WO2022022626A1 - 一种天然气管道内水合物探测与消融水合物的装置和方法 - Google Patents

一种天然气管道内水合物探测与消融水合物的装置和方法 Download PDF

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WO2022022626A1
WO2022022626A1 PCT/CN2021/109188 CN2021109188W WO2022022626A1 WO 2022022626 A1 WO2022022626 A1 WO 2022022626A1 CN 2021109188 W CN2021109188 W CN 2021109188W WO 2022022626 A1 WO2022022626 A1 WO 2022022626A1
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natural gas
ablation
frame
detection
hydrate
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PCT/CN2021/109188
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English (en)
French (fr)
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吴婷婷
尉建功
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广州海洋地质调查局
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Priority to JP2021554407A priority Critical patent/JP7227394B2/ja
Priority to US17/470,701 priority patent/US11549649B2/en
Publication of WO2022022626A1 publication Critical patent/WO2022022626A1/zh

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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
    • F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
    • F16L55/28—Constructional aspects
    • F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
    • F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
    • 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
    • F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
    • F16L55/28—Constructional aspects
    • F16L55/40—Constructional aspects of the body
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F17—STORING OR DISTRIBUTING GASES OR LIQUIDS
    • F17D—PIPE-LINE SYSTEMS; PIPE-LINES
    • F17D5/00—Protection or supervision of installations
    • F17D5/005—Protection or supervision of installations of gas pipelines, e.g. alarm
    • 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
    • F16L2101/00—Uses or applications of pigs or moles
    • F16L2101/10—Treating the inside of pipes
    • 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
    • F16L2101/00—Uses or applications of pigs or moles
    • F16L2101/30—Inspecting, measuring or testing

Definitions

  • the invention relates to the technical field of natural gas hydrate detection, in particular to a device and method for detecting and ablating hydrates in natural gas pipelines.
  • Natural gas tends to form solid natural gas hydrates in the low-temperature and high-pressure seabed environment.
  • gas hydrate solid crystals may be formed due to interruption of transportation or gas retention at pipeline joints or bends, resulting in the transmission of natural gas. Pipeline blockage may even threaten the safe operation of the transmission pipeline, thereby affecting normal production operations.
  • one of the objectives of the present invention is to provide a device for detecting and ablating hydrates in natural gas pipelines, which can solve the problem that hydrates block natural gas pipelines.
  • the second purpose of the present invention is to provide a method for detecting and ablating hydrates in natural gas pipelines, which can solve the problem that hydrates block natural gas pipelines
  • a device for detecting and ablating hydrates in natural gas pipelines comprising a plurality of transmission mechanisms for moving along the natural gas pipelines, a detection mechanism for detecting hydrates in natural gas pipelines, ablation mechanisms for ablating hydrates, and a control
  • the transmission mechanism includes a transmission frame, a plurality of universal wheel assemblies that generate static friction with the outer wall of the natural gas pipeline, a driving assembly and an elastic connector, the detection mechanism includes a detection frame and a detection assembly, and the ablation mechanism includes ablation mechanism.
  • the frame, the ablation assembly and the ablation claw assembly, the universal wheel assembly is arranged on the inner wall of the transmission frame along the circumferential direction, the drive assembly is connected with the universal wheel assembly, the detection frame and the ablation frame are both elastically
  • the connecting piece is connected with the transmission frame, the detection assembly is arranged on the detection frame, the ablation assembly and the ablation claw assembly are both arranged on the ablation frame, the universal wheel assembly, the drive assembly, the detection assembly, and the ablation assembly and the ablation jaw assembly are connected with the controller.
  • the universal wheel assembly includes a hydraulic rod arranged on the transmission frame in the circumferential direction and a universal roller connected to the hydraulic rod, the universal roller is connected to the output end of the drive assembly, and the hydraulic rod is connected to the hydraulic rod. Controller connection.
  • the detection assembly includes a temperature detector, a mounting frame, a rotating motor, a rotating gear set and a rotating ring gear, and the inner wall of the detection frame extends inward along the circumferential direction to form a cam that is fixedly connected to the rotating ring gear, so The two sides of the cam are recessed inward to form guide grooves, the temperature detector and the rotating motor are both arranged at one end of the mounting frame, the other end of the mounting frame is slidably connected to the guide groove, and the rotating motor is connected to the rotating motor through a rotating gear.
  • the ring gear is meshed and connected, and the temperature detector and the rotating electrical machine are both connected with the controller.
  • a centralizing assembly is also included, and the centralizing assembly includes a plurality of cylinders arranged on the detection frame along the circumferential direction and support rods, and the support rods are connected to the detection frame through the cylinders.
  • the ablation assembly includes a plurality of heaters and positioners, the positioners are fixedly connected to the ablation frame, the heaters are arranged on the inner wall of the ablation frame in a circumferential direction, and the heaters and the positioners are both Connect with the controller.
  • the heater is a microwave heater.
  • the number of the transmission mechanism is 3, which are respectively denoted as the first transmission mechanism, the second transmission mechanism and the third transmission mechanism, and the first transmission mechanism is connected with the detection frame and the second transmission mechanism in turn through the elastic connecting piece. , the ablation frame is connected with the third transmission mechanism.
  • the transmission frame includes an upper frame, a lower frame and a hydraulic connector, the upper frame is connected with the lower frame through the hydraulic connector, and the hydraulic connector is connected with the controller.
  • the ablation claw assembly includes an upper robot arm, a lower robot arm, an upper push claw and a lower push claw, the upper push claw passes through the upper robot arm and the outer wall of the ablation frame, and the lower push claw passes through the lower robot arm With the outer wall of the ablation gantry, the upper and lower robotic arms are connected with the controller
  • a method for detecting and ablating hydrates in a natural gas pipeline which is applied to the controller of the above-mentioned device for detecting and ablating hydrates in a natural gas pipeline, the controller comprising a storage and a processor;
  • a processor for executing the program instructions to perform the following steps:
  • the universal roller is driven by the driving component to drive the hydrate detection and ablation device in the natural gas pipeline to move along the natural gas pipeline;
  • S3 Obtain the first signal sent by the temperature detector, and determine whether the temperature is lower than the preset range. If so, the device for hydrate detection and ablation in the natural gas pipeline stops moving, and executes S4. If not, the hydrate in the natural gas pipeline is hydrated. The device for physical detection and ablation of hydrate continues to move along the natural gas pipeline, and executes S3;
  • the beneficial effect of the present invention is that the gap between the upper frame and the lower frame is adjusted by the hydraulic connector, so that the transmission frame can be applied to the natural gas pipelines of different diameters, and the hydraulic rod can be used to adjust the gap between the upper frame and the lower frame.
  • Static friction is generated between the driven universal roller and the outer surface of the natural gas inner pipeline, and both the detection mechanism and the ablation mechanism are connected with the transmission mechanism through elastic connectors, so that the device can smoothly pass through the bend in the natural gas pipeline, and further,
  • the temperature detector of the detection mechanism detects the temperature of the natural gas pipeline to determine whether a hydrate is generated in the natural gas pipeline to block the pipeline, and then the blockage is heated by the ablation mechanism to dissolve the hydrate, and the hydrate is dissolved by heating to replace chemical inhibition. It can inhibit the production of hydrate, reduce the use of chemical reagents, avoid environmental pollution, and realize environmental protection operations.
  • FIG. 1 is a schematic structural diagram of the transmission mechanism described in the present invention.
  • FIG. 2 is a schematic structural diagram of the detection mechanism described in the present invention.
  • FIG. 3 is a schematic structural diagram of the ablation mechanism described in the present invention.
  • FIG. 4 is a schematic structural diagram of the double-layer casing described in the present invention.
  • FIG. 5 is a schematic structural diagram of the device for detecting and ablating hydrate in a natural gas pipeline according to the present invention.
  • FIG. 6 is a flow chart of the method for detecting and ablating hydrate in a natural gas pipeline according to the present invention.
  • the terms “installed”, “connected” and “connected” should be understood in a broad sense, unless otherwise expressly specified and limited, for example, it may be a fixed connection or a detachable connection Connection, or integral connection; can be mechanical connection, can also be electrical connection; can be directly connected, can also be indirectly connected through an intermediate medium, can be internal communication between two elements.
  • installed should be understood in a broad sense, unless otherwise expressly specified and limited, for example, it may be a fixed connection or a detachable connection Connection, or integral connection; can be mechanical connection, can also be electrical connection; can be directly connected, can also be indirectly connected through an intermediate medium, can be internal communication between two elements.
  • the natural gas pipeline 4 is a double-layer casing structure, as shown in FIG. 4 , wherein the inner layer is a natural gas transportation pipeline, and the outer layer is a hollow structure, that is, between the natural gas inner pipeline 42 and the natural gas outer pipeline 41 There is a certain gap, and the gap can pass through the device for detecting and ablating hydrate in water, sediment or natural gas pipeline.
  • the hydrate is natural gas hydrate, commonly known as combustible ice, with a melting point of 20°C, and is formed at 0-10°C, and the seabed temperature is generally maintained at about 2-4°C.
  • the device for detecting and ablating hydrate in a natural gas pipeline has a built-in battery module for power supply, and the controller is a data processor, but is not limited to a 32-bit or 64-bit data processor.
  • a device for detecting and ablating hydrates in a natural gas pipeline includes a plurality of transmission mechanisms 1 for moving along the natural gas pipeline 42, and for detecting the internal Hydrate detection mechanism 2, ablation mechanism 3 and controller for ablation of hydrate, specifically, the transmission mechanism 1 includes a transmission frame 13, a plurality of universal wheel assemblies 11 that generate static friction with the outer wall of the natural gas inner pipeline 42, The drive assembly 12 and the elastic connector 5, wherein the transmission frame 13 is not limited to a circle, but can also be a triangle, a direction, etc.
  • the transmission frame 13 includes an upper frame 131, a lower frame 132 and a hydraulic Connecting piece 133, the upper frame 131 is connected with the lower frame 132 through the hydraulic connecting piece 133, the hydraulic connecting piece 133 is connected with the controller, and the hydraulic connecting piece 133 is used to adjust the distance between the upper frame 131 and the lower frame 132 the gap, that is, the size of the hollow body enclosed by the upper frame 131 and the lower frame 132 is adjusted through the hydraulic connector 133, so that the transmission frame 13 can be adapted to the natural gas pipelines of different diameters;
  • the universal wheel assembly 11 includes a hydraulic rod 111 arranged on the transmission frame 13 in the circumferential direction and a universal roller 112 connected to the hydraulic rod 111.
  • the universal roller 112 is connected with the output end of the drive assembly 12.
  • the universal roller 112 is used to deal with the turns of the natural gas pipeline 4 in various directions.
  • the drive assembly 12 includes a straight-travel drive motor and an autorotation drive motor.
  • the natural gas inner pipe 42 rotates.
  • the number of transmission mechanisms 1 is 3, which are respectively denoted as a first transmission mechanism, a second transmission mechanism and a third transmission mechanism.
  • the transmission mechanism, the ablation frame 37 and the third transmission mechanism are connected, as shown in FIG.
  • the elastic connecting member 5 can be a spring or a spring leaf; when the device for detecting and ablating hydrate in the natural gas pipeline moves to the weather When the pipeline is at a bend, the universal roller 112 can be driven by the drive assembly 12 to drive the device for detecting and ablating hydrate in the natural gas pipeline to spiral along the natural inner pipeline, so as to quickly and smoothly pass through the bend.
  • the detection mechanism 2 includes a detection frame 26 and a detection assembly.
  • the detection assembly includes a temperature detector 21, a mounting frame, a rotating motor, a rotating gear set and a rotating ring gear 22.
  • the inner wall of the detection frame 26 extends inward along the circumferential direction to form a cam 23 that is fixedly connected with the rotating gear ring 22 , and two sides of the cam 23 are recessed inward to form guide grooves 24 , and the temperature detector 21 and the rotating motor are provided.
  • the other end of the installation frame is slidably connected with the guide groove 24, the rotating motor is meshed with the rotating ring gear 22 through a rotating gear, and the temperature detector 21 is always on the natural gas along with the movement of the device.
  • the optimal ablation solution further includes a centralizer assembly 25, the centralizer assembly 25 includes a plurality of cylinders 251 and support rods 252 arranged on the detection frame 26 in the circumferential direction, and the support rods 252 communicate with the detection machine through the cylinder 251.
  • the frame 26 is connected, and the support rod 252 is driven out by the cylinder 251 of the centralizer assembly 25, and the support rod 252 abuts with the natural gas outer pipeline 41 or the natural gas inner pipeline 42 through the soft contact at the end, so that the center of the natural gas inner pipeline 42 is abutted. It coincides with the center of the detection frame 26, and then drives the temperature detector 21 on the mounting frame to rotate around the natural gas inner pipeline 42 through the rotating motor to drive the rotating gear, so as to avoid the occurrence of the temperature detector 21 rotating around the natural gas inner pipeline 42 with the natural gas inner pipeline 42.
  • the collision may cause an accident, improve the detection progress of the temperature detector 21 , and more accurately detect the generation of hydrate in the natural gas pipeline 4 .
  • the ablation mechanism 3 includes an ablation gantry 37, an ablation assembly and an ablation claw assembly.
  • the ablation assembly includes a plurality of heaters 31 and a positioner 32, and the positioner 32 is connected to the ablation frame. 37 is fixedly connected, the heater 31 is arranged on the inner wall of the ablation rack 37 along the circumferential direction, and both the heater 31 and the positioner 32 are connected to the controller. After the temperature detector 21 completes the detection of the hydrate in a certain place, the locator 32 accurately locates the position of the hydrate.
  • the position of the hydrate blockage can also be obtained through other hydrate detection equipment, and the transmission mechanism 1
  • the ablation mechanism 3 is directly transported to the position where the hydrate is blocked for ablation, wherein the positioner 32 synchronizes the position of the ablation mechanism 3 to the communication terminal in real time, and the heater 31 on the ablation rack 37 can obtain the best solution according to the system analysis.
  • the ablation scheme starts to heat the hydrates in the natural gas inner pipeline 42. For example, there are more hydrates below the natural gas inner pipeline 42, and the heater 31 near the natural gas inner pipeline 42 is farther away from the heater 31 below the natural gas inner pipeline 42. High output power.
  • the heater 31 is a microwave heater or an underwater heater, and the temperature of the corresponding position is heated to above 20° C. to dissolve the hydrate.
  • the ablation claw assembly includes an upper robot arm 33, a lower robot arm 34, an upper push claw 35 and a lower push claw 36, and the upper push claw 35 passes through the upper robot arm 33 and the outer wall of the ablation frame 37.
  • the lower push claw 36 is connected to the outer wall of the ablation frame 37 through the lower robotic arm 34, and the upper robotic arm 33 and the lower robotic arm 34 are both connected to the controller.
  • the frame 37 is fixed in a relatively stable position, which is also the best position to promote the ablation of the hydrate in the pipeline 42 of the natural gas, so as to avoid heat loss and reduce the consumption of electric energy.
  • Embodiment 2 is a diagrammatic representation of Embodiment 1:
  • a method for detecting and ablating hydrates in a natural gas pipeline is applied to the controller of the apparatus for detecting and ablating hydrates in a natural gas pipeline according to Embodiment 1, and the controller includes: storage and processors;
  • a processor for executing the program instructions to perform the following steps:
  • the gap between the upper frame 131 and the lower frame 132 is adjusted through the hydraulic connecting piece 133, that is, the hydraulic connecting piece is used to adjust the gap between the upper frame 131 and the lower frame 132.
  • 133 Adjust the size of the hollow body enclosed by the upper frame 131 and the lower frame 132, so that the transmission frame 13 can be applied to the natural gas inner pipeline of different diameters.
  • the universal roller 112 should be connected with the outer wall of the natural gas inner pipeline
  • the generation of static friction can be regarded as the device for hydrate detection and ablation in the natural gas pipeline, which is fixed at a certain position in the natural gas pipeline.
  • the universal roller 112 is driven by the driving component 12 to drive the device for detecting and ablating hydrates in the natural gas pipeline to move along the natural gas pipeline 4;
  • the universal roller 112 should generate rolling friction with the outer wall of the natural gas inner pipeline, that is, the device for detecting and ablating hydrate in the natural gas pipeline moves along the natural gas pipeline 4 .
  • S3 Obtain the first signal sent by the temperature detector 21, and determine whether the temperature is lower than the preset range. If so, the device for hydrate detection and ablation in the natural gas pipeline stops moving, and S4 is executed. The device for hydrate detection and hydrate ablation continues to move along the natural gas pipeline 4, and executes S3;
  • the first signal is an abnormal low temperature signal.
  • the temperature detector 21 continuously monitors the temperature in the natural gas pipeline 42. Detection, when the temperature detector 21 detects that the temperature in the pipeline 42 of the natural gas is abnormal (abnormal low temperature, about 2-4°C), in general, the temperature of the hydrate is lower than the temperature of the natural gas, then the natural gas pipeline 4 The device for hydrate detection and hydrate ablation stops moving and starts to detect the position in detail. If no hydrate detection and ablation device is found, the hydrate detection and hydrate ablation device in the natural gas pipeline keeps moving.
  • the universal roller 112 when the temperature detector 21 detects an abnormal temperature, the universal roller 112 is braked. At this time, the universal roller 112 should generate static friction with the outer wall of the natural gas inner pipeline, and the support is driven by the cylinder 251 of the centering assembly 25.
  • the rod 252 protrudes outward, and the support rod 252 abuts with the natural gas outer pipeline 41 or the natural gas inner pipeline 42 through the soft contact at the end, so that the center of the natural gas inner pipeline 42 coincides with the circle center of the detection frame 26, and then rotates the motor.
  • the driving rotating gear drives the temperature detector 21 on the mounting frame to rotate around the natural gas inner pipeline 42, so as to accurately judge the formation of hydrate, and obtain the best ablation plan through systematic analysis.
  • the second signal is the detailed condition detected by the temperature detector 21.
  • the condition of the hydrate in the natural gas pipeline 42 can be moved by the upper push claw 35 and the lower push claw 36 through the mechanical arm.
  • the ablation rack 37 is fixed in a relatively stable position, which is also the best position to facilitate the ablation of hydrates in the natural gas inner pipeline 42, ready for heating.
  • S6 drive the heater 31 to heat the natural gas pipeline 42, and obtain the signal sent by the locator 32 at the same time;
  • the heater 31 is a microwave heater or an underwater heater, and the positioner 32 adopts the USBL ultra-short baseline positioning system.
  • the heater 31 can obtain the best ablation plan according to the system system analysis and start to heat the hydrate in the natural gas inner pipeline 42. For example, there are more hydrates below the natural gas inner pipeline 42, and the heater 31 is close to the natural gas inner pipeline 42 below the heater 31. The output power of the heater 31 farther away from the natural gas inner pipeline 42 will be larger.
  • the heater 31 is a microwave heater or an underwater heater, and the temperature of the corresponding position is heated to above 20° C. to dissolve the hydrate.
  • S7 Acquire the third signal sent by the temperature detector 21 to determine whether the temperature is lower than the preset range, if yes, go to S6; if not, go to S2.
  • the third signal is a temperature signal.
  • the temperature detector 21 is used to detect the position again. If no abnormally low temperature (2-4° C.) is found, the drive assembly 12 drives the universal roller again. 112 drives the device for hydrate detection and ablation in the natural gas pipeline to move along the natural gas pipeline 4. If there is still an abnormally low temperature, restart the heating again.

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Abstract

一种天然气管道内水合物探测与消融水合物的装置和方法，其中装置包括传动机构（1）、探测机构（2）、消融机构（3）和控制器。探测机构（2）和消融机构（3）均通过弹性连接件（5）与传动机构（1）连接，使得装置能顺利通过天然气管道中的拐弯处；传动机构（1）通过万向轮组件（11）与天然气管道内管道（42）外壁形成静摩擦，以使得装置能够沿天然气管道内管道运动；探测机构（2）通过探测天然气管道的温度是否低于预设范围，来判断天然气管道内是否生成水合物堵塞管道；消融机构（3）则对堵塞处进行加热，消融水合物。这种装置解决了水合物堵塞天然气输送管道的问题。

Description

一种天然气管道内水合物探测与消融水合物的装置和方法 技术领域
本发明涉及天然气水合物探测技术领域，尤其涉及一种天然气管道内水合物探测与消融水合物的装置和方法。
背景技术
随着海洋油气开发不断深入,尤其是2017年和2020年中国先后两次成功实现海域天然气水合物试采，预计2030年将实现天然气水合物商业化开发，这对海上生产系统提出了更高的技术要求。天然气在低温高压的海底环境下容易形成固态的天然气水合物，而在开采天然气或天然气水合物时，因输送中断或管道接头或拐弯处气体滞留，均有可能形成天然气水合物固体结晶，造成输送管道堵塞，甚至威胁到输送管道的安全运行，进而影响正常生产作业。
在天然气水合物的试开采过程中，为抑制天然气形成固态水合物，可以采用注射甲醇、乙二醇剂及地层减压的方法。但对于输送管道来说，学者普遍认为注射抑制剂是抑制水合物形成有效手段。抑制剂的使用具有一定的局限性，首先不同抑制剂的选择会造成不一样的结果，目前仍处于不断研究决断。另外抑制剂的作用效果也具有一定的局限性，由于管道环境较为复杂，堵塞部位也无法预测，因此如果解堵方法不当会对输送管道造成严重损坏，影响整个输运系统的安全与正常运行。
发明内容
为了克服现有技术的不足，本发明的目的之一在于提供一种天然 气管道内水合物探测与消融水合物的装置，其能解决水合物堵塞天然气输送管道的问题。
为了克服现有技术的不足，本发明的目的之二在于提供一种天然气管道内水合物探测与消融水合物的方法，其能解决水合物堵塞天然气输送管道的问题
为了达到上述目的之一，本发明所采用的技术方案如下：
一种天然气管道内水合物探测与消融水合物的装置，包括若干用于沿天然气内管道运动的传动机构、用于探测天然气管道内水合物的探测机构、用于消融水合物的消融机构和控制器，所述传动机构包括传动机架、若干与天然气内管道外壁发生静摩擦的万向轮组件、驱动组件和弹性连接件，所述探测机构包括探测机架和探测组件，所述消融机构包括消融机架、消融组件和消融爪组件，所述万向轮组件沿圆周方向设置在传动机架的内壁，所述驱动组件与万向轮组件连接，所述探测机架和消融机架均通过弹性连接件与传动机架连接，所述探测组件设置在探测机架上，所述消融组件和消融爪组件均设置在消融机架上，所述万向轮组件、驱动组件、探测组件、消融组件和消融爪组件均与控制器连接。
优选的，所述万向轮组件包括沿圆周方向设置在传动机架上液压杆和连接在液压杆上的万向滚轮，所述万向滚轮与驱动组件的输出端连接，所述液压杆与控制器连接。
优选的，所述探测组件包括温度探测器、安装架、旋转电机、旋转齿轮组和旋转齿圈，所述探测机架的内壁沿圆周方向向内延伸形成 与旋转齿圈固定连接的凸轮，所述凸轮的两侧向内凹陷形成导向槽，所述温度探测器与旋转电机均设置在安装架的一端，所述安装架的另一端与导向槽滑动连接，所述旋转电机通过旋转齿轮与旋转齿圈啮合连接，所述温度探测器和旋转电机均与控制器连接。
优选的，还包括扶正组件，所述扶正组件包括若干沿圆周方向设置在探测机架上的气缸和支撑杆，所述支撑杆通过气缸与探测机架连接。
优选的，所述消融组件包括若干加热器和定位器，所述定位器与消融机架固定连接，所述加热器沿圆周方向设置在消融机架的内壁上，所述加热器和定位器均与控制器连接。
优选的，所述加热器为微波加热器。
优选的，所述传动机构的数量为3，分别记为第一传动机构、第二传动机构和第三传动机构，所述第一传动机构通过弹性连接件依次与探测机架、第二传动机构、消融机架和第三传动机构连接。
优选的，所述传动机架包括上机架、下机架和液压连接件，所述上机架通过液压连接件与下机架连接，所述液压连接件与控制器连接。
优选的，所述消融爪组件包括上机械臂、下机械臂、上推爪和下推爪，所述上推爪通过上机械臂与消融机架的外壁，所述下推爪通过下机械臂与消融机架的外壁，所述上机械臂和下机械臂均与控制器连接
为了达到上述目的之二，本发明所采用的技术方案如下：
一种天然气管道内水合物探测与消融水合物的方法，应用于上述的天然气管道内水合物探测与消融水合物的装置的控制器，所述控制器包括储存器和处理器；
存储器，用于存储程序指令；
处理器，用于运行所述程序指令，以执行以下步骤：
S1：通过液压连接件调整上机架和下机架之间的间隙，并通过液压杆驱使的万向滚轮与天然气内管道的外表面之间产生静摩擦；
S2：通过驱动组件驱使万向滚轮带动天然气管道内水合物探测与消融水合物的装置沿天然气管道运动；
S3：获取温度探测器发送的第一信号，判断温度是否低于预设范围，若是，则天然气管道内水合物探测与消融水合物的装置停止运动，执行S4，若否，则天然气管道内水合物探测与消融水合物的装置继续沿天然气管道运动，执行S3；
S4：通过扶正组件的气缸驱使支撑杆向外伸出，以使得天然气内管道的圆心与探测机架的圆心重合，再通过旋转电机驱动旋转齿轮带动安装架上的温度探测器绕天然气内管道旋转；
S5：获得温度探测器发送的第二信号，驱使上机械臂驱使上推爪与天然气外管道的内壁的一端定连接、下机械臂驱使下推爪与天然气外管道的内壁的另一端固定连接，以使得消融机架固定在指定位置；
S6：驱使加热器对天然气内管道加热，同时获得定位器发送的信号；
S7：获取温度探测器发送的第三信号，判断温度是否低于预设范 围，若是，执行S6；若否，则执行S2。
相比现有技术，本发明的有益效果在于：通过液压连接件调整上机架和下机架之间的间隙，以使得传动机架能够适用于不同口径的天燃气内管道，并通过液压杆驱使的万向滚轮与天然气内管道的外表面之间产生静摩擦，同时所述探测机构和消融机构均通过弹性连接件与传动机构连接，以使得装置能够顺利通过天然气管道中拐弯处，进一步的，探测机构的温度探测器通过探测天然气管道的温度情况，以判断天然气管道内是否生成水合物堵塞管道，再通过消融机构对堵塞处进行加热，从而消融水合物，通过加热方式消融水合物取代化学抑制剂抑制水合物生产，减少化学试剂的使用，避免污染环境，实现环保作业。
附图说明
图1为本发明中所述的传动机构的结构示意图。
图2为本发明中所述的探测机构的结构示意图。
图3为本发明中所述的消融机构的结构示意图。
图4为本发明中所述的双层套管的结构示意图。
图5为本发明中所述的天然气管道内水合物探测与消融水合物的装置的结构示意图。
图6为本发明中所述的天然气管道内水合物探测与消融水合物的方法的流程图。
图中：1-传动机构；11-万向轮组件；111-液压杆；112-万向滚轮；12-驱动组件；13-传动机架；131-上机架；132-下机架；133-液压连 接件；2-探测机构；21-温度探测器；22-旋转齿圈；23-凸轮；24-导向槽；25-扶正组件；251-气缸；252-支撑杆；26-探测机架；3-消融机构；31-加热器；32-定位器；33-上机械臂；34-下机械臂；35-上推爪；36-下推爪；37-消融机架；4-天然气管道；41-天然气外管道；42-天然气内管道；5-弹性连接件。
具体实施方式
以下结合附图对本发明的优选实施例进行说明，应当理解，此处所描述的优选实施例仅用于说明和解释本发明，并不用于限定本发明。
在本发明的描述中，需要说明的是，术语“中心”、“上”、“下”、“左”、“右”、“竖直”、“水平”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。此外，术语“第一”、“第二”、“第三”仅用于描述目的，而不能理解为指示或暗示相对重要性。
在本发明的描述中，需要说明的是，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本发明中的具体含义。
下面，结合附图以及具体实施方式，对本发明做进一步描述：
在本发明中，所述天然气管道4为双层套管结构，如图4所示，其中内层为天然气输运管道，外层为空心结构，即天然气内管道42与天然气外管道41之间存在一定的间隙，间隙可以通过水、泥沙或者天然气管道内水合物探测与消融水合物的装置。所述水合物为天然气水合物，俗称可燃冰，熔点为20℃，在0-10℃时生成，海底温度一般保持在2-4℃左右，。具体的，所述天然气管道内水合物探测与消融水合物的装置内置有用于供能的电池模块，所述控制器为数据处理器，但不限于32位或者64位数据处理器。
实施例一：
如图1-5所示，在本实施例中，一种天然气管道内水合物探测与消融水合物的装置，包括若干用于沿天然气内管道42运动的传动机构1、用于探测天然气管道内水合物的探测机构2、用于消融水合物的消融机构3和控制器，具体的，所述传动机构1包括传动机架13、若干与天然气内管道42外壁发生静摩擦的万向轮组件11、驱动组件12和弹性连接件5，其中所述传动机架13不限于圆形，还可以是三角形、方向等，优选的，所述传动机架13包括上机架131、下机架132和液压连接件133，所述上机架131通过液压连接件133与下机架132连接，所述液压连接件133与控制器连接，通过液压连接件133调整上机架131和下机架132之间的间隙，即通过液压连接件133调整上机架131和下机架132合围成的中空体的大小，以使得传动机架13能够适用于不同口径的天燃气内管道；所述万向轮组件11包括 沿圆周方向设置在传动机架13上液压杆111和连接在液压杆111上的万向滚轮112，所述万向滚轮112与驱动组件12的输出端连接，在本实施例中，采用万向滚轮112以应对天然气管道4各种方向的拐弯，所述驱动组件12包括直行驱动电机和自转驱动电机，所述直行驱动电机驱使万向滚轮112直行，自转驱动电机驱使万向滚轮112绕天然气内管道42旋转。优选的，传动机构1的数量为3，分别记为第一传动机构、第二传动机构和第三传动机构，所述第一传动机构1通过弹性连接件5依次与探测机架26、第二传动机构、消融机架37和第三传动机构连接，如图5所示，其中所述弹性连接件5可以为弹簧或者弹簧片；当天然气管道内水合物探测与消融水合物的装置运动至天气管道的拐弯处时，可通过驱动组件12驱使万向滚轮112带动天然气管道内水合物探测与消融水合物的装置沿着天然内管道螺旋前进，从而快速顺畅通过拐弯处。
在本实施例中，所述探测机构2包括探测机架26和探测组件，优选的，所述探测组件包括温度探测器21、安装架、旋转电机、旋转齿轮组和旋转齿圈22，所述探测机架26的内壁沿圆周方向向内延伸形成与旋转齿圈22固定连接的凸轮23，所述凸轮23的两侧向内凹陷形成导向槽24，所述温度探测器21与旋转电机均设置在安装架的一端，所述安装架的另一端与导向槽24滑动连接，所述旋转电机通过旋转齿轮与旋转齿圈22啮合连接，所述温度探测器21随着装置的运动，一直对天然气内管道42内的温度进行探测，由于天然气的温度与天然气的正常温度存在较明显的差异，从而识别到管内存在水 合物，具体的，当温度探测器21探测到有温度异常时，则万向滚轮112被刹停，然后旋转电机通过旋转齿轮与旋转齿圈22啮合连接，并驱使安装架上温度探测器21绕该位置旋转，以准确判断水合物的生成情况，通过系统分析，得出最佳的消融方案，进一步的，还包括扶正组件25，所述扶正组件25包括若干沿圆周方向设置在探测机架26上的气缸251和支撑杆252，所述支撑杆252通过气缸251与探测机架26连接，通过扶正组件25的气缸251驱使支撑杆252向外伸出，支撑杆252通过末端的软触点与天然气外管道41或者天然气内管道42相抵接，以使得天然气内管道42的圆心与探测机架26的圆心重合，再通过旋转电机驱动旋转齿轮带动安装架上的温度探测器21绕天然气内管道42旋转，避免温度探测器21绕天然气内管道42旋转时与天然气内管道42发生碰撞，造成事故，提高温度探测器21的探测进度，更准确地探测清楚水合物在天然气管道4内的生成情况。
在本实施例中，所述消融机构3包括消融机架37、消融组件和消融爪组件，优选的，所述消融组件包括若干加热器31和定位器32，所述定位器32与消融机架37固定连接，所述加热器31沿圆周方向设置在消融机架37的内壁上，所述加热器31和定位器32均与控制器连接。当温度探测器21对某一处的水合物探测完成之后，定位器32对水合物的位置进行准确定位，进一步的，还可以通过其他水合物探测设备获得水合物堵塞的位置，通过传动机构1直接将消融机构3输送至水合物堵塞的位置进行消融，其中定位器32将消融机构3的位置实时同步至通信终端，消融机架37上的加热器31可以根据系 统系统分析得出最佳的消融方案开始对天然气内管道42中的水合物进行加热，例如天然气内管道42下方的水合物比较多，则靠近天然气内管道42下方加热器31则会较远离天然气内管道42下方加热器31的输出功率大。优选的，所述加热器31为微波加热器或者水下加热器，将对应的位置的温度加热至20℃以上，以使得水合物消融。优选的，所述消融爪组件包括上机械臂33、下机械臂34、上推爪35和下推爪36，所述上推爪35通过上机械臂33与消融机架37的外壁，所述下推爪36通过下机械臂34与消融机架37的外壁，所述上机械臂33和下机械臂34均与控制器连接，通过上推爪35和下推爪36通过机械臂将消融机架37固定在一个相对稳定的位置，也是促进天然气内管道42中的水合物消融的最佳位置，避免热量流失，降低电能的消耗。
实施例二：
如图6所示，一种天然气管道内水合物探测与消融水合物的方法，应用于实施例一所述的天然气管道内水合物探测与消融水合物的装置的控制器，所述控制器包括储存器和处理器；
存储器，用于存储程序指令；
处理器，用于运行所述程序指令，以执行以下步骤：
S1：通过液压连接件133调整上机架131和下机架132之间的间隙，并通过液压杆111驱使的万向滚轮112与天然气内管道42的外表面之间产生静摩擦；
具体的，在向天然气管道4中投放天然气管道内水合物探测与消 融水合物的装置之前，先通过液压连接件133调整上机架131和下机架132之间的间隙，即通过液压连接件133调整上机架131和下机架132合围成的中空体的大小，以使得传动机架13能够适用于不同口径的天燃气内管道，此时万向滚轮112应与天燃气内管道的外壁产生静摩擦，可以看作天然气管道内水合物探测与消融水合物的装置固定停留在天燃气内管道的某一个位置。
S2：通过驱动组件12驱使万向滚轮112带动天然气管道内水合物探测与消融水合物的装置沿天然气管道4运动；
具体的，在驱动组件12的驱动下，万向滚轮112应与天燃气内管道的外壁产生产生滚动摩擦，即天然气管道内水合物探测与消融水合物的装置沿着天然气管道4运动。
S3：获取温度探测器21发送的第一信号，判断温度是否低于预设范围，若是，则天然气管道内水合物探测与消融水合物的装置停止运动，执行S4，若否，则天然气管道内水合物探测与消融水合物的装置继续沿天然气管道4运动，执行S3；
具体的，所述第一信号为低温异常信号，在天然气管道内水合物探测与消融水合物的装置沿着天然气管道4运动的过程中，温度探测器21持续对天然气内管道42中的温度进行探测，当温度探测器21探测到天然气内管道42中的温度处于异常时(低温异常，约为2-4℃)，一般情况下，水合物的温度低于天然气的温度，则天然气管道4内水合物探测与消融水合物的装置停止运动，开始对该位置进行详细探测，若无发现，则天然气管道内水合物探测与消融水合物的 装置保持运动状态。
S4：通过扶正组件25的气缸251驱使支撑杆252向外伸出，以使得天然气内管道42的圆心与探测机架26的圆心重合，再通过旋转电机驱动旋转齿轮带动安装架上的温度探测器21绕天然气内管道42旋转；
具体的，当温度探测器21探测到有温度异常时，则万向滚轮112被刹停，此时万向滚轮112应与天燃气内管道的外壁产生静摩擦，通过扶正组件25的气缸251驱使支撑杆252向外伸出，支撑杆252通过末端的软触点与天然气外管道41或者天然气内管道42相抵接，以使得天然气内管道42的圆心与探测机架26的圆心重合，再通过旋转电机驱动旋转齿轮带动安装架上的温度探测器21绕天然气内管道42旋转，以准确判断水合物的生成情况，通过系统分析，得出最佳的消融方案。
S5：获得温度探测器21发送的第二信号，驱使上机械臂33驱使上推爪35与天然气外管道41的内壁的一端定连接、下机械臂34驱使下推爪36与天然气外管道41的内壁的另一端固定连接，以使得消融机架37固定在指定位置；
具体的，所述第二信号为温度探测器21探测的详细情况，根据第二信号详细分析，天然气内管道42中的水合物的情况，通过上推爪35和下推爪36通过机械臂将消融机架37固定在一个相对稳定的位置，也是促进天然气内管道42中的水合物消融的最佳位置，准备进行加热。
S6：驱使加热器31对天然气内管道42加热，同时获得定位器32发送的信号；
具体的，所述加热器31为微波加热器或者水下加热器，所述定位器32采用USBL超短基线定位系统，定位器32对水合物的位置进行准确定位，消融机架37上的加热器31可以根据系统系统分析得出最佳的消融方案开始对天然气内管道42中的水合物进行加热，例如天然气内管道42下方的水合物比较多，则靠近天然气内管道42下方加热器31则会较远离天然气内管道42下方加热器31的输出功率大。优选的，所述加热器31为微波加热器或者水下加热器，将对应的位置的温度加热至20℃以上，以使得水合物消融。
S7：获取温度探测器21发送的第三信号，判断温度是否低于预设范围，若是，执行S6；若否，则执行S2。
具体的，所述第三信号为温度信号，完成消融之后，再次使用温度探测器21对该位置进行探测，若没有发现异常低温情况(2-4℃)，则驱动组件12重新驱动万向滚轮112带动天然气管道内水合物探测与消融水合物的装置沿着天然气管道4运动，若仍有异常低温情况，则重新开始再进行一次加热。
对本领域的技术人员来说，可根据以上描述的技术方案以及构思，做出其它各种相应的改变以及形变，而所有的这些改变以及形变都应该属于本发明权利要求的保护范围之内。

Claims (10)

  1. 一种天然气管道内水合物探测与消融水合物的装置，其特征在于：包括若干用于沿天然气内管道运动的传动机构、用于探测天然气管道内水合物的探测机构、用于消融水合物的消融机构和控制器，所述传动机构包括传动机架、若干与天然气内管道外壁发生静摩擦的万向轮组件、驱动组件和弹性连接件，所述探测机构包括探测机架和探测组件，所述消融机构包括消融机架、消融组件和消融爪组件，所述万向轮组件沿圆周方向设置在传动机架的内壁，所述驱动组件与万向轮组件连接，所述探测机架和消融机架均通过弹性连接件与传动机架连接，所述探测组件设置在探测机架上，所述消融组件和消融爪组件均设置在消融机架上，所述万向轮组件、驱动组件、探测组件、消融组件和消融爪组件均与控制器连接。
  2. 如权利要求1所述的天然气管道内水合物探测与消融水合物的装置，其特征在于：所述万向轮组件包括沿圆周方向设置在传动机架上的液压杆和连接在液压杆上的万向滚轮，所述万向滚轮与驱动组件的输出端连接，所述液压杆与控制器连接。
  3. 如权利要求1所述的天然气管道内水合物探测与消融水合物的装置，其特征在于：所述探测组件包括温度探测器、安装架、旋转电机、旋转齿轮组和旋转齿圈，所述探测机架的内壁沿圆周方向向内延伸形成与旋转齿圈固定连接的凸轮，所述凸轮的两侧向内凹陷形成导向槽，所述温度探测器与旋转电机均设置在安装架的一端，所述安装架的另一端与导向槽滑动连接，所述旋转电机通过旋转齿轮组与旋转齿圈啮合连接，所述温度探测器和旋转电机均与控制器连接。
  4. 如权利要求3所述的天然气管道内水合物探测与消融水合物的装置，其特征在于：还包括扶正组件，所述扶正组件包括若干沿圆周方向设置在探测机架上的气缸和支撑杆，所述支撑杆通过气缸与探测机架连接。
  5. 如权利要求1所述的天然气管道内水合物探测与消融水合物的装置，其特征在于：所述消融组件包括若干加热器和定位器，所述定位器与消融机架固定连接，所述加热器沿圆周方向设置在消融机架的内壁上，所述加热器和定位器均与控制器连接。
  6. 如权利要求5所述的天然气管道内水合物探测与消融水合物的装置，其特征在于：所述加热器为微波加热器。
  7. 如权利要求1所述的天然气管道内水合物探测与消融水合物的装置，其特征在于：所述传动机构的数量为3，分别记为第一传动机构、第二传动机构和第三传动机构，所述第一传动机构通过弹性连接件与探测机架连接，探测机架通过弹性连接件与第二传动机构连接，第二传动机构通过弹性连接件与消融机架连接，消融机架通过弹性连接件与第三传动机构连接连接。
  8. 如权利要求7所述的天然气管道内水合物探测与消融水合物的装置，其特征在于：所述传动机架包括上机架、下机架和液压连接件，所述上机架通过液压连接件与下机架连接，所述液压连接件与控制器连接。
  9. 如权利要求1所述的天然气管道内水合物探测与消融水合物的装置，其特征在于：所述消融爪组件包括上机械臂、下机械臂、上 推爪和下推爪，所述上推爪通过上机械臂与消融机架的外壁连接，所述下推爪通过下机械臂与消融机架的外壁连接，所述上机械臂和下机械臂均与控制器连接。
  10. 一种天然气管道内水合物探测与消融水合物的方法，应用于天然气管道内水合物探测与消融水合物的装置的控制器，其特征在于：所述控制器包括储存器和处理器；
    储存器，用于存储程序指令；
    处理器，用于运行所述程序指令，以执行以下步骤：
    S1：通过液压连接件调整上机架和下机架之间的间隙，并通过液压杆驱使的万向滚轮与天然气内管道的外表面之间产生静摩擦；
    S2：通过驱动组件驱使万向滚轮带动天然气管道内水合物探测与消融水合物的装置沿天然气管道运动；
    S3：获取温度探测器发送的第一信号，判断温度是否低于预设范围，若是，则天然气管道内水合物探测与消融水合物的装置停止运动，执行S4，若否，则天然气管道内水合物探测与消融水合物的装置继续沿天然气管道运动，执行S2；
    S4：通过扶正组件的气缸驱使支撑杆向外伸出，以使得天然气内管道的圆心与探测机架的圆心重合，再通过旋转电机驱动旋转齿轮带动安装架上的温度探测器绕天然气内管道旋转；
    S5：获得温度探测器发送的第二信号，驱使上机械臂驱使上推爪与天然气外管道的内壁的一端固定连接、下机械臂驱使下推爪与天然气外管道的内壁的另一端固定连接，以使得消融机架固定在指定位 置；
    S6：驱使加热器对天然气内管道加热，同时获得定位器发送的信号；
    S7：获取温度探测器发送的第三信号，判断温度是否低于预设范围，若是，执行S6；若否，则执行S2。
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