Leak point location method of submarine oil pipeline based on acoustic ray compensation

Abstract

The invention discloses a seabed petroleum pipeline leakage point positioning method based on sound line compensation. The method comprises the following steps:: deploying a plurality of underwater sensor nodes with a pH value sensing function and a plurality of underwater robots with a moving function at a given seabed pipeline monitoring area, and deploying four static buoys on the water surface; setting a pH threshold for the underwater sensor detecting petroleum leakage to be PL, and detecting the pH value of the petroleum pipeline, when the pH value is lower than the threshold value PL, indicating that the petroleum leakage occurs, and conversely, carrying out periodic detection; after the leakage occurs, sending a request positioning pulse to the underwater robots by the underwater sensor nodes, carrying out a time stamp information interaction process between the underwater sensor nodes and the underwater robots; establishing a water acoustic propagation time difference equationbetween the underwater sensor nodes and the underwater robots, meanwhile, considering an acoustic line bending effect in the underwater environment, establishing a leakage points optimization problemunder the acoustic line bending effect and solving the leakage points optimization problem, and completing the accurate positioning of the leakage points.

Description

technical field [0001] The invention belongs to the technical field of safety monitoring of submarine oil pipelines, and in particular relates to a method for locating leakage points of submarine oil pipelines based on sound ray compensation. Background technique [0002] The submarine oil pipeline is the lifeline of the oil and gas production system, which is responsible for the important task of national oil and gas centralized transportation, and has important practical significance for ensuring my country's energy security. How to use underwater vehicles to quickly and accurately locate the leak point has important economic and social significance for reducing losses and pollution. [0003] From the prior art, it is found that the Chinese patent application number is 201510249428.4, and the name is: circular underwater fish-shaped robot underwater pipeline detection device and detection method, the method uses fish-shaped underwater robot for patrol monitoring, through i...

AI Technical Summary

Problems solved by technology

However, in the above sound wave ranging process, it is assumed that the sound wave is transmitted in a straight line and requires clock synchronization

Affected by unstable factors such as high noise and multipath interference, underwater clock synchronization is difficult to achieve accurately, and the unevenly distributed sound velocity profile in water causes sound ray bending

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