CN117146209A - Micro-leakage internal detection system, method and device for oil and gas water pipeline - Google Patents
Micro-leakage internal detection system, method and device for oil and gas water pipeline Download PDFInfo
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- G—PHYSICS
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
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- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F17—STORING OR DISTRIBUTING GASES OR LIQUIDS
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
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- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
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Abstract
The specification relates to the field of oil and gas field exploration and long-distance pipeline, in particular to a micro-leakage internal detection system, method and device for an oil and gas pipeline. The device comprises an acquisition unit and a processing unit: the acquisition unit comprises a mileage wheel contacted with the inside of the pipeline and is used for determining mileage data of the acoustic sensor in the pipeline; the acoustic sensors are arranged around the circumference of the cylinder in the center of the detection system at equal angles and are used for collecting micro leakage signals in the pipeline; the pose sensor is fixedly connected with the acoustic sensor and is used for acquiring pose information of the acoustic sensor when the acoustic sensor runs in the pipeline; the processing unit is used for acquiring mileage data, pose information of the acoustic sensor and micro leakage signals; according to the micro leakage signal and the pose information of the acoustic sensor, determining the angle of the leakage sound source in the circumferential direction; and determining the position of the leakage sound source in the axial direction according to the mileage data. The method comprises the steps of configuring an acoustic sensor and combining a pose sensor, and obtaining amplitude values and characteristic information of different acoustic signals to realize pipeline leakage positioning.
Description
Technical Field
The specification relates to the field of oil and gas field exploration and long-distance pipeline, in particular to a micro-leakage internal detection system, method and device for an oil and gas pipeline.
Background
The pipeline transportation is a main mode of oil and gas transportation by virtue of the advantages of high efficiency, safety, reliability, high cost performance and the like. The oil gas transmission medium has inflammable and explosive characteristics, once the pipeline leaks, the pipeline not only pollutes the environment to cause economic loss, but also can cause major accidents such as fire, explosion and the like to cause casualties. Small leaks in pipes refer to tiny leaks or leaks in the pipe system, which often occur in the petroleum, chemical industries, etc., and may have serious impact on the environment and human health. And the tiny leakage of the pipeline can not be easily found due to dangerous factors such as pipeline corrosion and the like, and the serious consequences are caused if the leakage is developed into large leakage.
Disclosure of Invention
In order to solve the problems in the prior art, the embodiments of the present disclosure provide a system, a method and a device for detecting micro leakage of an oil and gas pipeline.
The embodiment of the specification discloses an oil and gas water pipeline micro-leakage internal detection system the system includes an acquisition unit and a processing unit: the acquisition unit comprises: the mileage wheel is in contact with the inside of the pipeline and is used for determining mileage data of the acoustic sensor in the pipeline; the acoustic sensors are arranged around the circumference of a cylinder in the center of the detection system at equal angles, the acoustic sensors are used for collecting micro leakage signals in a pipeline, and the distance between the acoustic sensors and the mileage wheel is within a preset distance range; the system comprises a plurality of pose sensors, wherein each pose sensor is fixedly connected with each acoustic sensor and is used for acquiring pose information of the acoustic sensor when the acoustic sensor runs in a pipeline; the processing unit is used for acquiring mileage data, pose information of the acoustic sensor and micro leakage signals in the pipeline; according to the micro-leakage signals and pose information of the acoustic sensor, determining the angle of the leakage sound source in the circumferential direction of the pipeline; and determining the position of the leakage sound source in the axial direction of the pipeline according to the mileage data.
According to one aspect of the embodiments of the present specification, the acoustic sensor is provided with a pressing cover made of an acoustically transparent material, and the pressing cover is used for protecting the acoustic sensor in a high-pressure environment; the micro-leakage internal detection system for the oil and gas water pipeline further comprises: the leather cup is connected to two ends of the cylinder, and the plurality of supporting wheels are arranged below the leather cup and used for supporting the detection system to move along the inner wall of the pipeline.
The embodiment of the specification discloses a detection method in oil and gas water pipeline micro-leakage, which is applied to an oil and gas water pipeline micro-leakage internal detection system and comprises the following steps: acquiring mileage data, pose information of an acoustic sensor and micro leakage signals in a pipeline; according to the micro-leakage signals and pose information of the acoustic sensor, determining the angle of the leakage sound source in the circumferential direction of the pipeline; determining the position of the leakage sound source in the axial direction of the pipeline according to the mileage data; and according to the angle in the circumferential direction and the position in the axial direction, the micro-leakage internal detection is realized.
According to one aspect of embodiments of the present description, determining an angle of a leaky sound source in a circumferential direction of a pipe includes: determining space vector coordinates of each acoustic sensor according to the pose information of the acoustic sensor; determining a time percentage of the leakage sound source to each acoustic sensor; determining the spatial relationship between the leakage sound source and each acoustic sensor according to the space vector coordinates of each acoustic sensor and the sound source position vector of the leakage sound source; and according to the spatial relationship, determining the angle of the leakage sound source in the circumferential direction of the pipeline.
According to one aspect of embodiments of the present description, the spatial relationship of the leakage sound source to each acoustic sensor is determined using the following formula:
wherein r is h Space vector coordinates for a leakage sound source; n is n i1 、n i2 、n i3 、n i4 Four acoustic sensors N, respectively i1 、N i2 、N i3 、N i4 Space vector coordinates, t i1 、t i2 、t i3 、t i4 To leak sound source to four acoustic sensors N i1 、N i2 、N i3 、N i4 Is a time percentage of (2); and c is the propagation speed of the sound wave in the medium, and the unit is m/s.
According to an aspect of embodiments of the present description, determining the angle of the leakage sound source in the circumferential direction of the pipe according to the spatial relationship comprises: and determining azimuth angles of the leakage sound sources according to the polar coordinates of the space vector coordinates of each acoustic sensor and the polar coordinates of the space vector coordinates of the leakage sound sources, wherein the azimuth angles are angles of the leakage sound sources in the circumferential direction of the pipeline.
According to one aspect of embodiments of the present description, the determining the axial position includes: determining the time for acquiring the micro leakage signal and the fluid velocity in the pipeline corresponding to the time; determining first mileage data between a leakage sound source and an acoustic sensor according to the time and the fluid velocity; determining whether the difference value between the first mileage data and the second mileage data recorded by the mileage wheel is within a preset error range; if yes, taking the average value of the first mileage data and the second mileage data as the positioning of the micro leakage in the axial direction of the pipeline.
The embodiment of the specification also discloses an oil and gas water pipeline micro-leakage internal detection device, which comprises: the acquisition unit is used for acquiring mileage data, pose information of the acoustic sensor and micro leakage signals in the pipeline; the angle determining unit is used for determining the angle of the leakage sound source in the circumferential direction of the pipeline according to the micro leakage signal and the pose information of the acoustic sensor; the position determining unit is used for determining the position of the leakage sound source in the axial direction of the pipeline according to the mileage data; and the inner detection unit is used for realizing micro-leakage inner detection according to the angle and the position in the axial direction.
The embodiment of the specification also provides computer equipment, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor realizes the method for detecting micro leakage of the oil and gas water pipeline when executing the computer program.
The embodiments of the present specification also provide a computer readable storage medium storing a computer program which, when executed by a processor, implements the method for detecting micro-leaks in hydrocarbon water pipelines.
According to the method, a multichannel acoustic sensor is configured according to the actual running condition of the pipeline, through picking up leakage sound signals, an auxiliary mileage wheel obtains the accurate position of leakage, and meanwhile, the positioning of the tiny leakage of the pipeline is realized by combining the pose sensor and the amplitude and characteristic information of different sound signals.
Drawings
In order to more clearly illustrate the embodiments of the present description or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present description, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a micro-leak internal detection system for an oil and gas water pipeline according to an embodiment of the present disclosure;
FIG. 2 is a flow chart of a method for detecting micro-leakage of an oil and gas water pipeline according to an embodiment of the present disclosure;
FIG. 3 is a flow chart of a method for determining the angle of a leakage sound source in the circumferential direction of a pipeline according to an embodiment of the present disclosure;
FIG. 4 is a flow chart of a method of determining the location of a micro-leak in an axial direction according to an embodiment of the present disclosure;
FIG. 5 is a schematic diagram showing a specific structure of an internal detection device for micro-leakage of an oil and gas water pipeline according to an embodiment of the present disclosure;
FIG. 6 is a schematic diagram showing a specific structure of the micro-leak internal detection device for the oil and gas water pipeline according to the embodiment;
FIG. 7 is a schematic diagram of an acoustic signal from a leaky sound source according to an embodiment of the invention;
FIG. 8 is a schematic view showing the arrangement of a plurality of acoustic sensors in space according to an embodiment of the present disclosure;
fig. 9 is a schematic structural diagram of a computer device according to an embodiment of the present disclosure.
Description of the drawings:
101. a mileage wheel;
102. an acoustic sensor;
103. a pose sensor;
104. a leather cup;
105. a support wheel;
106. a column;
107. a pressing cover;
108. a damping device;
109. a low frequency transmitter;
200. a processing unit;
501. an acquisition unit;
502. an angle determination unit;
5021. a space vector coordinate determining module;
5022. a time percentage determination module;
5023. a spatial relationship determination module;
503. a position determining unit;
504. an inner detection unit;
902. a computer device;
904. a processor;
906. a memory;
908. a driving mechanism;
910. an input/output module;
912. an input device;
914. an output device;
919. a presentation device;
918. a graphical user interface;
920. a network interface;
922. a communication link;
924. a communication bus.
Detailed Description
In order to make the technical solutions in the present specification better understood by those skilled in the art, the technical solutions in the embodiments of the present specification will be clearly and completely described below with reference to the drawings in the embodiments of the present specification, and it is obvious that the described embodiments are only some embodiments of the present specification, not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are intended to be within the scope of the present disclosure.
It should be noted that the terms "first," "second," and the like in the description and the claims of the specification and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the present description described herein may be capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, apparatus, article, or device that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed or inherent to such process, method, article, or device.
The present specification provides method operational steps as described in the examples or flowcharts, but may include more or fewer operational steps based on conventional or non-inventive labor. The order of steps recited in the embodiments is merely one way of performing the order of steps and does not represent a unique order of execution. When a system or apparatus product in practice is executed, it may be executed sequentially or in parallel according to the method shown in the embodiments or the drawings.
The method can be used in the fields of oil and gas field exploration and long-distance pipeline, and the application fields of the micro-leakage internal detection system, method and device for the oil and gas pipeline are not limited.
The embodiment of the specification designs a micro-leakage internal detection system and a micro-leakage acoustic internal detector for an oil and gas water pipeline. The micro-leakage acoustic inner detector is used in a pipeline, and the pipeline is in a liquid environment and has a certain pressure. The pipeline has complex environments such as bent pipes, tee joints and the like, and has the conditions such as the diameter change of straight pipes of some pipelines.
Fig. 1 is a schematic diagram of an embodiment of a micro-leak internal detection system for an oil and gas pipeline, which includes an acquisition unit and a processing unit 200.
In the embodiment of the specification, the acquisition unit is used for acquiring displacement of the system moving in the pipeline, and the acoustic sensor acquires an acoustic signal sent by a leakage sound source in the pipeline, so that the relative position relation between the leakage sound source and the acoustic sensor is further acquired.
The acquisition unit comprises a mileage wheel 101, a plurality of acoustic sensors 102 and a plurality of pose sensors 103. Wherein the mileage wheel 101 is in contact with the inside of the pipe for determining mileage data of the acoustic sensor in the pipe. The plurality of acoustic sensors 102 are circumferentially disposed at equally spaced angles about a post 106 at the center of the detection system. Specifically, a column 106 is disposed at the center of the micro-leak internal detection system, and a plurality of acoustic sensors 102 and a plurality of pose sensors 103 are disposed on the column. Wherein the plurality of acoustic sensors may also be referred to as multi-channel acoustic sensors.
Wherein a plurality of acoustic sensors 102 are equiangularly disposed along the column 106 for uniformly receiving acoustic signals from a leaking acoustic source within the pipe. For example, 3 acoustic sensors are evenly distributed equiangularly around the column 106, with an angular spacing of 120 ° between each acoustic sensor; for another example, 4 acoustic sensors are evenly distributed around the column 106 at equal angles, with an angular spacing of 90 ° between each acoustic sensor. According to the embodiment of the specification, the acoustic sensors are distributed along the cylinder in equal angles, so that acoustic signals sent by the micro-leakage sound source in the pipeline can be received in each direction in the micro-leakage internal detection system of the oil and gas water pipeline, and the problems that the acoustic sensors cannot or are not easy to receive the acoustic signals sent by the leakage sound source or the amplitude of the acoustic signals sent by the leakage sound source is smaller due to the fact that the number of the distributed acoustic sensors is small are avoided.
The acoustic sensor 102 is used for collecting micro leakage signals in the pipeline, and the distance between the acoustic sensor 102 and the mileage wheel 101 is within a preset distance range. In some embodiments of the present disclosure, the acoustic sensor 102 and the mileage wheel 101 may be disposed opposite to each other, and the distance between them is relatively short, within a certain distance range; in other embodiments of the present disclosure, the distance of the acoustic sensor 102 from the odometer wheel is fixed.
The acquisition unit further comprises a plurality of pose sensors 103, wherein each pose sensor 103 is fixedly connected with each acoustic sensor 102, and is used for acquiring pose information of the acoustic sensors when the acoustic sensors run in the pipeline. In the present embodiment, each acoustic sensor 102 is not rotatable, is stationary, and can be rotated within a certain angle. Regardless of the motion of the acoustic sensors, the pose sensor 103 coupled to each acoustic sensor 102 may collect pose information of the acoustic sensor 102 within the pipe space. Wherein the pose information represents coordinate information of the acoustic sensor in space.
The processing unit 200 is used for acquiring mileage data, pose information of the acoustic sensor and micro leakage signals in the pipeline; according to the micro-leakage signals and pose information of the acoustic sensor, determining the angle of the leakage sound source in the circumferential direction of the pipeline; and determining the position of the leakage sound source in the axial direction of the pipeline according to the mileage data.
In one embodiment of the present disclosure, the upper part of the acoustic sensor 102 is sleeved with a compression cover 107 made of an acoustically transparent material, and the compression cover 107 is used to protect the acoustic sensor 102 in a high pressure environment from being damaged by high pressure. The high pressure mentioned in the present specification means a pressure of 10Mpa or more. At the same time, the compression cover can ensure that the acoustic signal of the leakage sound source is not attenuated or is extremely attenuated in the propagation process and is received by the acoustic sensor. Thus, the acoustic sensor 102 accurately discriminates the leakage noise signals of different apertures.
The micro-leakage internal detection system for the oil and gas water pipeline further comprises: the detection system comprises a leather cup 104 connected to two ends of the cylinder and a plurality of supporting wheels 105 arranged below the leather cup 104, wherein the supporting wheels 105 are used for supporting the detection system to move along the inner wall of the pipeline. In the embodiment of the specification, the micro-leakage acoustic inner detector is mainly used for detecting and identifying micro-leakage or pinhole leakage in an oil gas pipeline and positioning leakage points, and positioning and identifying the leakage points in the circumferential direction of the pipeline can be realized through the multi-channel acoustic sensor. In addition, the micro-leakage internal detection system of the oil and gas water pipeline further comprises a damping device 108 arranged at one end of the cylinder 106 and used for playing a damping role in the operation process. The oil and gas water pipeline micro-leakage internal detection system further comprises a low-frequency transmitter 109 which can be used for communicating with the ground marking box to determine the movement position of the oil and gas water pipeline micro-leakage internal detection system in the pipeline, so as to judge whether the internal detection system is blocked or jammed in the pipeline or not, further determine whether an intervention test is performed, intervene in the internal detection system and promote the micro-leakage internal detection to be smoothly performed.
In the embodiment of the specification, when the micro-leakage internal detection system of the oil and gas water pipeline is used for the micro-leakage internal detection test, the micro-leakage acoustic internal detector is placed into the pipeline through the service barrel arranged on the pipeline. The four different positions on the pipeline are respectively provided with micro leakage holes with different apertures, water is filled into the pipeline, the pipeline is pressurized by the pressurizing centrifugal pump, so that fluid in the pipeline flows, and meanwhile, the micro leakage acoustic inner detector is driven to move along with medium in the pipeline by forming pressure difference between the front and the back of the micro leakage acoustic inner detector.
When the micro-leakage acoustic inner detector gradually approaches to the micro-leakage hole, the sound source when the micro-leakage of the pipeline occurs is mainly caused by hydrodynamic factors such as fluid, leakage hole wall and unstable flow of the micro-leakage acoustic inner detector. When the pipeline is subjected to pinhole leakage or micro leakage, the flow field in the pipeline changes, and the medium in the pipeline is sprayed out along the leakage Kong Jisu under the action of the internal and external pressure difference, so that a sound source is generated, and the medium is continuously changed along with the instability of the flow field. When the leakage flow field stabilizes, the sound source also stabilizes and begins to sound continuously.
The multichannel acoustic sensor carried by the micro-leakage acoustic inner detector can pick up noise generated by micro leakage, and the positioning of leakage points in the circumferential direction of the pipeline is realized through the amplitude values of the noise picked up by different channel acoustic sensors, the difference of acoustic signal characteristic values and the data of the pose sensor.
Fig. 2 is a flowchart of a method for detecting micro leakage of an oil and gas water pipeline according to an embodiment of the present disclosure, specifically including the following steps:
step 201, acquiring mileage data, pose information of an acoustic sensor and micro leakage signals in a pipeline.
In the step, mileage data is acquired according to data acquired by the mileage wheel; acquiring pose information of an acoustic sensor according to data acquired by the pose sensor; and acquiring micro leakage signals in the pipeline according to the data received by the acoustic sensor.
Step 202, determining the angle of the leakage sound source in the circumferential direction of the pipeline according to the micro-leakage signal and the pose information of the acoustic sensor. In some embodiments of the present description, a plurality of acoustic sensors are provided in a micro-leak internal detection system for a hydrocarbon water pipeline, the acoustic sensors being equally angularly spaced about a column in the center of the system. According to the micro-leakage acoustic signals received by the acoustic sensors and the pose information of each acoustic sensor, the angle of the sound source corresponding to each acoustic sensor can be determined, so that the angle of the leakage sound source in the circumferential direction of the pipeline is determined. Wherein circumferential refers to a direction around the axis of the cylinder.
And 203, determining the position of the leakage sound source in the axial direction of the pipeline according to the mileage data. After determining the angle of the leakage sound source in the circumferential direction of the pipe in step 202, the mileage distance of the leakage sound source relative to the acoustic sensor in the micro-leakage acoustic inner detector can be determined in combination with mileage data collected by the mileage wheel, thereby determining the position of the leakage sound source in the axial direction of the pipe.
And 204, realizing micro-leakage internal detection according to the angle in the circumferential direction and the position in the axial direction. And (3) accurately determining the position of the leakage sound source in the pipeline according to the positions of the leakage sound source in the axial direction and the circumferential direction determined in the step 202 and the step 203, thereby realizing the micro-leakage internal detection of the oil and gas pipeline.
Fig. 3 is a flowchart of a method for determining an angle of a leakage sound source in a circumferential direction of a pipeline according to an embodiment of the present disclosure, and specifically includes the following steps:
step 301, determining space vector coordinates of each acoustic sensor according to pose information of the acoustic sensor. In this step, it is assumed that 4 acoustic sensors are disposed in the micro-leakage acoustic inner detector, each acoustic sensor is correspondingly disposed with a pose sensor, and in the test process, each pose sensor acquires pose information of a corresponding acoustic sensor, specifically, a spatial coordinate corresponding to each acoustic sensor is as follows:
wherein n is i1 、n i2 、n i3 、n i4 Representing the spatial coordinates of the four acoustic sensors, respectively. n is n i1x ，n i1y ，n i1z Respectively representing acoustic sensors n i1 Sitting in x-, y-, and z-axesMarking; n is n i2x ，n i2y ，n i2z Respectively representing acoustic sensors n i2 Coordinates in the x-axis, y-axis, and z-axis; n is n i3x ，n i3y ，n i3z Respectively representing acoustic sensors n i3 Coordinates in the x-axis, y-axis and z-axis.
Step 302, determining a time percentage of the leakage sound source to each acoustic sensor. In the present embodiment, the time percentage represents a difference in time at which the respective acoustic sensors receive the acoustic signals emitted from the same leakage sound source. For example, 4 acoustic sensors are arranged in the micro-leakage acoustic inner detector, the acoustic sensors are respectively arranged at 0 °, 90 °, 180 °, 270 ° in a ZOX coordinate plane in a pipeline space coordinate system, and the acoustic sensor at the 0 ° position receives an acoustic signal when compared with the time when the acoustic sensors receive acoustic signals at the other three acoustic sensors at the 0 ° position of the leakage sound source, which is positioned at the 0 ° position in the ZOX plane in the pipeline space coordinate system. Thus, because of the different arrangement positions of the acoustic sensors in the micro-leakage acoustic inner detector, the time for each acoustic sensor to receive the acoustic signal generated by the leakage sound source is different, thereby forming a time difference, that is, a time percentage.
In this step, the time percentage is determined by the time at which each acoustic sensor receives the acoustic signal from the same leakage sound source.
Step 303, determining the spatial relationship between the leakage sound source and each acoustic sensor according to the spatial vector coordinates of each acoustic sensor and the sound source position vector of the leakage sound source. In this step, the spatial relationship between the leakage sound source and the acoustic sensor is calculated by the following formula:
wherein the sound source is leaked to four acoustic sensors n i1 、n i2 、n i3 、n i4 Is a time percentage of delta 12 、Δ 23 、Δ 34 、Δ 41 ，Δ 12 Representing a time difference between the first acoustic sensor and the second acoustic sensor receiving the acoustic signal from the same leaking sound source; delta 23 Representing the time difference between the second acoustic sensor and the third acoustic sensor receiving the acoustic signal from the same leaking sound source; delta 34 Representing the time difference between the third acoustic sensor and the fourth acoustic sensor receiving the acoustic signal from the same leakage sound source; delta 41 Representing a time difference between the fourth acoustic sensor and the first acoustic sensor receiving the acoustic signal from the same leaking sound source; r is (r) h Is the space vector coordinates of the leakage sound source.
And step 304, determining the angle of the leakage sound source in the circumferential direction of the pipeline according to the spatial relationship.
Specifically, according to the polar coordinates of the space vector coordinates of each acoustic sensor and the polar coordinates of the space vector coordinates of the leakage sound source, the azimuth angle of the leakage sound source is determined, and the azimuth angle is the angle of the leakage sound source in the circumferential direction of the pipeline.
In the step, after the spatial relation between the leakage sound source and each acoustic sensor is calculated, the spatial coordinates of the leakage sound source are obtained, and the spatial coordinates are obtainedIs converted into a representation of a polar coordinate system
Further according to the following formula, the azimuth angle is calculated:where Δ represents the time difference between a leaking sound source and any two acoustic sensors, and may also be understood as the time difference between any two acoustic sensors receiving an acoustic signal from the same leaking sound source.
Fig. 4 is a flowchart of a method for determining the positioning of a micro-leak in an axial direction according to an embodiment of the present disclosure, which specifically includes the following steps:
step 401, determining the time when the micro-leakage signal is acquired and the fluid velocity in the pipeline corresponding to the time. And determining the distance between the leakage sound source and the corresponding acoustic sensor according to the time when each acoustic sensor receives the sound signal sent by the leakage sound source and the fluid speed in the pipeline in the time period and the distance through which the fluid flows. The distance represents a linear distance between the leakage sound source and the acoustic sensor, which in some embodiments of the present description is not necessarily equivalent to the distance of the leakage sound source from the acoustic sensor in a horizontal position.
Step 402, determining first mileage data between a leakage sound source and an acoustic sensor according to the time and the fluid velocity. The distance from the leakage sound source to the acoustic sensor is determined based on the product of the fluid velocity and time, and the distance is determined as the first mileage distance.
In some embodiments of the present disclosure, the spatial relationship between the same leakage sound source and each acoustic sensor is different, and when calculating the distance value, the angle difference between the acoustic sensor and the leakage sound source in the three-dimensional space coordinate needs to be considered, and the distance between the leakage sound source and the acoustic sensor in the horizontal position, that is, the distance between the leakage sound source in the axial direction of the pipeline, is determined according to the angle difference.
In other embodiments of the present disclosure, if the leakage sound source and one of the acoustic sensors are at a horizontal level, there is no angular difference between the leakage sound source and the acoustic sensor, for example, the leakage sound source is in a positive Z-axis direction in a spatial coordinate system ZOX, and the acoustic sensor located at a position of 0 ° of the Z-axis of the ZOX coordinate system receives the acoustic signal emitted by the leakage sound source, the leakage sound source and the acoustic sensor are at the same horizontal level, and then the product of the time when the acoustic sensor receives the acoustic signal emitted by the leakage sound source and the fluid velocity corresponding to the given time is determined, and the first mileage data is determined.
In the present specification, if there are a plurality of acoustic sensors, each acoustic sensor may calculate a distance value according to the time when the micro-leakage acoustic signal is acquired, the fluid velocity in the pipeline corresponding to the time, and the spatial angle between the acoustic sensor and the leakage sound source.
Step 403, determining whether the difference value between the first mileage data and the second mileage data recorded by the mileage wheel is within a preset error range. In the step, the second mileage data is the mileage data collected by the mileage wheel. In some embodiments of the present disclosure, there may be slip phenomena as the odometer moves within the pipeline with the micro-leak acoustic inner detector. The mileage data recorded by the mileage wheel may be inaccurate. Thus, the first mileage data is utilized to assist in determining whether the second mileage data recorded by the mileage wheel is accurate. And judging whether the difference value between the first mileage data and the second mileage data is within a preset error range, thereby judging whether the first mileage data and the second mileage data are accurate.
And step 404, if yes, taking the average value of the first mileage data and the second mileage data as the positioning of the micro leakage in the axial direction of the pipeline. If the second mileage data is within the preset error range, the second mileage data and the first mileage data are determined to be relatively accurate. The average value of the two can be taken as the position of the leakage sound source in the axial direction of the pipeline.
If not, step 405, the acoustic signal of the leaking acoustic source is retrieved. If the difference between the first mileage data and the second mileage data exceeds the preset error range, the difference between the first mileage data and the second mileage data is larger, and it cannot be determined which mileage data in the two mileage data is more accurate, so that re-test is needed, and the acoustic signal of the leakage sound source is re-acquired.
Fig. 5 is a schematic structural diagram of an internal detection device for micro-leakage of an oil and gas water pipeline according to an embodiment of the present disclosure, in which a basic structure of the internal detection device for micro-leakage of an oil and gas water pipeline is described, and functional units and modules thereof may be implemented in a software manner, or may be implemented in a general chip or a specific chip, where the device specifically includes:
an acquiring unit 501, configured to acquire mileage data, pose information of an acoustic sensor, and a micro leakage signal in a pipeline;
an angle determining unit 502, configured to determine an angle of the leakage sound source in the circumferential direction of the pipe according to the micro leakage signal and pose information of the acoustic sensor;
a position determining unit 503 for determining the position of the leakage sound source in the axial direction of the pipeline according to the mileage data;
and the inner detection unit 504 is used for realizing micro-leakage inner detection according to the circumferential positioning and the axial positioning.
As an embodiment of the present disclosure, reference may also be made to fig. 6, which is a schematic diagram showing a specific structure of the micro-leak detection device for an oil and gas water pipeline according to the present embodiment.
As an embodiment of the present specification, the angle determining unit 502 further includes:
a space vector coordinate determining module 5021, configured to determine space vector coordinates of each acoustic sensor according to pose information of the acoustic sensor;
a time percentage determination module 5022 for determining the time percentage of the leakage sound source to each acoustic sensor;
the spatial relationship determining module 5023 is configured to determine the spatial relationship between the leakage sound source and each acoustic sensor according to the spatial vector coordinates of each acoustic sensor and the sound source position vector of the leakage sound source.
Fig. 7 is a schematic diagram of an acoustic signal emitted from a leakage sound source according to an embodiment of the present disclosure. The four leak signals are shown as leak 1, leak 2, leak 3, and leak 4 signals. The signal characteristics of the sound source signal emitted at the leakage point are: the amplitude peaks at a certain instant in time and decreases and fluctuates over a period of time. At the pipe bend, the signal amplitude also exhibits a certain fluctuation. Thus, the number of the leakage points, the number of the elbows, the time for receiving the acoustic signals emitted by the leakage points and the like can be determined according to the acoustic signals acquired by the acoustic sensors.
Fig. 8 is a schematic view illustrating a layout of a plurality of acoustic sensors in space according to an embodiment of the present disclosure. Four acoustic sensors are shown, acoustic sensor number 1, acoustic sensor number 2, acoustic sensor number 3 and acoustic sensor number 4, respectively. The four acoustic sensors are respectively distributed at 90 degrees intervals on a space coordinate system ZOX coordinate plane. The position of the minute leakage sound source is shown in the figure, in which the azimuth angle between the acoustic sensor No. 2 and the minute leakage sound source is θ. The pose sensor vertically faces upwards or downwards along the Z-axis direction, and plays a role in comparing absolute 0 degrees. Pi-theta is the angle of deflection in the vertical direction of the z-axis, so that the angle of the leakage sound source in the circumferential direction can be positioned.
As shown in fig. 9, a computer device is provided in an embodiment of the present disclosure. The method for detecting the micro leakage of the oil and gas water pipeline can be applied to the computer equipment. The computer device 902 may include one or more processors 904, such as one or more Central Processing Units (CPUs), each of which may implement one or more hardware threads. The computer device 902 may also include any memory 906 for storing any kind of information, such as code, settings, data, etc. For example, and without limitation, the memory 906 may include any one or more of the following combinations: any type of RAM, any type of ROM, flash memory devices, hard disks, optical disks, etc. More generally, any memory may store information using any technique. Further, any memory may provide volatile or non-volatile retention of information. Further, any memory may represent fixed or removable components of computer device 902. In one case, when the processor 904 executes associated instructions stored in any memory or combination of memories, the computer device 902 can perform any of the operations of the associated instructions. The computer device 902 also includes one or more drive mechanisms 908 for interacting with any memory, such as a hard disk drive mechanism, optical disk drive mechanism, and the like.
The computer device 902 may also include an input/output module 910 (I/O) for receiving various inputs (via an input device 912) and for providing various outputs (via an output device 914). One particular output mechanism may include a presentation device 916 and an associated Graphical User Interface (GUI) 918. In other embodiments, input/output module 910 (I/O), input device 912, and output device 914 may not be included, but merely as a computer device in a network. The computer device 902 may also include one or more network interfaces 920 for exchanging data with other devices via one or more communication links 922. One or more communication buses 924 couple the above-described components together.
The communication link 922 may be implemented in any manner, for example, through a local area network, a wide area network (e.g., the internet), a point-to-point connection, etc., or any combination thereof. Communication link 922 may include any combination of hardwired links, wireless links, routers, gateway functions, name servers, etc., governed by any protocol or combination of protocols.
Corresponding to the method in fig. 2 to 4, the present embodiment also provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the above method.
The present description also provides computer-readable instructions, wherein the program therein causes the processor to perform the method as shown in fig. 2 to 4 when the processor executes the instructions.
It should be understood that, in various embodiments of the present disclosure, the sequence numbers of the foregoing processes do not mean the order of execution, and the order of execution of the processes should be determined by the functions and internal logic thereof, and should not constitute any limitation on the implementation of the embodiments of the present disclosure.
It should also be understood that, in the embodiments of the present specification, the term "and/or" is merely one association relationship describing the association object, meaning that three relationships may exist. For example, a and/or B may represent: a exists alone, A and B exist together, and B exists alone. In the present specification, the character "/" generally indicates that the front and rear related objects are an or relationship.
Those of ordinary skill in the art will appreciate that the elements and algorithm steps described in connection with the embodiments disclosed herein may be embodied in electronic hardware, in computer software, or in a combination of the two, and that the various example components and steps have been generally described in terms of function in the foregoing description to clearly illustrate the 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 solution. 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 specification.
It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described systems, apparatuses and units may refer to corresponding procedures in the foregoing method embodiments, and are not repeated herein.
In the several embodiments provided in this specification, it should be understood that the disclosed systems, apparatuses, and methods may be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of the units is merely a logical function division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. In addition, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices, or elements, or may be an electrical, mechanical, or other form of connection.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purposes of the embodiments of the present description.
In addition, each functional unit in each embodiment of the present specification may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on this understanding, the technical solution of the present specification is essentially or a part contributing to the prior art, or all or part of the technical solution may be embodied in the form of a software product stored in a storage medium, including several instructions to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in the embodiments of the present specification. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The principles and embodiments of the present specification are explained in this specification using specific examples, the above examples being provided only to assist in understanding the method of the present specification and its core ideas; meanwhile, as those skilled in the art will have variations in the specific embodiments and application scope based on the ideas of the present specification, the present description should not be construed as limiting the present specification in view of the above.
Claims (10)
1. An oil and gas water pipeline micro-leakage internal detection system is characterized by comprising an acquisition unit and a processing unit:
the acquisition unit comprises:
the mileage wheel is in contact with the inside of the pipeline and is used for determining mileage data of the acoustic sensor in the pipeline;
the acoustic sensors are arranged around the circumference of a cylinder in the center of the detection system at equal angles, the acoustic sensors are used for collecting micro leakage signals in a pipeline, and the distance between the acoustic sensors and the mileage wheel is within a preset distance range;
the system comprises a plurality of pose sensors, wherein each pose sensor is fixedly connected with each acoustic sensor and is used for acquiring pose information of the acoustic sensor when the acoustic sensor runs in a pipeline;
the processing unit is used for acquiring mileage data, pose information of the acoustic sensor and micro leakage signals in the pipeline; according to the micro-leakage signals and pose information of the acoustic sensor, determining the angle of the leakage sound source in the circumferential direction of the pipeline; and determining the position of the leakage sound source in the axial direction of the pipeline according to the mileage data.
2. The micro-leakage internal detection system for oil and gas water pipeline according to claim 1, wherein,
the upper part of the acoustic sensor is sleeved with a pressing cover made of an acoustic transmission material, and the pressing cover is used for protecting the acoustic sensor in a high-pressure environment;
the micro-leakage internal detection system for the oil and gas water pipeline further comprises: the leather cup is connected to two ends of the cylinder, and the plurality of supporting wheels are arranged below the leather cup and used for supporting the detection system to move along the inner wall of the pipeline.
3. A method for detecting micro-leakage of an oil and gas water pipeline, which is applied to the oil and gas water pipeline micro-leakage internal detection system as claimed in claim 1 or 2, and comprises the following steps:
acquiring mileage data, pose information of an acoustic sensor and micro leakage signals in a pipeline;
according to the micro-leakage signals and pose information of the acoustic sensor, determining the angle of the leakage sound source in the circumferential direction of the pipeline;
determining the position of the leakage sound source in the axial direction of the pipeline according to the mileage data;
and according to the angle in the circumferential direction and the position in the axial direction, the micro-leakage internal detection is realized.
4. The method for detecting micro-leakage of an oil and gas water pipeline according to claim 3, wherein determining an angle of a leakage sound source in a pipeline circumferential direction comprises:
determining space vector coordinates of each acoustic sensor according to the pose information of the acoustic sensor;
determining a time percentage of the leakage sound source to each acoustic sensor;
determining the spatial relationship between the leakage sound source and each acoustic sensor according to the space vector coordinates of each acoustic sensor and the sound source position vector of the leakage sound source;
and according to the spatial relationship, determining the angle of the leakage sound source in the circumferential direction of the pipeline.
5. The method for detecting micro-leakage of an oil and gas water pipeline according to claim 4, wherein the spatial relationship between a leakage sound source and each acoustic sensor is determined by using the following formula:
wherein r is h Space vector coordinates for a leakage sound source; n is n i1 、n i2 、n i3 、n i4 Four acoustic sensors N, respectively i1 、N i2 、N i3 、N i4 Space vector coordinates, t i1 、t i2 、t i3 、t i4 To leak sound source to four acoustic sensors N i1 、N i2 、N i3 、N i4 Is a time percentage of (2); and c is the propagation speed of the sound wave in the medium, and the unit is m/s.
6. The method for detecting micro-leakage of an oil and gas water pipeline according to claim 5, wherein determining an angle of a leakage sound source in a pipeline circumferential direction according to the spatial relationship comprises:
and determining azimuth angles of the leakage sound sources according to the polar coordinates of the space vector coordinates of each acoustic sensor and the polar coordinates of the space vector coordinates of the leakage sound sources, wherein the azimuth angles are angles of the leakage sound sources in the circumferential direction of the pipeline.
7. The method of claim 3, wherein determining the axial position comprises:
determining the time for acquiring the micro leakage signal and the fluid velocity in the pipeline corresponding to the time;
determining first mileage data between a leakage sound source and an acoustic sensor according to the time and the fluid velocity;
determining whether the difference value between the first mileage data and the second mileage data recorded by the mileage wheel is within a preset error range;
if yes, taking the average value of the first mileage data and the second mileage data as the positioning of the micro leakage in the axial direction of the pipeline.
8. An in-micro leakage detection device for an oil and gas water pipeline, which is characterized by comprising:
the acquisition unit is used for acquiring mileage data, pose information of the acoustic sensor and micro leakage signals in the pipeline;
the angle determining unit is used for determining the angle of the leakage sound source in the circumferential direction of the pipeline according to the micro leakage signal and the pose information of the acoustic sensor;
the position determining unit is used for determining the position of the leakage sound source in the axial direction of the pipeline according to the mileage data;
and the inner detection unit is used for realizing micro-leakage inner detection according to the angle in the circumferential direction and the position in the axial direction.
9. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the method of any of claims 3 to 7 when executing the computer program.
10. A computer readable storage medium, characterized in that the computer readable storage medium stores a computer program which, when executed by a processor, implements the method of any of claims 3 to 7.
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| CN202311110048.3A CN117146209A (en) | 2023-08-30 | 2023-08-30 | Micro-leakage internal detection system, method and device for oil and gas water pipeline |
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| CN202311110048.3A CN117146209A (en) | 2023-08-30 | 2023-08-30 | Micro-leakage internal detection system, method and device for oil and gas water pipeline |
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