Pipeline deformation detection device combining microwave imaging with ray positioning and use method

Abstract

The invention discloses a pipeline deformation detection device combining microwave imaging with ray positioning and a use method, and relates to the technical field of pipeline deformation detection.The pipeline deformation detection device comprises a deformation positioning emitter and a positioning receiver which are connected with each other, the deformation positioning emitter is carried on a pipe cleaner in a target pipeline, and the positioning receiver is carried on a pipe cleaner in the target pipeline; wherein the deformation positioning transmitter is used for carrying out deformation monitoring along with the movement of the pipe cleaner in a target pipeline and obtaining a detection result, the detection result comprises abnormal deformation and normal deformation, and the deformation positioning transmitter is also used for transmitting the detection result and positioning information of the detection result to the positioning receiver when the detection result is abnormal deformation; the positioning receiver is used for receiving the detection result and the positioning information, acquiring the deformation information from the detection result and acquiring the earth surface position from the positioning information; the deformation positioning emitter comprises a microwave imager, a controller, an electromagnetic generator and a ray generator, and the microwave imager, the electromagnetic generator and the ray generator are all connected with the controller; the problems that according to an existing diameter measuring plate method, self-deformation is generated due to collision, the pipe wall is damaged, and positioning of the pipeline deformation position is not accurate enough are solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of pipeline deformation detection, and more particularly to a pipeline deformation detection device using microwave imaging combined with ray positioning and a use method thereof. BACKGROUND

[0002] Long-distance pipelines have become one of the five major transportation modes, and the safety of oil and gas pipelines is related to energy safety, and plays an indispensable important role in the field of energy (oil and gas) transportation. During the construction and operation of the pipeline, due to the lack of the body, manufacturing defects, environmental interference, third-party damage or operation influence, problems such as deformation, folding, fatigue, corrosion and inclusion are prone to occur, which will increase the internal medium resistance, and the corrosion products in the pipeline, the body deformation or ice blockage and the like may cause the pigging (detection) device to be blocked, resulting in unstable production. If the above problems cannot be accurately detected, evaluated and effective maintenance measures are taken, with the increase of the service life, the buckling deformation problem of the pipeline will become more and more serious, and even a pipeline rupture accident may be caused. Therefore, it is necessary to effectively detect the related problems, which requires effective tracking and positioning of the detector, so that the unacceptable deformation, blocking and the like can be found out for timely maintenance and unblocking.

[0003] After determining the pipeline deformation, the movement of the pigging device is effectively tracked or real-time tracking is carried out to find the accurate position of the pigging device at a certain period of time, which is of great significance to the safety of oil and gas pipelines. At present, the development direction of this field mainly lies in reducing the manpower, material resources and financial resources as much as possible, while realizing online monitoring, eliminating the influence of objective conditions such as environment, weather, traffic and the like in the pigging process, improving the durability, reliability, operation convenience and safety, reducing the false alarm rate, personnel requirements, ensuring personnel safety and reducing the operation cost. In order to improve the accuracy and efficiency of the pipeline diameter deformation detection, it is necessary to accurately position the inward and outward deformation of the pipeline and the occurrence position. The pipeline diameter internal detection can be divided into contact internal detection and non-contact internal detection. According to the current development situation, the non-contact type is superior to the contact type. In order to track the movement of the deformation detector carried on the pigging device or find the position of the deformation detector at a certain period of time, the instrument needs to have the main functions of indication, positioning and tracking. By analyzing the existing methods and instruments, the main principles include mechanical method, electromagnetic method and acoustic (optical fiber) method. Each method and instrument has its own advantages and disadvantages in terms of durability, reliability, operation convenience, personnel requirements, cost and safety.

[0004] In order to measure the damaged state of the pipeline and obtain the characteristic data thereof, the most commonly used method in the prior art is to use a pipeline pig with an aluminum diameter plate to perform periodic and regular pigging in a contact type internal detection manner. This method can effectively detect the maximum inward deformation of the pipeline, but cannot detect multiple deformations, cannot detect outward deformation, and cannot determine the deformation position. If the pipeline has a large internal bulge, the above diameter plate can be used only once, and after the maximum bulge is measured, the following lower bulges are missed. Some scholars have proposed a rigid swing arm type natural gas pipeline diameter detection technology, which can restore a certain detection capability after detection. However, in the process of long-distance detection of the pipeline by using the contact type internal detection method, the measurement element directly contacts the pipe wall, which has a risk of scratching the internal coating of the pipeline, and the wear of the measurement element will cause a certain error, resulting in reduced measurement accuracy.

[0005] In order to solve these problems, people have developed non-contact internal detection, which is also called pipeline non-destructive testing. The mainstream non-destructive testing methods include eddy current testing, ultrasonic testing, magnetic flux leakage testing, etc. The sensors used in the non-contact internal detection method mostly have a small coverage, and multiple sensors need to be arranged circumferentially to achieve full coverage of the pipeline. For some pipelines with a large internal diameter, the number of sensors used for pipeline detection can reach dozens, and the entire detection equipment is relatively bulky, which will cause great vibration and impact on the pipeline during operation. People try to use a flexible diameter pigging device, and apply a pipeline diameter internal detection technology based on machine vision. Some of the methods solve the problem of detecting multiple deformations, but still cannot accurately detect the outward deformation of the pipeline and cannot accurately locate the defect position. The machine vision method can further detect the outward deformation, but cannot determine and inform the deformation position in real time. Moreover, since the CCD camera technology is used, the requirement for environmental cleanliness is high, and the pipeline cannot work in a liquid or relatively dirty pipeline. SUMMARY

[0006] The purpose of the present application is to provide a pipeline deformation detection device combining microwave imaging and ray positioning, and a use method, to solve the problems in the background art

[0007] The above technical purpose of the present application is achieved by the following technical scheme:

[0008] In a first aspect, the present application provides a pipeline deformation detection device combining microwave imaging and ray positioning, which comprises a deformation positioning transmitter and a positioning receiver connected to each other, and the deformation positioning transmitter is mounted on a pig in a target pipeline, wherein:

[0009] The deformed positioning transmitter is used for deformed monitoring and obtaining a detection result when the pig moves in the target pipeline, the detection result includes abnormal deformation and normal deformation, and is used for transmitting the detection result and positioning information of the detection result to the positioning receiver when the detection result is abnormal deformation;

[0010] The positioning receiver is used for receiving the detection result and the positioning information, and obtaining deformation information from the detection result and surface position from the positioning information.

[0011] The deformed positioning transmitter comprises a microwave imager, a controller, an electromagnetic generator and a ray generator, and the microwave imager, the electromagnetic generator and the ray generator are connected with the controller.

[0012] The deformed positioning transmitter is arranged on the pig, so that the deformed positioning transmitter has the ability to move in the target pipeline.

[0013] The microwave imaging method is combined with electromagnetic and ray positioning, so that the accuracy and efficiency of pipeline detection can be effectively improved, and the deformation of the pipeline can be accurately positioned.

[0014] On the basis of the above technical scheme, the application can be further improved as follows.

[0015] Further, the deformed positioning transmitter further comprises a mounting shell and a power supply located in the mounting shell, the microwave imager, the controller, the electromagnetic generator and the ray generator are sequentially arranged in the mounting shell, a front protection port is arranged at one end of the mounting shell close to the microwave imager, and a sealing plate is arranged at one end of the mounting shell away from the microwave imager.

[0016] Further, the one end of the mounting shell towards the sealing plate is further sequentially connected with a driving section and a leather cup.

[0017] Further, the positioning receiver comprises an electromagnetic signal receiver, a ray signal receiver, a receiving antenna and a Beidou / GPS instrument.

[0018] In a second aspect, the application provides a method for using the pipeline deformation detection device combining microwave imaging and ray positioning, applied to the pipeline deformation detection device combining microwave imaging and ray positioning of any one of the first aspect, comprising the following specific steps:

[0019] The microwave imager, the controller, the electromagnetic generator and the ray generator are packaged to form a deformation positioning transmitter, and the electromagnetic signals and the ray signals respectively emitted by the electromagnetic generator and the ray generator and the judgment conditions of the detection results obtained by the microwave imager and the controller are parameterized, and the deformation positioning transmitter after parameterization is installed on the pig;

[0020] The positioning receiver is formed by the electromagnetic signal receiver, the ray signal receiver, the receiving antenna and the Beidou / GPS instrument;

[0021] The microwave imager obtains a detection image when moving in the target pipeline, performs deformation analysis on the detection image based on the judgment conditions and obtains a detection result, and the detection result includes abnormal deformation and normal deformation;

[0022] When the detection result is abnormal deformation, the controller controls the electromagnetic generator to generate electromagnetic signals, and controls the ray generator to generate ray signals when the preset conditions are met;

[0023] The positioning receiver respectively receives the electromagnetic signals and the ray signals and obtains positioning information corresponding to the abnormal deformation, and the Beidou / GPS instrument obtains the ground position corresponding to the positioning information.

[0024] The beneficial effects of the application are: in the present scheme, compared with the contact type internal detection method, the microwave imaging method can better identify the inward and outward deformation of the pipeline, the electromagnetic and ray methods are linked with the microwave imaging results to ensure more accurate pipeline deformation positioning, and the durability, reliability, operation convenience and safety are higher; compared with the ordinary non-contact internal detection method, the influence of objective conditions such as environment, weather and traffic during pigging is eliminated as much as possible, the microwave imaging method requires fewer probes and smaller equipment, solves the problems of difficult pig detection and positioning, more false reports, high risk and complex operation in the prior art, and has higher adaptability while improving accuracy, can realize full online monitoring, which is of great significance for ensuring the safety of oil and gas pipelines; the method can be applied to the detection and maintenance of various pipelines, and improves the efficiency and accuracy of pipeline maintenance.

[0025] Further, the judgment conditions are specifically:

[0026] When the pipeline instability deformation defect characterization parameter is not less than the first preset value or / and the pipeline undulation deformation defect characterization parameter is not less than the second preset value, the judgment result is abnormal deformation, otherwise the judgment result is normal deformation.

[0027] Further, the pipeline instability deformation defect characterization parameter is specifically:

[0028] V BX = | (d - b) / b | x 100%,

[0029] In the formula, V BX represents the pipeline instability deformation defect characterization parameter, d represents the inner diameter of the target pipeline, and b represents the short axis length of the ellipse fitted by the target pipeline.

[0030] Further, the pipeline buckling deformation defect characterization parameter is specifically:

[0031] V QB = |Δd / b| x 100%;

[0032] In the formula, V QB represents the pipeline buckling deformation defect characterization parameter, Δd represents the distance from the center of the ellipse fitted by the target pipeline to the central axis of the target pipeline, and b represents the short axis length of the ellipse fitted by the target pipeline.

[0033] Further, the short axis length of the ellipse fitted by the target pipeline is specifically:

[0034] In the formula, Ax 2 + Bxy + Cy 2 + Dx + y + E = F(x, y);

[0035] In the formula, b represents the short axis length of the ellipse fitted by the target pipeline, A, B, C, D, and E are respectively the spatial curve parameters of the ellipse, and F(x, y) represents the equation of the ellipse fitted according to the cross section of the target pipeline in the two-dimensional plane; wherein A, B, C, D, and E are obtained by the following method:

[0036] The curve of the ellipse and the center of the ellipse are fitted by using the least square method, and the partial derivatives of A, B, C, D, and E are obtained by setting the partial derivatives to zero, to obtain the numerical values of each spatial curve parameter.

[0037] Further, the detection image is specifically:

[0038] E z = IFFT(E·A·ej·ΦF);

[0039] In the formula, IFFT represents two-dimensional inverse fast Fourier transform, E z represents the detection image, E represents the electromagnetic signal received by the positioning receiver, A represents the amplitude weighting coefficient of the positioning receiver, ej represents electromagnetic interference, and ΦF represents the focusing phase weighting coefficient.

[0040] Compared with the prior art, the present application has at least the following beneficial effects:

[0041] In the present application, the deformed positioning transmitter is arranged on the pig, so that the deformed positioning transmitter has the ability to move in the target pipeline; during the movement with the pig, the microwave imager acquires images of the inner wall of the target pipeline in real time according to a predetermined program, and judges deformation according to the images; and when the detection result is abnormal deformation, the deformed positioning transmitter transmits the detection result and the positioning information corresponding to the detection result to the positioning receiver, so as to realize detection of whether the pipeline is deformed, and accurate positioning of the position where the deformation occurs.

[0042] In the present application, the microwave imaging method combined with electromagnetic and ray positioning methods can eliminate the influence of objective conditions such as environment, weather and traffic during pigging as much as possible, and the microwave imaging method can better identify inward and outward deformation of the pipeline, and the electromagnetic and ray methods combined with the microwave imaging results can ensure more accurate pipeline deformation positioning, higher durability, reliability, ease of operation and safety; solve the problems of difficult deformation detection and positioning, many false positives, high risk and complex operation in the prior art, and can effectively improve the accuracy and efficiency of pipeline detection and accurately position the deformation of the pipeline.

[0043] In the present application, the microwave imaging method combined with electromagnetic and ray positioning can effectively improve the accuracy and efficiency of pipeline detection and accurately position the deformation of the pipeline, and the positioning accuracy of the deformation defect of the pipeline can reach 97%, and the imaging error of the deformation range is ± 15%; at the same time, the method also has the advantages of simple operation and fast detection speed, and the microwave imaging method organically combines electromagnetic and ray positioning technology, which is a relatively effective non-contact detection method, and solves the problems of self-deformation due to impact, damage to the pipe wall and inaccurate positioning of the deformation position of the pipeline in the existing diameter plate method.

[0044] In the present application, compared with the contact internal detection method, the microwave imaging method can better identify inward and outward deformation of the pipeline, and the electromagnetic and ray methods combined with the microwave imaging results can ensure more accurate pipeline deformation positioning, higher durability, reliability, ease of operation and safety; compared with the ordinary non-contact internal detection method, the influence of objective conditions such as environment, weather and traffic during pigging is eliminated as much as possible, the microwave imaging method requires fewer probes and smaller equipment, solves the problems of difficult pig detection and positioning, many false positives, high risk and complex operation in the prior art, and has stronger adaptability while improving accuracy, and can realize full online monitoring, which is of great significance to ensure the safety of oil and gas pipelines; the method can be applied to the detection and maintenance of various pipelines, and can improve the efficiency and accuracy of pipeline maintenance. BRIEF DESCRIPTION OF DRAWINGS

[0045] The accompanying drawings, which are included to provide a further understanding of the embodiments of the application and are incorporated in and constitute a part of this application, illustrate embodiments of the application and together with the description serve to explain the principles of the application. In the drawings:

[0046] Figure 1 Connection diagram of the deformed positioning transmitter in the embodiments of the application;

[0047] Figure 2 Method flow chart of the use method in the embodiments of the application;

[0048] Figure 3 Deformation condition and microwave imaging effect diagram of the test pipeline in the embodiments of the application;

[0049] Figure 4 Arrangement diagram of the microwave imager in the embodiments of the application.

[0050] Marked in the figure: 1, microwave imager; 2, controller; 3, power supply; 4, electromagnetic generator; 5, ray generator; 6, sealing plate; 7, mounting shell; 8, front protection port; 9, protection cover plate; 10, driving section; 11, leather bowl. DETAILED DESCRIPTION

[0051] In order to make the objects, technical solutions and advantages of the embodiments of the application clearer, the technical solutions in the embodiments of the application will be described clearly and completely below with reference to the drawings in the embodiments of the application. Obviously, the described embodiments are only some of the embodiments of the application, but not all the embodiments. The components of the embodiments of the application described and shown in the drawings can be arranged and designed in various different configurations.

[0052] Therefore, the following detailed description of the embodiments of the application provided in the drawings is not intended to limit the scope of the claimed application, but only represents selected embodiments of the application. Based on the embodiments in the application, all other embodiments obtained by those of ordinary skill in the art without creative work are within the scope of protection of the application.

[0053] It should be noted that: similar reference numbers and letters represent similar items in the following drawings, therefore, once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings.

[0054] In the description of the embodiments of the present application, it also needs to be explained that, unless explicitly specified and limited, if the terms "arrange", "mount", "connect", "connect" appear, they should be understood in a broad sense, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected, it can be mechanically connected, or it can be electrically connected, it can be directly connected, or indirectly connected through an intermediate medium, it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0055] Embodiment 1:

[0056] In order to effectively improve the accuracy and efficiency of pipeline detection and accurately locate the deformation of the pipeline, the microwave imaging method can be combined with electromagnetic and ray positioning methods, which can eliminate the influence of objective conditions such as environment, weather, traffic and the like in the process of cleaning the pipeline, and the microwave imaging method can better identify the inward and outward deformation of the pipeline. The linkage of electromagnetic and ray methods and microwave imaging results can ensure more accurate positioning of pipeline deformation, higher durability, reliability, ease of operation and safety, and also solve the problems of difficult deformation detection and positioning, more false reports, high risk and complex operation in the prior art. The embodiment provides a pipeline deformation detection device combining microwave imaging and ray positioning, which comprises a deformation positioning transmitter and a positioning receiver connected with each other, and the deformation positioning transmitter is mounted on a pipe cleaner in a target pipeline, wherein:

[0057] The deformation positioning transmitter is used for deformation monitoring and obtaining detection results when the pipe cleaner moves in the target pipeline, the detection results include abnormal deformation and normal deformation, and is also used for transmitting the detection results and positioning information of the detection results to the positioning receiver when the detection results are abnormal deformation. The deformation positioning transmitter comprises a microwave imager 1, a controller 2, an electromagnetic generator 4 and a ray generator 5, and the microwave imager 1, the electromagnetic generator 4 and the ray generator 5 are connected with the controller 2.

[0058] Optionally, the above-mentioned deformation positioning transmitter further comprises a mounting shell 7 and a power supply 3 located in the mounting shell 7, as shown in Figure 1 The microwave imager 1, the controller 2, the electromagnetic generator 4 and the ray generator 5 are sequentially arranged in the mounting shell 7, one end of the mounting shell 7 close to the microwave imager 1 is provided with a front protection port 8, one end of the mounting shell 7 away from the microwave imager 1 is provided with a sealing plate 6, and the upper portion of the mounting shell 7 is further provided with a protection cover plate 9. One end of the mounting shell 7 towards the sealing plate 6 is further connected with a driving section 10 and a leather cup 11 in sequence. The above-mentioned positioning receiver comprises an electromagnetic signal receiver, a ray signal receiver, a receiving antenna and a Beidou / GPS instrument.

[0059] Further, the pipeline deformation detection device described above further comprises a positioning receiver for receiving the detection result and positioning information, and obtaining deformation information from the detection result and surface position information from the positioning information.

[0060] Wherein, according to GB50369, the diameter of the diameter plate is 90% of the maximum wall thickness of the steel pipe or the inner diameter of the elbow, that is, as long as the protrusion greater than or equal to 10% of the inner diameter of the steel pipe can be identified, it is considered to meet the standard requirements. For common DN323, DN710 pipelines, protrusions greater than or equal to 32.3mm, 71.0mm need to be identified. At present, the microwave imaging accuracy has reached centimeter level, so the two methods for the above accuracy detection are feasible. In addition, since the microwave emission is more likely to produce Doppler effect than infrared laser after encountering an object, it is more suitable for detecting and positioning the distance between two moving objects during movement, and is convenient for outlining the shape of the detected object. Specifically, to track the movement of the pig or find its position at a certain period of time, a variety of methods such as mechanical method, electromagnetic method, acoustic (optical fiber) method and ray method can be used, among which the electromagnetic method is more commonly used. The principle is to install a transmitter that emits stable low-frequency electromagnetic signals in the pig, and then use a receiver outside the pipe to receive the low-frequency signals to realize the positioning or tracking of the pig. However, the positioning accuracy is usually 1m-100m. For accurate positioning, ray positioning can be considered, and the transmitting device is carried on the pig, and then the signal is emitted as needed or at a fixed time, and the positioning accuracy can reach centimeter level.

[0061] Specifically, the positioning detection method in the embodiment can compare the real situation of the obtained pipeline deformation with the real-time positioning information of the deformation detector, and compare with the elevation map and position map of the pipeline itself, so as to find and verify the real-time position, and then match with the calibration point with accurate coordinate points on the ground, so as to judge the current accurate positioning of the deformation detector, so that the abnormality of the deformation detector, such as blockage, backflushing, loss of positioning, etc. can be found in time, and the accuracy of positioning is effectively improved. The pipeline deformation detection device in the embodiment mainly comprises a deformation positioning transmitter mounted on the pipeline pig and a positioning receiver outside the pipeline, which can effectively play the roles of microwave imaging and electromagnetic and ray positioning.

[0062] Embodiment 2:

[0063] The embodiment provides a use method of the pipeline deformation detection device combining microwave imaging and ray positioning, which is applied to the pipeline deformation detection device combining microwave imaging and ray positioning in any one of embodiment 1, as shown in Figure 2 The method comprises the following specific steps:

[0064] S1, encapsulate the microwave imager 1, the controller 2, the electromagnetic generator 4 and the ray generator 5 to form a deformation positioning transmitter, and set parameters for the electromagnetic signal and the ray signal emitted by the electromagnetic generator 4 and the ray generator 5 respectively, and the judgment condition of the detection result obtained by the microwave imager 1 and the controller 2, and install the deformation positioning transmitter after parameter setting on the pig.

[0065] The electromagnetic signal emitted by the electromagnetic generator 4 is set to an electromagnetic wave with a wavelength of 1mm-1m and a frequency of 300MHz-300GHz, and the principle is that when the microwave is emitted and interacts with the target, the scattered echo signal is received and calculated to analyze the important physical information such as the shape, material and attitude of the target; and the ray positioning is added to increase the accuracy of the positioning, which is combined with the on-demand ray emission to provide stable signals with high recognition rate and higher accuracy, and the ray positioning is also carried out by carrying the emission device on the pig, and then the signal is emitted on demand or at a fixed time, which can effectively correct the electromagnetic positioning, and the signal is more accurate, and the positioning accuracy can be improved to the centimeter level.

[0066] The microwave frequency, wavelength, electromagnetic wave frequency, wavelength and ray type suitable for pipeline deformation detection and positioning can be determined by experiment for different inner diameters of the pipeline; in the embodiment, a microwave emission receiver with a detection range of 0.15-30m, a horizontal angle of ±80°, a pitch angle of ±10°, a frequency of 7XGHz and a bandwidth of 4XGHz is selected, and the detection range is 30m, as shown in Figure 4 , and as shown in the left side of Figure 4 , the horizontal angle (or called vertical angle) is actually perpendicular to the pipeline; and to scan the entire inner wall of the steel pipe, at least three emitters are arranged in an equilateral triangle, as shown in the right side of Figure 4 .

[0067] S2, set a positioning receiver by the electromagnetic signal receiver, the ray signal receiver, the receiving antenna and the Beidou / GPS instrument.

[0068] The positioning receiver can be carried directly for detection or arranged at a certain distance to monitor at any time, and the Beidou / GPS instrument mainly sends the ground position of the positioning receiver after receiving the pipeline deformation and blockage information, so as to facilitate the staff to determine which receiver receives the signal and determine the position of the pig carrying the positioning transmitter relative to the ground in time.

[0069] S3, the microwave imager 1 obtains a detection image when moving in the target pipeline, performs deformation analysis on the detection image based on the judgment condition and obtains a detection result, and the detection result includes abnormal deformation and normal deformation.

[0070] Optionally, the detection image is specifically as follows:

[0071] E z IFFT(E·A·ej·ΦF);

[0072] In the formula, IFFT represents a two-dimensional inverse fast Fourier transform, E z represents a detection image, E represents an electromagnetic signal received by a positioning receiver, A represents an amplitude weighting coefficient of the positioning receiver, ej represents electromagnetic interference, and ΦF represents a focusing phase weighting coefficient.

[0073] Optionally, the judgment condition is specifically as follows:

[0074] When the pipeline instability deformation defect characterization parameter is not less than a first preset value or / and the pipeline fluctuation deformation defect characterization parameter is not less than a second preset value, the judgment result is abnormal deformation, otherwise the judgment result is normal deformation.

[0075] Optionally, the pipeline instability deformation defect characterization parameter is specifically as follows:

[0076] V BX =|(d-b) / b|×100%,;

[0077] In the formula, V BX represents a pipeline instability deformation defect characterization parameter, d represents an inner diameter of a target pipeline, and b represents a short axis length of an ellipse fitted by the target pipeline.

[0078] Further, the pipeline fluctuation deformation defect characterization parameter is specifically as follows:

[0079] V QB =|Δd / b|×100%;

[0080] In the formula, V QB represents a pipeline fluctuation deformation defect characterization parameter, Δd represents a distance from a center of an ellipse fitted by a target pipeline to a central axis of the target pipeline, and b represents a short axis length of the ellipse fitted by the target pipeline.

[0081] Optionally, the short axis length of the ellipse fitted by the target pipeline is specifically as follows:

[0082] In the formula, Ax 2 +Bxy+Cy 2 +Dx+y+E=F(x,y);

[0083] In the formula, b represents the short axis length of the ellipse fitted by the target pipeline, A, B, C, D, and E are respectively spatial curve parameters of the ellipse, and F(x,y) represents an equation of the ellipse fitted by a cross section of the target pipeline in a two-dimensional plane; wherein A, B, C, D, and E are obtained by the following manner:

[0084] The curve of the elliptical pattern and the center of the ellipse are fitted by using the least square method, and the partial derivatives of A, B, C, D, and E are solved by setting the partial derivatives to zero, to obtain the numerical values of the parameters of each spatial curve.

[0085] S4, when the detection result is abnormal deformation, the controller 2 controls the electromagnetic generator 4 to generate an electromagnetic signal, and when the preset condition is met, the controller 2 controls the ray generator 5 to generate a ray signal.

[0086] Among them, because the emission of rays has certain danger, so generally no need to emit rays, only when the card block or must carry out centimeter level accurate positioning need to open; Therefore, generally should ensure that the relevant protection mechanism action sensitive and effective, namely to ensure that the work can accurately produce and emit rays, not working immediately stop producing rays, mute in the lead protection cylinder.

[0087] S5, through the positioning receiver respectively accepts electromagnetic signal and ray signal and gets the abnormal deformation corresponding positioning information, through the Beidou / GPS instrument obtains the ground position corresponding to the positioning information.

[0088] Among them, through the positioning receiver accurately receives and obtains the real-time positioning information, running track and real-time image of the pig carrying the transmitter, and then compares the real-time positioning information with the pipeline elevation and line direction, to determine whether it meets the preset transmitter running track, real-time positioning information and verification image index. The above positioning detection method can find and verify the relatively rough track and real-time position, and then match with the ground preset calibration point with accurate coordinate points, to obtain the more accurate track and positioning of the pig and detector, so as to be able to timely issue a warning and positioning after detecting the excessive deformation.

[0089] Specifically, the normal deformation positioning transmitter only transmits signals to communicate with the ground when reaching the preset marker, and usually does not need to work. After the occurrence of excessive deformation, the controller 2 timely records and marks the feature points, and controls the drive section 10 to turn on the front and rear ends of the skin bowl 11, so that the pig is stalled and starts to continuously send electromagnetic positioning signals of two frequencies. The ray positioning signal can be transmitted in a manner of emitting for 1 minute and stopping for 5 minutes, so as to help the ground to accurately position, and at the same time, the mark is made in the controller 2 (the moving distance of the detector during the entire detection period from the discovery of deformation alarm to the pig being ordered to stall will be deducted), and after the relevant information is uploaded, the trajectory, position, deformation size and other related parameters can be analyzed. The positioning mark duration can be preset (0.5h, 1h, 2h, …, 24h, etc.), so as to facilitate subsequent re-inspection and maintenance. After the feature points are sent, the drive section 10 will close the front and rear ends of the skin bowl 11 to establish a pressure difference, and continue to push the entire detector for subsequent detection. If jamming occurs, the pig will also be stalled, and after the motion sensor in the controller 2 detects that the whole body is not moving for 10 minutes, electromagnetic positioning signals of two frequencies are continuously sent, the ray positioning signal is emitted in a manner of emitting for 1 minute and stopping for 5 minutes, and can be turned on and off as needed. In this way, when the pig (robot) appears abnormal (jamming, backflushing, loss of positioning, etc.), the positioning accuracy can be effectively improved, and the abnormality can be timely discovered and alarmed.

[0090] Specifically, the pipeline deformation detection device is tested in the embodiment. In the test, a preformed deformation defect is selected, and a commonly used pipeline with an inner diameter of 323mm is subjected to microwave imaging measurement of deformation (see Figure 3 and Table 1), as shown in Figure 3 and Table 1, wherein 1# is a bulge with a height of 15mm, and the value detected by the microwave imaging is 17.32mm. According to the formula of the pipeline fluctuation deformation defect characterization parameter, VQB is 5.36%, and according to GB 50369-2014, if VQB<10%, it is determined to be qualified. According to the preset condition, the positioning accuracy of the deformation in this detection is 95%, and the imaging error of the deformation range is +15%.

[0091] Table 1 Test Conditions

[0092]

[0093] Among them, from the test conditions, in the case of a relative speed of 3m / s, the position and size (shape) of the deformation defect can be more accurately detected, and defects of about 5% of the pipe diameter can be identified. In terms of identification accuracy, the detection accuracy of the microwave imager 1 in the ±3.5° pitch angle range is the highest, and the distance of detecting the deformation defect is more accurate than the size of detecting the deformation defect.

[0094] The above detailed description of the specific embodiments of the present application has been given to understand the purpose, technical solutions and beneficial effects of the present application. It should be understood that the above description is only a specific embodiment of the present application and is not used to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A device for detecting deformation of a pipe by microwave imaging combined with radiolocation, characterized in that, The application relates to a pipeline deformation positioning system, which comprises a pipeline deformation positioning transmitter and a pipeline deformation positioning receiver. The pipeline deformation positioning transmitter is used for monitoring deformation of a pig in a target pipeline and obtaining a detection result, wherein the detection result comprises abnormal deformation and normal deformation; when the detection result is abnormal deformation, the pipeline deformation positioning transmitter is used for transmitting the detection result and positioning information of the detection result to the pipeline deformation positioning receiver. The pipeline deformation positioning receiver is used for receiving the detection result and the positioning information, and obtaining deformation information from the detection result and a ground position from the positioning information. The pipeline deformation positioning transmitter comprises a microwave imager, a controller, an electromagnetic generator and a ray generator, wherein the microwave imager, the electromagnetic generator and the ray generator are connected with the controller.

2. The pipeline deformation detection apparatus of claim 1, wherein, The pipeline deformation positioning transmitter further comprises a mounting shell and a power supply arranged in the mounting shell, wherein the microwave imager, the controller, the electromagnetic generator and the ray generator are sequentially arranged in the mounting shell, a front protection port is arranged at one end of the mounting shell close to the microwave imager, and a sealing plate is arranged at one end of the mounting shell away from the microwave imager.

3. The pipeline deformation detection apparatus of claim 2, wherein, A driving section and a leather cup are sequentially connected to the one end of the mounting shell away from the sealing plate.

4. The pipeline deformation detection apparatus of claim 1, wherein, The pipeline deformation positioning receiver comprises an electromagnetic signal receiver, a ray signal receiver, a receiving antenna and a Beidou / GPS instrument.

5. A method of using a pipeline deformation detection device using microwave imaging combined with radiographic positioning, applied to the pipeline deformation detection device using microwave imaging combined with radiographic positioning according to any one of claims 1 to 4, characterized in that, The following specific steps are included: The microwave imager, the controller, the electromagnetic generator and the ray generator are packaged to form the pipeline deformation positioning transmitter, parameter settings are made on electromagnetic signals and ray signals emitted by the electromagnetic generator and the ray generator respectively, and on a judgment condition of a detection result obtained by the microwave imager and the controller, and the pipeline deformation positioning transmitter after the parameter settings is installed on the pig; The pipeline deformation positioning receiver is formed by the electromagnetic signal receiver, the ray signal receiver, the receiving antenna and the Beidou / GPS instrument; The microwave imager obtains a detection image when moving in the target pipeline, performs deformation analysis on the detection image based on the judgment condition, and obtains a detection result, wherein the detection result comprises abnormal deformation and normal deformation; When the detection result is abnormal deformation, the controller controls the electromagnetic generator to generate electromagnetic signals, and controls the ray generator to generate ray signals when a preset condition is met; The pipeline deformation positioning receiver receives the electromagnetic signals and the ray signals respectively, and obtains positioning information corresponding to the abnormal deformation, and the Beidou / GPS instrument obtains a ground position corresponding to the positioning information.

6. The method of claim 5, wherein, The judgment condition is as follows: When a pipeline instability deformation defect characterization parameter is not less than a first preset value or / and a pipeline fluctuation deformation defect characterization parameter is not less than a second preset value, the judgment result is abnormal deformation, otherwise, the judgment result is normal deformation.

7. The method of claim 6, wherein, The pipeline instability deformation defect characterization parameter is as follows: V BX = |(d-b) / b| x 100%, In the formula, V BX represents the pipe instability deformation defect characterization parameter, d represents the pipe inner diameter of the target pipe, and b represents the short axis length of the ellipse figure fitted by the target pipe.

8. The method of claim 7, wherein, The pipeline fluctuation deformation defect characterization parameter is as follows: V QB = |Δd / b| x 100%; In the formula, V QB represents the pipeline undulating deformation defect characterization parameter, represents the distance from the center of the ellipse of the target pipeline fitting to the central axis of the target pipeline, and b represents the length of the minor axis of the ellipse of the target pipeline fitting.

9. The method of claim 8, wherein, The short axis length of the ellipse of the target pipeline is as follows: where Ax 2 + Bxy + Cy 2 + Dx + y + E = F(x, y); In the formula, b represents the length of the minor axis of the ellipse pattern fitted by the target pipeline, A, B, C, D and E are respectively the spatial curve parameters of the ellipse pattern, and F(x, y) represents the equation of the ellipse pattern fitted according to the section of the target pipeline in a two-dimensional plane; wherein A, B, C, D and E are obtained by the following manner: The curve of the ellipse pattern and the center of the ellipse are fitted by using the least square method, partial derivatives of A, B, C, D and E are solved respectively by setting the partial derivatives to zero, and the numerical values of the respective spatial curve parameters are obtained.

10. The method of claim 5, wherein, The detection image is specifically: E z = IFFT(E A ejΦF); where IFFT denotes the two-dimensional inverse fast Fourier transform, E z denotes the detection image, E denotes the electromagnetic signal received by the localization receiver, A denotes the amplitude weighting factor of the localization receiver, ej denotes the electromagnetic interference, and ΦF denotes the focusing phase weighting factor.

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