe detector according to the marker position information and the road sign mileage information

The apparatus for locating defects in submarine pipelines in this embodiment is used to implement the aforementioned method for locating defects in submarine pipelines. Therefore, the specific implementation of the apparatus for locating defects in submarine pipelines can be found in the embodiment section of the method for locating defects in submarine pipelines above, 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 in the above-mentioned method for locating defects in submarine pipelines. Therefore, the specific implementation methods can refer to the descriptions of the corresponding respective partial embodiments, which will not be repeated here. .

The subsea pipeline defect location device provided by the present invention, through the receiving module 110, is used to receive defect mileage information, road sign mileage information and marked identity information corresponding to the road sign mileage information; wherein, the marked identity information is the detection in the pipeline. The identity information sent by the submarine pipeline marker to the in-pipe detector when the detector passes the submarine pipeline marker; the road sign mileage information is the corresponding mileage information determined by the in-pipe detector according to the marked identity information; The positioning module 120 is used to determine the corresponding marker location information according to the marker identity information; the determining module 130 is used to obtain the target defect's location information according to the marker location information, the road sign mileage information and the defect mileage information. location information. In the present invention, the marking identity information of the submarine pipeline marker installed at the preset position of the submarine pipeline is collected, and the road marking mileage information is determined by the marking identity information, so as to obtain the said pipeline with a clear passing position of the detector. The mileage information of the submarine pipeline marker is equivalent to determining the error between the mileage information recorded by the detector in the pipeline and the actual mileage, and the defect mileage information can be further corrected to obtain more accurate target defect location information, greatly The positioning accuracy of the defects of the submarine pipeline is improved, the cost of subsequent pipeline maintenance is saved, and the maintenance efficiency is improved.

The present invention also provides a subsea pipeline defect locating device with the above beneficial effects, including:

Instruction input device for inputting operation instructions;

memory for storing computer programs;

The processor is configured to implement the steps of any one of the above-mentioned methods for locating defects in a submarine pipeline when executing the computer program. The method for locating defects of a submarine pipeline provided by the present invention receives defect mileage information, road sign mileage information, and marked identity information corresponding to the road sign mileage information; wherein, the marked identity information is that the in-pipe detector passes through the submarine pipeline marker. the identity information sent by the submarine pipeline marker to the in-pipe detector; the road marking mileage information is the corresponding mileage information determined by the in-pipe detector according to the marked identity information; according to the marked identity information Determine the corresponding marker location information; obtain the location information of the target defect according to the marker location information, the road sign mileage information and the defect mileage information. In the present invention, the marking identity information of the submarine pipeline marker installed at the preset position of the submarine pipeline is collected, and the road marking mileage information is determined by the marking identity information, so as to obtain the said pipeline with a clear passing position of the detector. The mileage information of the submarine pipeline marker is equivalent to determining the error between the mileage information recorded by the detector in the pipeline and the actual mileage, and the defect mileage information can be further corrected to obtain more accurate target defect location information, greatly The positioning accuracy of the defects of the submarine pipeline is improved, the cost of subsequent pipeline maintenance is saved, and the maintenance efficiency is improved.

The present invention also provides a method for obtaining the corresponding relationship between marker identity information and marker location information. A schematic flowchart of a specific implementation of the method is shown in FIG. 4 , which is referred to as specific implementation 3, including:

S301: Receive marker identity information, ship satellite positioning information of the mother ship, and ultra-short baseline positioning information of an underwater deployment terminal, wherein the ultra-short baseline positioning information is that the underwater deployment terminal communicates with the underwater deployment terminal through the underwater deployment terminal. The positioning information obtained by the ultra-short baseline positioning system composed of the mother ship.

The satellite positioning information may be GPS positioning information or Beidou positioning information or information of other satellite positioning systems.

S302: Obtain position information of an underwater deployment terminal by using the ship satellite positioning information and the ultra-short baseline positioning information.

The underwater deployment terminal may be an underwater robot or a diver wearing deployment equipment.

S303: According to the location information of the underwater deployment terminal, send underwater navigation information to the underwater deployment terminal, so that the underwater deployment terminal can reach a preset installation location, and install the submarine pipeline marker on a preset installation location. The target deployment point is collected, and the deployment location information of the underwater deployment terminal is collected.

S304: Obtain marker location information corresponding to the marker identity information according to the layout location information and the marker identity information.

The method for obtaining the corresponding relationship between the marker identity information and the marker position information provided by the present invention is to receive the marker identity information, the satellite positioning information of the mother ship and the ultra-short baseline positioning information of the underwater terminal, wherein the ultra-short The baseline positioning information is the positioning information obtained by the underwater deployment terminal through the ultra-short baseline positioning system composed of the underwater deployment terminal and the mother ship; through the satellite positioning information of the ship and the ultra-short baseline positioning information, it is obtained Underwater deployment terminal position information; according to the underwater deployment terminal position information, send underwater navigation information to the underwater deployment terminal, so that the underwater deployment terminal reaches the preset installation location, and the submarine pipeline is marked The marker is installed at a preset target deployment point, and the deployment location information of the underwater deployment terminal is collected; according to the deployment location information and the marker identity information, the marker location information corresponding to the marker identity information is obtained. In the present invention, the position of the mother ship is determined by using the precise satellite positioning of the mother ship, and then the precise position information of the underwater position terminal is obtained by accurately measuring the positional relationship between the mother ship and the underwater deployment terminal, and then the submarine pipeline marker can be known. The precise installation position of the subsea pipeline marker greatly improves the positioning accuracy of the submarine pipeline marker, and can also more accurately locate the defect position measured by the detector in the pipeline.

On the basis of the third embodiment, the method for determining the positioning information of the underwater deployment terminal is further improved, and the fourth embodiment is obtained. The schematic flowchart is shown in FIG. 5 , including:

S401: Receive marker identity information, ship satellite positioning information of the mother ship, and ultra-short baseline positioning information of an underwater deployment terminal, wherein the ultra-short baseline positioning information is that the underwater deployment terminal communicates with the underwater deployment terminal through the underwater deployment terminal. The positioning information obtained by the ultra-short baseline positioning system composed of the mother ship.

S402: Acquire inertial navigation information of the underwater deployment terminal.

It should be noted that this step is not strictly related to S401, and the information acquisition sequence can be adjusted freely.

S403: Obtain the underwater deployment terminal positioning information through the ship satellite positioning information, the ultra-short baseline positioning information, and the inertial navigation information.

S404: Send underwater navigation information to the underwater deployment terminal according to the location information of the underwater deployment terminal, so that the underwater deployment terminal can reach a preset installation location, and install the submarine pipeline marker on a preset installation location. The target deployment point is collected, and the deployment location information of the underwater deployment terminal is collected.

S405: Obtain marker location information corresponding to the marker identity information according to the layout location information and the marker identity information.

The difference between this specific implementation manner and the above specific implementation manner is that the inertial navigation information is introduced in this specific implementation manner, and the remaining steps are the same as the above specific implementation manner, which will not be repeated here.

In this specific embodiment, the inertial navigation information is obtained, which further improves the positioning accuracy of the underwater deployment terminal, and accordingly, the accuracy of the marker position information of the submarine pipeline marker is also improved, Finally, the positioning accuracy of defects in the pipeline is improved.

The device for obtaining the correspondence between the marker identity information and the marker location information provided by the embodiments of the present invention will be introduced below. The device for obtaining the correspondence between the marker identity information and the marker location information described below is the same as the marker identity information and The method for obtaining the corresponding relationship of the marker position information may refer to each other correspondingly.

6 is a structural block diagram of a device for obtaining the corresponding relationship between marker identity information and marker location information provided by an embodiment of the present invention, and referring to FIG. 6 , the device for obtaining the corresponding relationship between marker identity information and marker location information may include:

The positioning information receiving module 210 is used to receive the marking identity information, the ship satellite positioning information of the mother ship and the ultra-short baseline positioning information of the underwater deployment terminal, wherein the ultra-short baseline positioning information is the underwater deployment terminal through the The positioning information obtained by the ultra-short baseline positioning system composed of the underwater deployment terminal and the mother ship;

The underwater positioning module 220 is used to obtain the position information of the underwater deployment terminal through the satellite positioning information of the ship and the ultra-short baseline positioning information;

The navigation module 230 is configured to send underwater navigation information to the underwater deployment terminal according to the location information of the underwater deployment terminal, so that the underwater deployment terminal can reach a preset installation location, and the submarine pipeline marker Installed at a preset target deployment point, and collects the deployment location information of the underwater deployment terminal;

The marker determination module 240 is configured to obtain marker location information corresponding to the marker identity information according to the layout location information and the marker identity information.

As a preferred embodiment, the positioning information receiving module 210 further includes:

an inertial unit for acquiring inertial navigation information of the underwater deployment terminal;

The inertial integrated positioning unit is configured to obtain the positioning information of the underwater deployment terminal through the satellite positioning information of the ship, the ultra-short baseline positioning information and the inertial navigation information.

The apparatus for obtaining the corresponding relationship between the marker identity information and the marker location information in this embodiment is used to realize the aforementioned method for obtaining the corresponding relationship between the marker identity information and the marker location information. Therefore, the corresponding relationship between the marker identity information and the marker location information is The specific implementation in the obtaining device can be seen in the embodiment part of the method for obtaining the corresponding relationship between the marker identity information and the marker position information in the foregoing, for example, the positioning information receiving module 210, the underwater positioning module 220, the navigation module 230, the marker The determination module 240 is respectively used to realize the steps S301, S302, S303 and S304 in the method for obtaining the corresponding relationship between the marker identity information and the marker position information. Therefore, its specific implementation can refer to the descriptions of the corresponding partial embodiments, It is not repeated here.

The device for obtaining the corresponding relationship between the marker identity information and the marker position information provided by the present invention is used for receiving the marker identity information, the ship satellite positioning information of the mother ship and the ultra-short baseline positioning of the underwater deployment terminal through the positioning information receiving module 210. information, wherein the ultra-short baseline positioning information is the positioning information obtained by the underwater deployment terminal through the ultra-short baseline positioning system composed of the underwater deployment terminal and the mother ship; the underwater positioning module 220 is used for The ship's satellite positioning information and the ultra-short baseline positioning information are used to obtain underwater deployment terminal position information; the navigation module 230 is configured to send underwater navigation to the underwater deployment terminal according to the underwater deployment terminal position information information, make the underwater deployment terminal reach the preset installation location, install the submarine pipeline marker on the preset target deployment point, and collect the deployment location information of the underwater deployment terminal; the marking determination module 240, It is configured to obtain marker location information corresponding to the marker identity information according to the layout location information and the marker identity information. In the present invention, the position of the mother ship is determined by using the precise satellite positioning of the mother ship, and then the precise position information of the underwater position terminal is obtained by accurately measuring the positional relationship between the mother ship and the underwater deployment terminal, and then the submarine pipeline marker can be known. The precise installation position of the subsea pipeline marker greatly improves the positioning accuracy of the submarine pipeline marker, and can also more accurately locate the defect position measured by the detector in the pipeline.

The present invention also provides a device for obtaining the corresponding relationship between the marker identity information and the marker location information with the above beneficial effects, including:

Instruction input device for inputting operation instructions;

memory for storing computer programs;

The processor is configured to implement the steps of the method for obtaining the corresponding relationship between the marker identity information and the marker location information according to any one of the above-mentioned methods when executing the computer program. The method for obtaining the corresponding relationship between the marker identity information and the marker position information provided by the present invention is to receive the marker identity information, the satellite positioning information of the mother ship and the ultra-short baseline positioning information of the underwater terminal, wherein the ultra-short The baseline positioning information is the positioning information obtained by the underwater deployment terminal through the ultra-short baseline positioning system composed of the underwater deployment terminal and the mother ship; through the satellite positioning information of the ship and the ultra-short baseline positioning information, it is obtained Underwater deployment terminal position information; according to the underwater deployment terminal position information, send underwater navigation information to the underwater deployment terminal, so that the underwater deployment terminal reaches the preset installation location, and the submarine pipeline is marked The marker is installed at a preset target deployment point, and the deployment location information of the underwater deployment terminal is collected; according to the deployment location information and the marker identity information, the marker location information corresponding to the marker identity information is obtained. In the present invention, the position of the mother ship is determined by using the precise satellite positioning of the mother ship, and then the precise position information of the underwater position terminal is obtained by accurately measuring the positional relationship between the mother ship and the underwater deployment terminal, and then the submarine pipeline marker can be known. The precise installation position of the subsea pipeline marker greatly improves the positioning accuracy of the submarine pipeline marker, and can also more accurately locate the defect position measured by the detector in the pipeline.

The present application also provides a system for locating defects in a submarine pipeline. As shown in FIG. 7 , a partial schematic diagram of a specific implementation of the system includes a submarine pipeline marker B, an in-pipe detector A, and a processor;

The in-pipe detector A travels along the undersea pipeline to be detected inside the undersea pipeline to be detected, and detects defects of the undersea pipeline to obtain defect mileage information;

The submarine pipeline marker B includes a sensor assembly and an underwater communication assembly;

The sensor assembly is used to determine whether the in-pipe detector A passes through the position corresponding to the submarine pipeline marker B;

The underwater communication component is configured to send marker identity information to the in-pipe detector A when the in-pipe detector A passes through, so that the in-pipe detector A determines the corresponding road sign mileage information;

The processor is configured to determine corresponding marker location information according to the marker identity information, and obtain location information of the target defect according to the marker location information, the road sign mileage information and the defect mileage information.

The method for locating defects of a submarine pipeline provided by the present invention receives defect mileage information, road sign mileage information and marked identity information corresponding to the road sign mileage information; wherein, the marked identity information is the marking of the in-pipe detector A through the submarine pipeline. The identity information sent by the submarine pipeline marker B to the in-pipe detector A when the subsea pipeline marker B is in the pipeline; the road marking mileage information is the corresponding mileage information determined by the in-pipe detector A according to the marked identity information; according to The marker identity information determines the corresponding marker location information; according to the marker location information, the road sign mileage information and the defect mileage information, the location information of the target defect is obtained. In the present invention, the marking identity information of the submarine pipeline marker B installed at the preset position of the submarine pipeline is collected, and the road marking mileage information is determined by the marking identity information, so as to obtain a clear location of the in-pipe detector A passing through. The mileage information of the submarine pipeline marker B is equivalent to determining the error between the mileage information recorded by the in-pipe detector A and the actual mileage, and the defect mileage information can be further corrected to obtain a more accurate target defect. The location information greatly improves the positioning accuracy of the defects of the submarine pipeline, saves the cost of subsequent pipeline maintenance, and improves the maintenance efficiency.

As a preferred embodiment, the schematic diagram of the structure of the submarine pipeline marker B is shown in FIG. 8 , and the schematic diagram of the connection relationship between the submarine pipeline marker B and the upper-level server is shown in FIG. 9 , including the fixed subsea end, the surface float 10 and the signal cable. 20, the submarine fixed end is connected with the water surface float 10 through a signal cable 20;

The seabed fixed end includes the sensor assembly 32 and the underwater communication assembly 31;

The water surface float 10 includes a satellite communication assembly 11;

The satellite communication component 11 is used to communicate with the upper-level server through the satellite network.

It should be noted that, in this solution, the submarine pipeline marker B can be connected to the satellite network through the satellite communication component 11, which means that the submarine pipeline marker B can update its own location information through WeChat positioning, It avoids the problem that the position of the submarine pipeline changes with the activity of the submarine crust or the impact of ocean currents, and further improves the accuracy of defect location.

It should be noted that the onshore equipment in FIG. 9 is the upper-level server.

Table 1 is the parameter requirements of a specific embodiment of the submarine pipeline marker:

Table 1 Device System Requirements

project index sensor type Vibrating wire sensor sampling interval 10 seconds Single sampling time 3 seconds Continuous working time 100 hours working water depth <100m

Referring to Figure 9, the output of the vibrating wire sensor is analog-conditioned and then driven to the electronic equipment in the water surface float for analog-to-digital conversion, and then sent to the shore equipment through the satellite communication module and displayed after processing. When the satellite communication link is interrupted unexpectedly, the collected data can be stored in the floating ball first, and the data can be uploaded after the link is restored.

The structural signal acquisition of the water surface float adopts 4-core cable, 1-core pair of differential signal lines, and the external float has its own solar power supply. Broken by bad weather or vandalism. Design the center of gravity of the floating ball so that the communication antenna is always upward, and should have sufficient strength to prevent damage, theft, etc.

The monitoring system is located in a shallow sea area, where human activities are intensive, and the survivability of the system should be considered. Measures that can be considered include enhancing the strength of structural parts to resist damage caused by severe weather; setting up a warning area, and manually patrolling or guarding to avoid man-made damage; whether there are any nearby For surface facilities such as beacon lights, consider using them as carriers to improve safety.

The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments, and the same or similar parts of the various embodiments may be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant part can be referred to the description of the method.

It should be noted that in this specification, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply these entities or operations There is no such actual relationship or order between them. Moreover, the terms "comprising", "comprising" or any other variation thereof are intended to encompass a non-exclusive inclusion such that a process, method, article or device that includes a list of elements includes not only those elements, but also includes not explicitly listed or other elements inherent to such a process, method, article or apparatus. Without further limitation, an element qualified by the phrase "comprising a..." does not preclude the presence of additional identical elements in a process, method, article or apparatus that includes the element.

Professionals may further realize that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two, in order to clearly illustrate the possibilities of hardware and software. Interchangeability, the above description has generally described the components and steps of each example in terms of function. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Skilled artisans may implement the described functionality using different methods for each particular application, but such implementations should not be considered beyond the scope of the present invention.

The steps of a method or algorithm described in conjunction with the embodiments disclosed herein may be directly implemented in hardware, a software module executed by a processor, or a combination of the two. The software module can be placed in random access memory (RAM), internal memory, read only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other in the technical field. in any other known form of storage medium.

The method, device, device, computer-readable storage medium, and system for locating a submarine pipeline defect provided by the present invention have been described in detail above. The principles and implementations of the present invention are described herein by using specific examples, and the descriptions of the above embodiments are only used to help understand the method and the core idea of the present invention. It should be pointed out that for those skilled in the art, without departing from the principle of the present invention, several improvements and modifications can also be made to the present invention, and these improvements and modifications also fall within the protection 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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