A method for intelligent butt jointing of large-diameter steel pipes in natural gas pipeline construction

Abstract

The present invention discloses a method for intelligent butt jointing of large-diameter steel pipes in natural gas pipeline construction. The steps are: the basic data that is easy to measure on site is further converted into the spatial coordinate position of the end face of the in-situ pipeline based on the established conversion model, and then the shape and size of the end face of the group material pipe are determined; finally, the coordinate point is transmitted to the computer, and then the pipeline end face cutting trajectory is generated, and finally the climbing pipe type pipeline cutting and beveling machine cuts and cuts the material according to the predetermined cutting trajectory, so as to realize the intelligent butt jointing of the pipeline group. This method has the advantages of fast data collection, fast analysis, and high end face fitting accuracy. It can greatly reduce the dependence of traditional methods on the proficiency of on-site personnel, improve the accuracy of pipeline group butt jointing, and has important significance for ensuring the safety of buried oil and gas pipelines.

Description

Technical Field

[0001] The invention belongs to the technical field of oil and gas pipelines, and relates to a method for accurately and quickly calculating the sizes of tool and material pipes when a pipe replacement operation is performed due to failure or damage of an in-service pipeline. Background Art

[0002] At present, the rapid development of social economy has promoted the continuous expansion of the scale of pipeline network construction. The construction of large-diameter pipelines has developed rapidly in many aspects such as petroleum and chemical industry. It is estimated that by 2025, the scale of the pipeline network will reach 240,000 kilometers, and it is expected that all natural gas trunk lines and refined oil pipelines will be connected nationwide. With the implementation of my country's oil and gas reform policies, the basic status of the oil and gas pipeline network will be continuously consolidated. At present, the failure of in-service pipelines occurs from time to time. After the failure of the pipeline, the gas transmission volume decreases, which seriously threatens the safety of pipeline operation and brings serious economic losses and social impacts. Pipeline replacement operation is a common maintenance and repair operation method, and it is also one of the most effective ways to eliminate pipeline safety hazards. Measurement, cutting and assembly are the key processes of pipe replacement operation. The premise for the precise implementation of these processes is to accurately obtain the size of the assembly pipeline. Therefore, how to accurately and quickly calculate the size and end face shape of the assembly material pipe is of great significance to ensure the safe operation of the pipeline and energy supply.

[0003] In the current large-diameter pipeline construction, many processes still rely on traditional construction methods. At present, the pipeline on-site construction team mostly uses manual on-site proofing for measurement control. Relying on the experience and skills of the workers, the central axis of the pipeline in place is drawn and laid out to determine its intersection and angle, and then the size and angle of the group material pipe are obtained. However, the traditional operation method has the following problems: First, the traditional measurement process involves the use of a square ruler and the marking of a vertical line, which depends to a large extent on the proficiency of the on-site measurement personnel in the use of tools and has a strong subjectivity; second, due to the limitation of the measurement tools, when the length of the on-site pipelines on both sides exceeds the length of the longest side of the square ruler, the existing method is no longer applicable. Third, the traditional measurement method itself is limited. If the centerline space of the butted pipelines does not intersect, this measurement method basically cannot measure effective data. Based on the above analysis, it is shown that in the field of pipeline construction, designing a set of fast, on-site, and real-time data processing system pipeline butt control solutions is an urgent need for the current pipeline on-site construction team, and it has important social value and economic benefits.

[0004] Therefore, the present invention proposes a method for intelligently joining large-diameter steel pipes in natural gas pipeline construction. This method converts the basic distance data that is easy to measure on site into the spatial coordinate position of the in-situ pipeline end face through the established conversion model between the distance data and the pipeline end face shape, thereby determining the shape and size of the pipeline end face; finally, the coordinate points are transmitted to the computer to generate the pipeline end face cutting trajectory line, and finally the climbing pipe cutting and beveling machine cuts and cuts the material according to the predetermined cutting trajectory line. This method has the advantages of fast data collection, fast analysis, and high end face fitting accuracy. It can greatly improve the accuracy of pipeline docking and is of great significance to ensuring the safety of buried oil and gas pipelines. If computer technology continues to be deeply combined with the present invention and corresponding software is developed, efficient and convenient application of this method will be achieved. Summary of the invention

[0005] The present invention proposes a method for intelligent butt jointing of large-diameter steel pipes in natural gas pipeline construction. In view of the problem of precision in butt jointing of large-diameter steel pipes in pipe replacement operations, first, a base pipeline is selected, a coordinate system is established, and the coordinates of the measurement points on the end face of the base pipeline are fitted to further determine the shape of the end face of the pipeline; based on the distance measurement technology, the distance data of the measurement points on the base pipeline along another in-place pipeline are obtained; through the conversion model between the established distance data and the end face shape of the pipeline, the pipeline distance measurement results are converted into the spatial coordinate data of another in-place pipeline, and then the end face shape of the in-place pipeline is determined; finally, the coordinate data of the end faces of the two pipelines are transmitted to the computer, and the pipeline end face cutting trajectory is generated, and the climbing pipe cutting and beveling machine cuts and cuts according to the predetermined cutting trajectory. This method can largely avoid the dependence on the proficiency of on-site personnel and the limitations of the pipeline butt joint method in the traditional method, and is of great significance to improving the accuracy of pipeline assembly and ensuring the safety of buried oil and gas pipelines.

[0006] The present invention is achieved through the following technical solutions:

[0007] The above-mentioned large-diameter steel pipe intelligent butt joint method in natural gas pipeline construction includes the following steps:

[0008] Step 1: Select a pipe with a relatively smooth end face as the base pipe, take the center point of the elliptical end face of the base pipe as the coordinate origin, and measure the major semi-axis length, minor semi-axis length and pipe radius of the elliptical end face of the base pipe.

[0009] Step 2: Divide another pipeline into 3600 equal-distance parts starting from the 12 o'clock position to obtain 3600 segmentation points. Place the measuring device at the 12 o'clock position of the base pipeline and measure one circle clockwise along the 12 o'clock position of the segmentation point of the end face of another in-place pipeline to obtain 3600 point distances.

[0010] Step 3: Place the measuring device at the center of the end face of the foundation pipeline, and measure one circle clockwise along the 12 o'clock position of the dividing point of the end face of another existing pipeline, and obtain 3600 point distances again.

[0011] Step 4: Establish the basic pipeline ellipse end face parametric equation, divide the ellipse angle into 3600 equal parts, obtain the ellipse parameter angle, and based on the relationship between the parameter angle and the sweep angle of the ellipse arc, obtain the sweep angle corresponding to the ellipse of equal arc length. Then differentiate the ellipse circumference to determine the analytical solution of the constant integral of the ellipse arc.

[0012] Step 5, after obtaining the arc length of the ellipse, divide it into 3600 equal parts, and combine the ellipse parameter equation to solve the coordinate data of 3600 equally divided points on the ellipse end face of the basic pipeline to determine the shape of the ellipse end face of the basic pipeline.

[0013] Step 6: Based on the basic pipeline coordinate points and two sets of distance measurement data, the geometric coordinates of the end face measurement points of another in-place pipeline are solved to determine the end face shape of the in-place pipeline.

[0014] Step 7, import the obtained two end face coordinate data into the computer, print out the pipeline end face cutting trajectory diagram, and finally the climbing pipe cutting and beveling machine cuts and cuts the material according to the predetermined cutting trajectory line.

[0015] The present invention adopts the above technical solution to achieve the following beneficial effects:

[0016] (1) The present invention provides a method for intelligently joining large-diameter steel pipes in natural gas pipeline construction, which can effectively avoid the low precision of manual proofing in traditional methods, resulting in on-site re-sampling and rework, greatly improves the accuracy of pipeline docking, and is of great significance to ensuring the safety of buried oil and gas pipelines.

[0017] (2) The present invention provides an intelligent method for joining large-diameter steel pipes in natural gas pipeline construction. Based on distance data that is easy to measure on site, a conversion relationship between distance data and the shape of the pipe end face is established, which can quickly realize the cutting of the transition pipe length and shape, and has important social and economic benefits. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 The present invention is a flow chart of a method for intelligently butting large-diameter steel pipes in natural gas pipeline construction.

[0019] Figure 2 It is a schematic diagram of the relationship between the elliptical arc length parameter angle and the sweep angle in the present invention.

[0020] Figure 3 It is a schematic diagram of solving the geometric coordinates of another in-situ pipeline end face measurement point in the method of the present invention.

[0021] Figure 4 It is a schematic diagram of the plane effect of steel pipe butt joint in the method of the present invention. DETAILED DESCRIPTION

[0022] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described below in conjunction with the drawings in the embodiments, so that the advantages, features and application steps of the present invention can be easily understood and accepted by technicians in the field, thereby making a clearer definition of the protection scope of the present invention.

[0023] A method for intelligent butt jointing of large-diameter steel pipes in natural gas pipeline construction mainly includes 7 steps, and the process is as shown in the attached figure. Figure 1 As shown, the specific steps are as follows:

[0024] Step 1: Select a pipe with a relatively smooth end face as the base pipe, take the center point of the elliptical end face of the base pipe as the coordinate origin, and measure the major semi-axis length, minor semi-axis length and pipe radius of the elliptical end face of the base pipe.

[0025] Step 2: Divide another pipeline into 3600 equal-distance parts starting from the 12 o'clock position to obtain 3600 segmentation points. Place the measuring device at the 12 o'clock position of the base pipeline and measure one circle clockwise along the 12 o'clock position of the segmentation point of the end face of another in-place pipeline to obtain 3600 point distances.

[0026] Step 3: Place the measuring device at the center of the end face of the foundation pipeline, and measure one circle clockwise along the 12 o'clock position of the dividing point of the end face of another existing pipeline, and obtain 3600 point distances again.

[0027] Step 4: Establish the parametric equation of the basic pipe ellipse end face, divide the ellipse angle into 3600 equal parts, obtain the ellipse parameter angle, and based on the relationship between the parameter angle and the sweep angle of the ellipse arc, obtain the sweep angle corresponding to the ellipse with equal arc length. Then differentiate the ellipse circumference to determine the analytical solution of the constant integral of the ellipse arc. The calculation steps are as follows: ① Establish the parametric equation of the ellipse, as shown in formula (1):

[0028]

[0029] Where, a: major semi-axis length; b: minor semi-axis length; θ: parameter angle.

[0030] ② Assume that any point P on the ellipse, the distance from the center O to P is as shown in formula (2), but at this time the angle θ is not the sweep angle corresponding to the arc length from point P to the x-axis, so the relationship between the parameter angle θ and the sweep angle α is established as shown in (3). Based on this relationship, when taking different θ values, multiple sets of OP values ​​and sweep angle α values ​​can be calculated.

[0031]

[0032]

[0033] Where: OP: the distance from point P on the ellipse to the center O; x: the horizontal coordinate value; y: the vertical coordinate value; a: the major semi-axis of the ellipse; b: the minor semi-axis of the ellipse; θ: the parameter angle; α: the sweep angle.

[0034] ③ Use α as the horizontal coordinate and OP as the vertical coordinate to draw a graph. Based on the numerical analysis model, a smooth curve is used for fitting. At this time, the area enclosed by the curve and the X-axis is the arc length of the ellipse, and its arc length expression is shown in (4):

[0035]

[0036] Where, S: expression of ellipse arc length; f(α): relationship between op and sweep angle α; dα: microelement angle. Step 5: After obtaining the ellipse arc length, divide it into 3600 equal parts (determined according to the number of distance measurement points), and combine the ellipse polar coordinate equation to solve the coordinate data of 3600 equally divided points of the basic pipeline ellipse end face to determine the shape of the basic pipeline ellipse end face. The calculation steps are as follows: divide the arc length into 3600 equal parts, the indefinite integral expression of the arc length is as shown in (5), and then there is a recursive relationship as shown in (6):

[0037] F(α)=∫f(α)·dα (5)

[0038]

[0039] Where, F(α): expression of ellipse arc length in the range of 0-2π; S: ellipse arc length; f(α): relationship between op and sweep angle α; α1, α2, α3...α 3600 : The sweep angle corresponding to each arc length.

[0040] According to the recursive calculation, all α can be obtained by adding the above formulas in order. According to the conversion relationship between α and θ and the parametric equation of the ellipse, the coordinate value of each equally divided point of the ellipse can be obtained.

[0041] Step 6: Based on the basic pipeline coordinate points and two sets of distance measurement data, solve the geometric coordinates of the end face measurement points of another in-place pipeline, and then determine the end face shape of the in-place pipeline. The calculation steps are as follows:

[0042] ① Attach Figure 3For example, for any point A1 on the basic pipeline, calculate the coordinates of the corresponding point A′1 on the end face of another pipeline. Based on the calculation model of the elliptical end face of the in-place pipeline, the measuring point O is the origin of the coordinates, and the coordinates of the measuring points B and A1 are known, then the distances OA1, OB, and A1B are all known; and according to the distance measurement results, the distances BA′1 and OA′1 are also known. That is, in the irregular quadrilateral OA1BA′1, OA1, OB, A1B, BA′1, and OA′1 are known, and the distance of the diagonal A1A′1 is calculated.

[0043] ②In triangle OBA′1, we have formula (6):

[0044]

[0045] In triangle A1BO, we have formula (7):

[0046]

[0047] From the above two equations, we can get equation (8):

[0048] ∠A1BA′1=∠OBA′1+∠A1BO (8)

[0049] Finally, in triangle A1BA′, the cosine theorem gives equation (9):

[0050] (A1A′1) 2 =A1B 2 +A′1B 2 -2A1B·A′1Bcos∠A1BA′1 (9)

[0051] The solution to equation (10) is:

[0052]

[0053] ③At this time, let A′1=(x′1,y′1,z′1), then O=(0,0,0), A1=(x1,y1,z1), B=(x B ,y B ,z B ), save the following equations (11), (12), (13):

[0054]

[0055]

[0056]

[0057] The coordinates of the corresponding point A′1 can be solved by the above three equations.

[0058] According to the above solution process, the corresponding points of all coordinate points of the elliptical end face of the basic pipeline on the end face of another pipeline can be obtained, and then the shape of the pipeline end face can be determined.

[0059] Step 7, import the obtained two end face coordinate data into the computer, print out the pipeline end face cutting trajectory diagram, and finally the climbing pipe cutting and beveling machine cuts and cuts the material according to the predetermined cutting trajectory line.

Claims

1. A method for intelligently butting large-diameter steel pipes in natural gas pipeline construction, characterized in that: The following steps are involved: Step 1: Select a pipe with a relatively smooth end face as the base pipe, take the center point of the elliptical end face of the base pipe as the coordinate origin, and measure the major semi-axis length, minor semi-axis length and pipe radius of the elliptical end face of the base pipe; Step 2: Divide another pipeline into 3600 equal-distance parts starting from the 12 o'clock position to obtain 3600 segmentation points. Then place the measuring device at the 12 o'clock position of the base pipeline and measure the segmentation points along the end face of another in-place pipeline to obtain 3600 point distances. Step 3: Place the measuring device at the center of the end face of the basic pipeline, and measure the end face division points of another existing pipeline for one circle to obtain 3600 point distances again; Step 4: Establish the parametric equation of the end face of the basic pipeline ellipse, divide the ellipse angle into 3600 equal parts, obtain the ellipse parameter angle, and based on the relationship between the parameter angle and the sweep angle of the ellipse arc, obtain the sweep angle corresponding to the ellipse with equal arc length, then differentiate the ellipse circumference to determine the analytical solution of the constant integral of the ellipse arc; Step 5: After obtaining the arc length of the ellipse, divide it into 3600 equal parts, and solve the coordinate data of 3600 equally divided points of the ellipse end face of the basic pipeline in combination with the ellipse parameter equation to determine the shape of the ellipse end face of the basic pipeline; Step 6, based on the basic pipeline coordinate points and two sets of distance measurement data, solve the geometric coordinates of the end face measurement points of another in-place pipeline, and then determine the end face shape of the in-place pipeline; Step 7, import the obtained two end face coordinate data into the computer, print out the pipeline end face cutting trajectory diagram, and finally the climbing pipe cutting and beveling machine cuts and cuts the material according to the predetermined cutting trajectory line.

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