Inspection survey system applied to submarine natural gas pipeline

Abstract

The invention belongs to the technical field of natural gas pipeline supervision, and particularly relates to an inspection survey system applied to a submarine natural gas pipeline, which comprises a multi-sensor integration module, a high-precision positioning module, an underwater wireless communication module, a pipeline anomaly identification module, an inspection survey monitoring module, a robot evaluation module and a remote control center, real-time communication between the underwater inspection robot and the remote control center is realized through the underwater wireless communication module, and the pipeline abnormity identification module accurately identifies pipeline state abnormity based on pipeline state data, so that corresponding treatment measures can be taken in time; the inspection and survey process can be effectively monitored, the operation performance of the robot in the corresponding inspection and survey process can be reasonably evaluated, and the operation quality condition of the corresponding underwater inspection robot can be accurately analyzed and early warned in time, so that the management difficulty of management personnel is remarkably reduced; and the stable and smooth inspection and survey process of the submarine natural gas pipeline can be ensured.

Description

Technical Field

[0001] The invention relates to the technical field of natural gas pipeline supervision, and in particular to an inspection and survey system applied to submarine natural gas pipelines. Background Art

[0002] Submarine natural gas pipeline refers to a facility that continuously transports large amounts of natural gas on the seabed through a closed pipeline system. It is a major component of the offshore natural gas field development and production system and is currently the fastest, safest, most economical and reliable way to transport offshore natural gas.

[0003] During the use of submarine natural gas pipelines, they need to be inspected and surveyed regularly, mainly through underwater inspection robots. However, it is currently difficult to effectively monitor the inspection and survey process and reasonably evaluate the robot's operating performance during the inspection and survey process. It is also impossible to accurately analyze the operating quality of the corresponding underwater inspection robot and issue a timely warning, which increases the management difficulty for managers and has a low level of intelligence.

[0004] In view of the above technical defects, a solution is now proposed. Summary of the invention

[0005] The purpose of the present invention is to provide an inspection and survey system for submarine natural gas pipelines, which solves the problems that the prior art is difficult to effectively monitor the inspection and survey process of submarine natural gas pipelines and reasonably evaluate the robot operation performance of the corresponding inspection and survey process, and is unable to accurately analyze the operation quality status of the corresponding underwater inspection robot and provide timely warnings, and has a low level of intelligence.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] An inspection and survey system for submarine natural gas pipelines, comprising a multi-sensor integration module, a high-precision positioning module, an underwater wireless communication module, a pipeline anomaly recognition module, an inspection and survey monitoring module, a robot evaluation module and a remote control center;

[0008] The multi-sensor integrated module, underwater wireless communication module and high-precision positioning module are installed on the underwater inspection robot. The multi-sensor integrated module is used to collect pipeline status data when the underwater inspection robot inspects the submarine natural gas pipeline. The high-precision positioning module locates the position of the underwater inspection robot. The underwater wireless communication module sends the pipeline status data and positioning information to the remote control center.

[0009] The management personnel send corresponding control instructions through the remote control center, and the underwater wireless communication module receives the control instructions sent by the remote control center to remotely control the corresponding underwater inspection robot;

[0010] The pipeline anomaly recognition module identifies pipeline status anomalies based on pipeline status data received in real time, generates abnormal warning information when pipeline status anomalies are identified, and sends the abnormal warning information to the remote control center, which displays the abnormal warning information and issues corresponding warnings;

[0011] The inspection and survey monitoring module monitors the inspection and survey process of the underwater inspection robot on the submarine natural gas pipeline in real time, marks the submarine inspection and survey process of the corresponding underwater inspection robot as an inspection abnormality process or an inspection excellent table process through analysis, and sends the marking information of the submarine inspection and survey process of the corresponding underwater inspection robot to the remote control center;

[0012] The robot evaluation module analyzes the operating quality status of the corresponding underwater inspection robot, generates a robot early warning signal or a robot excellent evaluation signal of the corresponding underwater inspection robot through the analysis, and sends the robot early warning signal or the robot excellent evaluation signal of the corresponding underwater inspection robot to the remote control center.

[0013] Furthermore, the specific analysis process of the inspection, survey and monitoring module is as follows:

[0014] The actual inspection path of the corresponding seabed inspection and survey process and the standard inspection path set in advance are obtained, and the total number of path deviations of the corresponding underwater inspection robot in the corresponding seabed inspection and survey process is collected based on the actual inspection path and the standard inspection path and marked as a sea patrol frequency deviation value, and the sea patrol frequency deviation value is numerically compared with the corresponding preset sea patrol frequency deviation threshold value. If the sea patrol frequency deviation value exceeds the corresponding preset sea patrol frequency deviation threshold value, the corresponding seabed inspection and survey process is marked as an inspection deviation process;

[0015] If the patrol frequency deviation value does not exceed the corresponding preset patrol frequency deviation threshold, the patrol survey monitoring comprehensive evaluation and analysis is carried out to obtain the patrol survey comprehensive inspection value, and the patrol survey comprehensive inspection value is compared with the corresponding preset patrol survey comprehensive inspection threshold. If the patrol survey comprehensive inspection value exceeds the preset patrol survey comprehensive inspection threshold, the corresponding seabed patrol survey process is marked as a patrol abnormality process; if the patrol survey comprehensive inspection value does not exceed the preset patrol survey comprehensive inspection threshold, the corresponding seabed patrol survey process is marked as a patrol excellence process.

[0016] Furthermore, the specific analysis process of comprehensive evaluation and analysis of inspection, survey and monitoring is as follows:

[0017] When the corresponding underwater inspection robot deviates from the path, the deviation correction time and the maximum deviation distance are collected and marked as the deviation correction time value and the deviation distance amplitude, respectively. The deviation correction time value and the deviation distance amplitude are numerically compared with the preset deviation correction time threshold and the preset deviation distance amplitude threshold, respectively. If the deviation correction time value or the deviation distance amplitude exceeds the corresponding preset threshold, a severe deviation symbol YP-1 is assigned, and the number of times the severe deviation symbol YP-1 is assigned in the corresponding seabed inspection process is obtained and marked as a severe deviation value.

[0018] The real-time running speed of the corresponding underwater inspection robot is collected, and the deviation value of the real-time running speed compared to the set standard running speed is marked as the speed deviation value, and the average of all the speed deviation values ​​of the corresponding underwater inspection robot during the corresponding seabed inspection process is calculated to obtain the inspection and survey speed table value, and the proportion of the speed deviation values ​​that exceed the preset speed deviation threshold during the corresponding seabed inspection process is marked as the inspection and survey speed difference value; the inspection and survey comprehensive inspection value is obtained by numerically calculating the sea patrol frequency deviation value, the severe frequency deviation value, the inspection and survey speed table value and the inspection and survey speed difference value.

[0019] Furthermore, the specific analysis process of the robot evaluation module includes:

[0020] A monitoring period is set, the number of inspection abnormality processes corresponding to the corresponding underwater inspection robot within the monitoring period is marked as the underwater inspection abnormality detection value, and the underwater inspection abnormality detection value is calculated by ratioing the total number of inspections and surveys of the submarine natural gas pipeline by the corresponding underwater inspection robot within the monitoring period to obtain the underwater inspection abnormality detection percentage;

[0021] In the process of submarine natural gas pipeline inspection and survey, when the underwater inspection robot communicates with the remote control center, the communication delay time is collected, and all the communication delay time of the corresponding underwater inspection robot in the monitoring period is averaged and calculated to obtain the communication delay value; and the time difference between the current time and the time when the corresponding underwater inspection robot was inspected and maintained is calculated to obtain the maintenance interval value;

[0022] The robot evaluation value is obtained by numerically calculating the underwater patrol abnormality detection value, the underwater patrol abnormality detection occupancy value, the communication delay value and the maintenance interval value, and the robot evaluation value is numerically compared with the preset robot evaluation threshold. If the robot evaluation value exceeds the preset robot evaluation threshold, a robot warning signal of the corresponding underwater inspection robot is generated; if the robot evaluation value does not exceed the preset robot evaluation threshold, a robot excellent evaluation signal of the corresponding underwater inspection robot is generated.

[0023] Furthermore, the remote control center is connected to the pipeline patrol analysis module and the pipeline inspection planning module in communication. The pipeline patrol analysis module analyzes the execution management status of the patrol survey for the corresponding submarine natural gas pipeline during the detection period, generates a reasonable patrol signal or an unreasonable patrol signal through analysis, and sends the unreasonable patrol signal to the remote control center, and sends the reasonable patrol signal to the pipeline inspection planning module;

[0024] When the pipeline inspection planning module receives a reasonable inspection control signal, it performs pipeline inspection planning analysis, determines whether to generate an enhanced inspection signal through analysis, and sends the enhanced inspection signal to the remote control center when it is generated. When the remote control center receives the enhanced inspection signal, it issues a corresponding warning.

[0025] Furthermore, the specific analysis process of the pipeline patrol and control analysis module is as follows:

[0026] The interval between two adjacent inspections and surveys of the corresponding submarine natural gas pipeline during the inspection period is collected and marked as the inspection interval value, and the inspection interval value is numerically compared with the corresponding preset inspection interval value range. If the inspection interval value is not within the corresponding preset inspection interval value range, the corresponding inspection interval value is marked as the inspection abnormality interval value;

[0027] The number of patrol abnormal interval values ​​in the detection period is marked as the patrol abnormal table value, and the deviation value of the patrol abnormal interval value compared with the corresponding preset patrol interval value range is marked as the patrol abnormal deviation value, and the patrol abnormal deviation value is calculated by averaging all patrol abnormal deviation values ​​to obtain the patrol segregation value;

[0028] The patrol control analysis value is obtained by numerically calculating the patrol anomaly table value and the patrol segregation value, and the patrol control analysis value is numerically compared with the preset patrol control analysis threshold. If the patrol control analysis value exceeds the preset patrol control analysis threshold, an unreasonable patrol control signal is generated; if the patrol control analysis value does not exceed the preset patrol control analysis threshold, a reasonable patrol control signal is generated.

[0029] Furthermore, the specific analysis process of the pipeline inspection planning module is as follows:

[0030] At the end of the corresponding inspection and survey of the submarine natural gas pipeline, all abnormal warning information generated during the corresponding inspection and survey is collected, and the existing abnormalities are classified based on the abnormal warning information, and the number of occurrences of the corresponding type of abnormalities during the corresponding inspection and survey is marked as the abnormal performance value;

[0031] A set of preset weight values ​​is set in advance for each type of abnormality, and the product of the abnormal performance value of the corresponding type of abnormality in the corresponding inspection and survey process and the corresponding preset weight value is marked as the abnormal table value, and the abnormal table values ​​of all types of abnormalities existing in the corresponding inspection and survey process are summed up to obtain the abnormal table value;

[0032] Obtain the abnormal surface condition values ​​of all inspection and survey processes for the corresponding submarine natural gas pipeline during the inspection period, calculate the average of all abnormal surface condition values ​​to obtain the pipeline hidden danger value; and compare the abnormal surface condition value with the preset abnormal surface condition threshold. If the abnormal surface condition value exceeds the preset abnormal surface condition threshold, the corresponding abnormal surface condition value is marked as an abnormal surface risk value, and the number ratio of abnormal surface risk values ​​during the inspection period is marked as the pipeline risk number inspection value;

[0033] The pipeline hidden danger value and the pipeline risk inspection value are numerically compared with the preset pipeline hidden danger threshold and the preset pipeline risk inspection threshold respectively. If the pipeline hidden danger value or the pipeline risk inspection value exceeds the corresponding preset threshold, an enhanced inspection signal is generated.

[0034] Compared with the prior art, the present invention has the following beneficial effects:

[0035] 1. In the present invention, the underwater wireless communication module is used to realize the real-time communication between the underwater inspection robot and the remote control center, so as to facilitate the operation and control of the underwater inspection robot and grasp the pipeline inspection and survey information in real time. The pipeline abnormality identification module accurately identifies the pipeline state abnormality based on the pipeline state data, so as to make corresponding treatment measures in time. The inspection and survey monitoring module effectively monitors the inspection and survey process and reasonably evaluates the robot operation performance of the corresponding inspection and survey process. The robot evaluation module accurately analyzes the operation quality of the corresponding underwater inspection robot, which significantly reduces the management difficulty of the management personnel and is conducive to ensuring the stable and smooth progress of the submarine natural gas pipeline inspection and survey process.

[0036] 2. In the present invention, the pipeline patrol and control analysis module is used to analyze the execution management status of the patrol and survey of the corresponding submarine natural gas pipeline during the detection period. When an unreasonable patrol and control signal is generated, the patrol and survey execution supervision of the corresponding submarine natural gas pipeline is strengthened to ensure that the subsequent patrol and survey of the corresponding submarine natural gas pipeline is carried out on time. When a reasonable patrol and control signal is generated, the pipeline patrol and inspection planning module is used to analyze whether to generate an enhanced patrol and inspection signal. When the enhanced patrol and inspection signal is generated, the patrol and survey frequency of the corresponding submarine natural gas pipeline is increased, which is conducive to the reasonable patrol and survey planning of the corresponding submarine natural gas pipeline, and further ensures the safe and stable operation of the corresponding submarine natural gas pipeline, and has a high degree of intelligence. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to facilitate understanding by those skilled in the art, the present invention is further described below in conjunction with the accompanying drawings;

[0038] Figure 1 This is a system block diagram of Embodiment 1 of the present invention;

[0039] Figure 2This is a system block diagram of Embodiment 2 and Embodiment 3 of the present invention. DETAILED DESCRIPTION

[0040] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0041] Embodiment 1: Figure 1 As shown, the present invention proposes a patrol and survey system for submarine natural gas pipelines, including a multi-sensor integration module, a high-precision positioning module, an underwater wireless communication module, a pipeline anomaly recognition module, a patrol and survey monitoring module, a robot evaluation module and a remote control center;

[0042] The multi-sensor integrated module, underwater wireless communication module and high-precision positioning module are installed on the underwater inspection robot (it should be noted that the inspection robot is made of high-pressure and corrosion-resistant materials, has a powerful power system and flexible mechanical arms, can move freely in the complex environment of the seabed, and conduct close inspections of submarine natural gas pipelines);

[0043] The multi-sensor integrated module is used to collect pipeline status data when the underwater inspection robot inspects the submarine natural gas pipeline (the multi-sensor integrated module integrates ultrasonic sensors, magnetometers, infrared sensors, etc., which are used to survey the key status parameters of the submarine natural gas pipeline, such as pressure, temperature, corrosion, leakage, etc.);

[0044] The high-precision positioning module locates the position of the underwater inspection robot. It should be noted that the high-precision positioning module integrates GPS, inertial navigation system and acoustic positioning technology, which is conducive to the precise positioning of the inspection robot and ensures the accuracy and reliability of the inspection path. The underwater wireless communication module sends the pipeline status data and positioning information to the remote control center, so that managers can grasp the submarine natural gas pipeline inspection and survey information in real time and in detail.

[0045] The management personnel send corresponding control instructions through the remote control center, and the underwater wireless communication module receives the control instructions sent by the remote control center to remotely control the corresponding underwater inspection robot; that is, real-time communication between the underwater inspection robot and the remote control center is achieved through the underwater wireless communication module, and the management personnel can control the inspection robot through the remote operation interface, reducing the difficulty of operation and management of the underwater robot.

[0046] The pipeline anomaly identification module identifies pipeline status anomalies (such as corrosion anomalies, leakage anomalies, etc.) based on the pipeline status data received in real time. When an abnormal pipeline status is identified, it generates abnormal warning information and sends the abnormal warning information to the remote control center. The remote control center displays the abnormal warning information and issues corresponding warnings. It can display and warn of abnormalities of submarine natural gas pipelines in real time during the inspection and survey process, so as to remind management personnel to locate abnormalities in time and take corresponding treatment measures, so as to minimize the adverse effects of abnormalities on the operation of natural gas pipelines.

[0047] The inspection and survey monitoring module monitors the inspection and survey process of the submarine natural gas pipeline by the underwater inspection robot in real time. By analyzing, the submarine inspection and survey process of the corresponding underwater inspection robot is marked as an inspection abnormality process or an inspection excellent table process, and the marking information of the submarine inspection and survey process of the corresponding underwater inspection robot is sent to the remote control center. It can not only effectively monitor the operation process of the corresponding underwater inspection robot each time and reasonably evaluate its operation effect, but also help to judge the performance status of the corresponding underwater inspection robot in the future, with a high degree of intelligence; the specific analysis process of the inspection and survey monitoring module is as follows:

[0048] The actual inspection path of the corresponding seabed inspection and survey process and the standard inspection path set in advance are obtained. Based on the actual inspection path and the standard inspection path, the total number of path deviations of the corresponding underwater inspection robot in the corresponding seabed inspection and survey process is collected and marked as a sea patrol frequency deviation value. The sea patrol frequency deviation value is numerically compared with the corresponding preset sea patrol frequency deviation threshold. If the sea patrol frequency deviation value exceeds the corresponding preset sea patrol frequency deviation threshold, it indicates that the inspection operation status of the corresponding seabed inspection and survey process of the corresponding underwater inspection robot is not good, and the corresponding seabed inspection and survey process is marked as an inspection abnormality process.

[0049] If the patrol frequency deviation value does not exceed the corresponding preset patrol frequency deviation threshold, then when the corresponding underwater inspection robot deviates from the path, the deviation correction time and the maximum deviation distance are collected and marked as the deviation correction time value and the deviation distance amplitude, respectively. The deviation correction time value and the deviation distance amplitude are numerically compared with the preset deviation correction time threshold and the preset deviation distance amplitude threshold, respectively. If the deviation correction time value or the deviation distance amplitude exceeds the corresponding preset threshold, indicating that the corresponding path deviation is serious, a severe deviation symbol YP-1 is assigned, and the number of times the severe deviation symbol YP-1 is assigned during the corresponding seabed inspection process is obtained and marked as a severe frequency deviation value;

[0050] The real-time running speed of the corresponding underwater inspection robot is collected, and the deviation value of the real-time running speed compared with the set standard running speed is marked as the speed deviation value, and the average of all the speed deviation values ​​of the corresponding underwater inspection robot in the corresponding seabed inspection process is calculated to obtain the inspection and survey speed table value, and the proportion of the speed deviation values ​​that exceed the preset speed deviation threshold in the corresponding seabed inspection process is marked as the inspection and survey speed deviation value;

[0051] By formula The patrol frequency deviation value RS, the heavy frequency deviation value FX, the patrol speed table value YN and the patrol speed value SW are numerically calculated to obtain the patrol comprehensive inspection value YL; wherein, h1, h2, h3 and h4 are preset proportional coefficients, and h4>h2>h1>h3>0; and the larger the value of the patrol comprehensive inspection value YL, the worse the patrol operation condition of the corresponding seabed patrol process of the underwater patrol robot is;

[0052] The inspection and survey comprehensive inspection value YL is numerically compared with the corresponding preset inspection and survey comprehensive inspection threshold. If the inspection and survey comprehensive inspection value exceeds the preset inspection and survey comprehensive inspection threshold, it indicates that the inspection operation status of the corresponding seabed inspection and survey process of the corresponding underwater inspection robot is not good, and the corresponding seabed inspection and survey process is marked as an inspection abnormality process; if the inspection and survey comprehensive inspection value YL does not exceed the preset inspection and survey comprehensive inspection threshold, it indicates that the inspection operation status of the corresponding seabed inspection and survey process of the corresponding underwater inspection robot is good, and the corresponding seabed inspection and survey process is marked as an inspection excellent process.

[0053] The robot evaluation module analyzes the operation quality status of the corresponding underwater inspection robot, generates a robot warning signal or a robot evaluation signal of the corresponding underwater inspection robot through analysis, and sends the robot warning signal or the robot evaluation signal of the corresponding underwater inspection robot to the remote control center. When the management personnel receive the robot warning signal, they will promptly inspect and maintain the corresponding underwater inspection robot, or scrap the corresponding underwater inspection robot as needed, which is conducive to ensuring the stable and smooth progress of the submarine natural gas pipeline inspection and survey process; the specific analysis process of the robot evaluation module is as follows:

[0054] A monitoring period is set, preferably, the monitoring period is sixty days; the number of inspection abnormality processes corresponding to the corresponding underwater inspection robot within the monitoring period is marked as the underwater inspection abnormality detection value, and the underwater inspection abnormality detection value is calculated by ratio with the total number of inspections and surveys of the submarine natural gas pipeline by the corresponding underwater inspection robot within the monitoring period to obtain the underwater inspection abnormality detection ratio;

[0055] In addition, during the inspection and survey of submarine natural gas pipelines, when the underwater inspection robot communicates with the remote control center, the communication delay time is collected, and all the communication delay times of the corresponding underwater inspection robot within the monitoring period are averaged and calculated to obtain the communication delay value; wherein, the larger the value of the communication delay value is, the less smooth the communication between the corresponding underwater inspection robot and the remote control center is within the monitoring period;

[0056] And collect the time when the corresponding underwater inspection robot was inspected and maintained last, calculate the time difference between the current time and the time when the corresponding underwater inspection robot was inspected and maintained last to obtain the maintenance interval value;

[0057] By formula The underwater inspection value QY, the underwater inspection value NS, the communication delay value SK and the maintenance interval value LF are numerically calculated to obtain the robot evaluation value QF; wherein, my1, my2, my3 and my4 are preset proportional coefficients, my2>my1>my3>my4>0; and the larger the value of the robot evaluation value QF, the greater the probability that the current operation quality status of the corresponding underwater inspection robot is abnormal, and the more timely the inspection and maintenance of the corresponding underwater inspection robot is required;

[0058] The robot evaluation value QF is numerically compared with the preset robot evaluation threshold. If the robot evaluation value QF exceeds the preset robot evaluation threshold, it indicates that there is a high probability that the current operating quality status of the corresponding underwater inspection robot is abnormal, and a robot warning signal of the corresponding underwater inspection robot is generated; if the robot evaluation value QF does not exceed the preset robot evaluation threshold, it indicates that there is a low probability that the current operating quality status of the corresponding underwater inspection robot is abnormal, and a robot excellent evaluation signal of the corresponding underwater inspection robot is generated.

[0059] Embodiment 2: Figure 2 As shown, the difference between this embodiment and the first embodiment is that the remote control center is connected to the pipeline patrol and control analysis module in communication, and the pipeline patrol and control analysis module analyzes the execution management status of the patrol and survey of the corresponding submarine natural gas pipeline during the detection period, generates a reasonable patrol and control signal or an unreasonable patrol and control signal through analysis, and sends the unreasonable patrol and control signal to the remote control center;

[0060] When the remote control center receives an unreasonable patrol signal, it issues a corresponding warning to remind the management personnel to strengthen the subsequent patrol inspection and supervision of the corresponding submarine natural gas pipeline, so as to ensure that the patrol inspection and survey of the corresponding submarine natural gas pipeline is carried out on time. The specific analysis process of the pipeline patrol analysis module is as follows:

[0061] Collect the interval between two adjacent inspections and surveys of the corresponding submarine natural gas pipeline within the inspection period (preferably, the inspection period is forty-five days) and mark it as the inspection interval value, compare the inspection interval value with the corresponding preset inspection interval value range, and if the inspection interval value is not within the corresponding preset inspection interval value range, mark the corresponding inspection interval value as the inspection abnormality interval value;

[0062] The number of patrol abnormal interval values ​​in the detection period is marked as the patrol abnormal table value, and the deviation value of the patrol abnormal interval value compared with the corresponding preset patrol interval value range is marked as the patrol abnormal deviation value, and the patrol abnormal deviation value is calculated by averaging all patrol abnormal deviation values ​​to obtain the patrol segregation value;

[0063] The patrol analysis value WP is obtained by numerically calculating the patrol abnormality value WF and the patrol segregation value WS through the formula WP=rw1*WF+rw2*WS; wherein rw1 and rw2 are preset proportional coefficients, rw1>rw2>0; and the larger the value of the patrol analysis value WP is, the less accurate the execution time of the patrol survey of the corresponding submarine natural gas pipeline during the detection period is, and the worse the patrol survey execution management status is;

[0064] The patrol and control analysis value WP is numerically compared with the preset patrol and control analysis threshold. If the patrol and control analysis value WP exceeds the preset patrol and control analysis threshold, it indicates that the execution time of the patrol and survey of the corresponding submarine natural gas pipeline during the detection period is not accurate, and the patrol and survey execution management is poor, then an unreasonable patrol and control signal is generated; if the patrol and control analysis value WP does not exceed the preset patrol and control analysis threshold, it indicates that the execution time of the patrol and survey of the corresponding submarine natural gas pipeline during the detection period is relatively accurate, and the patrol and survey execution management is good, then a reasonable patrol and control signal is generated.

[0065] Embodiment 3: Figure 2 As shown, the difference between this embodiment and the first and second embodiments is that the remote control center is connected to the pipeline inspection planning module through communication, and the pipeline inspection analysis module sends the inspection reasonable signal to the pipeline inspection planning module. When the pipeline inspection planning module receives the inspection reasonable signal, it performs pipeline inspection planning analysis, and determines whether to generate an enhanced inspection signal through analysis, and sends the enhanced inspection signal to the remote control center when it is generated.

[0066] When the remote control center receives an unreasonable patrol signal, it issues a corresponding warning to remind management personnel to increase the patrol survey frequency of the corresponding submarine natural gas pipeline in the future and shorten the interval between two adjacent patrol surveys, which is conducive to the reasonable patrol survey planning of the corresponding submarine natural gas pipeline and further ensures the safe and stable operation of the corresponding submarine natural gas pipeline. The specific analysis process of the pipeline patrol planning module is as follows:

[0067] At the end of the corresponding inspection and survey of the submarine natural gas pipeline, all abnormal warning information generated in the corresponding inspection and survey process is collected, and the abnormalities existing in the corresponding inspection and survey process are classified based on all abnormal warning information, and the number of occurrences of the corresponding type of abnormalities in the corresponding inspection and survey process is marked as the abnormal performance value;

[0068] A set of preset weight values ​​is set in advance for each type of abnormality, wherein the values ​​of the preset weight values ​​are all positive numbers, and the greater the adverse impact of the corresponding type of abnormality on the safe and stable operation of the submarine natural gas pipeline, the greater the value of the preset weight value that matches it;

[0069] The product of the abnormal performance value of the corresponding type of abnormality in the corresponding inspection and survey process and the corresponding preset weight value is marked as the abnormal table analysis value, and the abnormal table analysis values ​​of all types of abnormalities existing in the corresponding inspection and survey process are summed up to obtain the abnormal table condition value;

[0070] The abnormal condition value is numerically compared with the preset abnormal condition threshold. If the abnormal condition value exceeds the preset abnormal condition threshold, the corresponding abnormal condition value is marked as an abnormal risk value, and the number ratio of abnormal risk values ​​in the detection period is marked as the risk inspection value;

[0071] Obtain the abnormal surface condition values ​​of all inspection and survey processes for the corresponding submarine natural gas pipeline during the inspection period, and calculate the average of all abnormal surface condition values ​​to obtain the pipeline hidden danger value;

[0072] The pipeline hidden danger value and the pipeline risk inspection value are numerically compared with the preset pipeline hidden danger threshold and the preset pipeline risk inspection threshold. If the pipeline hidden danger value or the pipeline risk inspection value exceeds the corresponding preset threshold, it indicates that the corresponding submarine natural gas pipeline has a greater safety hazard and needs to increase the inspection and survey frequency, then an enhanced inspection signal is generated.

[0073] The working principle of the present invention is as follows: when in use, the underwater inspection robot is used to inspect and survey the submarine natural gas pipeline, the underwater wireless communication module realizes real-time communication between the underwater inspection robot and the remote control center, the high-precision positioning module positions the underwater inspection robot to facilitate the accuracy of the inspection path, the multi-sensor integration module collects pipeline status data, the pipeline abnormality identification module identifies pipeline status abnormalities based on the pipeline status data received in real time, and enables the remote control center to display and warn when the pipeline status abnormality is identified, and timely locates the abnormality and takes corresponding treatment measures to minimize the adverse effects on the operation of the natural gas pipeline caused by the abnormality, and the underwater inspection robot is used to monitor the inspection and survey process of the submarine natural gas pipeline in real time through the inspection and survey monitoring module and reasonably evaluate its operation effect, the robot evaluation module analyzes the operation quality status of the corresponding underwater inspection robot, and inspects, maintains or scraps the corresponding underwater inspection robot when the robot warning signal is generated, significantly reducing the management difficulty of the management personnel, further ensuring the stable and smooth progress of the submarine natural gas pipeline inspection and survey process, and having a high degree of intelligence.

[0074] The above formulas are all dimensionless and numerical calculations. The formula is a formula obtained by collecting a large amount of data and performing software simulation to obtain the most recent real situation. The preset parameters in the formula are set by technicians in this field according to actual conditions. The preferred embodiments of the present invention disclosed above are only used to help explain the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to only specific implementation methods. Obviously, many modifications and changes can be made according to the contents of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that technicians in the relevant technical field can understand and use the present invention well. The present invention is only limited by the claims and their full scope and equivalents.

Claims

1. A patrol and survey system for submarine natural gas pipelines, characterized in that: It includes multi-sensor integration module, high-precision positioning module, underwater wireless communication module, pipeline anomaly recognition module, inspection and survey monitoring module, robot evaluation module and remote control center; The multi-sensor integrated module, underwater wireless communication module and high-precision positioning module are installed on the underwater inspection robot. The multi-sensor integrated module is used to collect pipeline status data when the underwater inspection robot inspects the submarine natural gas pipeline. The high-precision positioning module locates the position of the underwater inspection robot. The underwater wireless communication module sends the pipeline status data and positioning information to the remote control center. The management personnel send corresponding control instructions through the remote control center, and the underwater wireless communication module receives the control instructions sent by the remote control center to remotely control the corresponding underwater inspection robot; The pipeline anomaly recognition module identifies pipeline status anomalies based on pipeline status data received in real time, generates abnormal warning information when pipeline status anomalies are identified, and sends the abnormal warning information to the remote control center, which displays the abnormal warning information and issues corresponding warnings; The inspection and survey monitoring module monitors the inspection and survey process of the underwater inspection robot on the submarine natural gas pipeline in real time, marks the submarine inspection and survey process of the corresponding underwater inspection robot as an inspection abnormality process or an inspection excellent table process through analysis, and sends the marking information of the submarine inspection and survey process of the corresponding underwater inspection robot to the remote control center; The robot evaluation module analyzes the operating quality status of the corresponding underwater inspection robot, generates a robot early warning signal or a robot excellent evaluation signal of the corresponding underwater inspection robot through the analysis, and sends the robot early warning signal or the robot excellent evaluation signal of the corresponding underwater inspection robot to the remote control center.

2. The inspection and survey system for submarine natural gas pipelines according to claim 1 is characterized in that: The specific analysis process of the inspection, survey and monitoring module is as follows: The actual inspection path of the corresponding seabed inspection and survey process and the standard inspection path set in advance are obtained. Based on the actual inspection path and the standard inspection path, the total number of path deviations of the corresponding underwater inspection robot in the corresponding seabed inspection and survey process is collected and marked as the sea patrol frequency deviation value. If the sea patrol frequency deviation value exceeds the corresponding preset sea patrol frequency deviation threshold, the corresponding seabed inspection and survey process is marked as an inspection deviation process; If the patrol frequency deviation value does not exceed the corresponding preset patrol frequency deviation threshold, the patrol survey monitoring comprehensive evaluation and analysis is performed to obtain the patrol survey comprehensive inspection value. If the patrol survey comprehensive inspection value exceeds the preset patrol survey comprehensive inspection threshold, the corresponding seabed patrol survey process is marked as a patrol abnormality process. If the patrol survey comprehensive inspection value does not exceed the preset patrol survey comprehensive inspection threshold, the corresponding seabed patrol survey process will be marked as a patrol excellent table process.

3. The inspection and survey system for submarine natural gas pipelines according to claim 2 is characterized in that: The specific analysis process of comprehensive evaluation and analysis of inspection, survey and monitoring is as follows: When the corresponding underwater inspection robot deviates from the path, the deviation correction time and the maximum deviation distance are collected and marked as the deviation correction time value and the deviation distance amplitude respectively. If the deviation correction time value or the deviation distance amplitude exceeds the corresponding preset threshold, a severe deviation symbol YP-1 is assigned, and the number of times the severe deviation symbol YP-1 is assigned during the corresponding seabed inspection process is obtained and marked as the severe deviation frequency value; The real-time running speed of the corresponding underwater inspection robot is collected, and the deviation value of the real-time running speed compared to the set standard running speed is marked as the speed deviation value, and the average of all the speed deviation values ​​of the corresponding underwater inspection robot during the corresponding seabed inspection process is calculated to obtain the inspection and survey speed table value, and the proportion of the speed deviation values ​​that exceed the preset speed deviation threshold during the corresponding seabed inspection process is marked as the inspection and survey speed difference value; the inspection and survey comprehensive inspection value is obtained by numerically calculating the sea patrol frequency deviation value, the severe frequency deviation value, the inspection and survey speed table value and the inspection and survey speed difference value.

4. The inspection and survey system for submarine natural gas pipelines according to claim 1 is characterized in that: The specific analysis process of the robot evaluation module includes: A monitoring period is set, the number of inspection abnormality processes corresponding to the corresponding underwater inspection robot within the monitoring period is marked as the underwater inspection abnormality detection value, and the underwater inspection abnormality detection value is calculated by ratioing the total number of inspections and surveys of the submarine natural gas pipeline by the corresponding underwater inspection robot within the monitoring period to obtain the underwater inspection abnormality detection percentage; In the process of submarine natural gas pipeline inspection and survey, when the underwater inspection robot communicates with the remote control center, the communication delay time is collected, and all the communication delay time of the corresponding underwater inspection robot in the monitoring period is averaged and calculated to obtain the communication delay value; and the time difference between the current time and the time when the corresponding underwater inspection robot was inspected and maintained is calculated to obtain the maintenance interval value; The robot evaluation value is obtained by numerically calculating the underwater patrol abnormality detection value, the underwater patrol abnormality detection occupancy value, the communication delay value and the maintenance interval value. If the robot evaluation value exceeds the preset robot evaluation threshold, a robot warning signal of the corresponding underwater inspection robot is generated; if the robot evaluation value does not exceed the preset robot evaluation threshold, a robot excellent evaluation signal of the corresponding underwater inspection robot is generated.

5. The inspection and survey system for submarine natural gas pipelines according to claim 1 is characterized in that: The remote control center is connected to the pipeline patrol analysis module and the pipeline inspection planning module through communication. The pipeline patrol analysis module analyzes the execution management status of the patrol survey for the corresponding submarine natural gas pipeline during the detection period, generates a reasonable patrol signal or an unreasonable patrol signal through analysis, and sends the unreasonable patrol signal to the remote control center, and sends the reasonable patrol signal to the pipeline inspection planning module; When the pipeline inspection planning module receives a reasonable inspection control signal, it performs pipeline inspection planning analysis, determines whether to generate an enhanced inspection signal through analysis, and sends the enhanced inspection signal to the remote control center when it is generated. When the remote control center receives the enhanced inspection signal, it issues a corresponding warning.

6. The inspection and survey system for submarine natural gas pipelines according to claim 5 is characterized in that: The specific analysis process of the pipeline patrol analysis module is as follows: The interval between two adjacent inspections and surveys of the corresponding submarine natural gas pipeline during the inspection period is collected and marked as the inspection interval value; if the inspection interval value is not within the corresponding preset inspection interval value range, the corresponding inspection interval value is marked as the inspection abnormality interval value; The number of patrol abnormal interval values ​​in the detection period is marked as the patrol abnormal table value, and the deviation value of the patrol abnormal interval value compared with the corresponding preset patrol interval value range is marked as the patrol abnormal deviation value, and the patrol abnormal deviation value is calculated by averaging all patrol abnormal deviation values ​​to obtain the patrol segregation value; The patrol control analysis value is obtained by numerically calculating the patrol anomaly value and the patrol segregation value. If the patrol control analysis value exceeds the preset patrol control analysis threshold, an unreasonable patrol control signal is generated; if the patrol control analysis value does not exceed the preset patrol control analysis threshold, a reasonable patrol control signal is generated.

7. The inspection and survey system for submarine natural gas pipelines according to claim 5 is characterized in that: The specific analysis process of the pipeline inspection planning module is as follows: At the end of the corresponding inspection and survey of the submarine natural gas pipeline, all abnormal warning information generated during the corresponding inspection and survey is collected, and the existing abnormalities are classified based on the abnormal warning information, and the number of occurrences of the corresponding type of abnormalities during the corresponding inspection and survey is marked as the abnormal performance value; A set of preset weight values ​​is set in advance for each type of abnormality, and the product of the abnormal performance value of the corresponding type of abnormality in the corresponding inspection and survey process and the corresponding preset weight value is marked as the abnormal table value, and the abnormal table values ​​of all types of abnormalities existing in the corresponding inspection and survey process are summed up to obtain the abnormal table value; The abnormal surface condition values ​​of all inspection and survey processes for the corresponding submarine natural gas pipeline during the inspection period are obtained, and the average of all abnormal surface condition values ​​is calculated to obtain the pipeline hidden danger value; and the abnormal surface condition value is numerically compared with the preset abnormal surface condition threshold. If the abnormal surface condition value exceeds the preset abnormal surface condition threshold, the corresponding abnormal surface condition value is marked as an abnormal surface risk value, and the number ratio of abnormal surface risk values ​​during the inspection period is marked as the pipeline risk number inspection value; if the pipeline hidden danger value or the pipeline risk number inspection value exceeds the corresponding preset threshold, an enhanced inspection signal is generated.

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