A method and system for overbend control of a pipe detector

Abstract

The application discloses a pipeline detector over-bending control method and system, and relates to the field of pipeline detection. The method comprises the following steps: collecting first image information of an inner detector at a straight pipeline of a pipeline and second image information of a current bending position of the inner detector, calculating pipeline bending information according to the first image information and the second image information; comparing the pipeline bending information with state information of a driving wheel of the inner detector collected in real time to obtain deviation data; and outputting a control signal according to the deviation data to control the inner detector to pass through the current bending position. The detector over-bending control method provided by the application solves the phenomenon of detector collision or friction caused by the difficulty of the pipeline detector in passing through a bending position, reduces the damage risk of the detector, and improves the detection accuracy and detection efficiency of the pipeline detector at the pipeline bending position. The over-bending performance of the pipeline detector is improved, and the phenomenon of being stuck is avoided.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of pipeline detection, in particular to a pipeline detector over-bend control method and system. BACKGROUND

[0002] Pipeline is an important equipment for oil and gas resource transportation. Almost all long-distance transportation of crude oil, refined oil and natural gas in the world is realized through pipeline. However, as the pipeline is buried underground for a long time, it is easy to be damaged by natural disasters such as earthquake and mud flow. At the same time, the oil and gas medium in the pipeline for a long time will cause a certain degree of corrosion to the inner wall of the pipeline. Once the pipeline has an accident, it will directly or indirectly cause great influence on social economy and ecological environment. Therefore, pipeline integrity detection is the key to maintain pipeline safety and reduce the incidence of pipeline safety accidents.

[0003] There are many methods for pipeline integrity detection, among which pipeline internal detection technology is one of the most economical and effective technologies. According to the detection principle, it can be divided into non-destructive testing technology and contact detection technology. Among them, non-destructive testing mainly includes magnetic flux leakage detection, ultrasonic detection, eddy current detection and other technologies. The characteristics of this kind of detector are high detection accuracy, high price, complicated post-data processing, etc., which can realize the detection of small corrosion pits and cracks. The contact detection technology mainly includes the path detector, which can be divided into wheel type, rod type and probe type according to the detection arm. The characteristics of this kind of internal detector are relatively low detection accuracy, high economy, simple and intuitive post-data processing, mainly for the detection of large defects and large deformation of the pipeline. In view of the above characteristics of the path detector, it is widely used in the fields of baseline detection and large deformation detection of the pipeline

[0004] For the wheel type path detector, the over-bend performance research is of great significance. Due to the long-term underground pipeline, under the extrusion of the crustal plate, it is easy to appear bending deformation; in addition, the pipeline itself also has the distribution of bend. In this environment, if the pipeline detector lacks over-bend turning control during the detection operation, it is easy to appear the phenomenon of jamming and stagnation. This greatly affects the detection accuracy and detection efficiency of the detector; even if the jamming lasts for a long time, it is easy to cause damage to the detector, which reduces the service life of the detector. SUMMARY

[0005] The technical problem to be solved by the present application is to provide a pipeline detector over-bend control method and system to solve the problems of the prior art.

[0006] The technical scheme for solving the above technical problem is as follows:

[0007] A pipeline detector over-bend control method, comprising:

[0008] The first image information of the internal detector at a straight pipe of the pipeline and the second image information of the internal detector at a current bending pipe are collected, and pipeline bending information is calculated according to the first image information and the second image information;

[0009] The pipeline bending information is compared with state information of a driving wheel of the internal detector collected in real time to obtain deviation data;

[0010] A control signal is output according to the deviation data to control the internal detector to pass through the current bending pipe.

[0011] The internal detector can pass through the bending part of the pipeline quickly, and the risk of being blocked can be effectively avoided.

[0012] The detector can pass through the bending pipe quickly, and the risk of being blocked can be effectively avoided.

[0013] Further, the first image information of the internal detector at a straight pipe of the pipeline and the second image information of the internal detector at a current bending pipe are collected, and specifically include:

[0014] The first image information of the internal detector at a straight pipe of the pipeline and the second image information of the internal detector at a current bending pipe are collected by a laser probe and a visual sensing camera.

[0015] Further, the pipeline bending information is compared with state information of a driving wheel of the internal detector collected in real time to obtain deviation data, and specifically includes:

[0016] According to the comparison between the pipeline bending information and the state information of the driving wheel of the internal detector collected in real time, deformation information of the second image information at the bending pipe is calculated, and deviation data is obtained according to the deformation information.

[0017] Further, the deviation data includes speed deviation data and inclination deviation data.

[0018] Further, the deformation information comprises diameter change information, bending angle information, bending direction information and bending distance information.

[0019] Another technical solution of the present application to solve the above technical problems is as follows:

[0020] A pipeline detector over-bending control system comprises a bending information calculation module, a deviation data comparison module and a control module.

[0021] The bending information calculation module is configured to collect first image information of the inner detector at a straight pipe of the pipeline and second image information of the inner detector at a current bending pipe, and calculate pipeline bending information according to the first image information and the second image information.

[0022] The deviation data comparison module is configured to compare the pipeline bending information with state information of a driving wheel of the inner detector collected in real time to obtain deviation data.

[0023] The control module is configured to output a control signal according to the deviation data to control the inner detector to pass through the current bending pipe.

[0024] The present application has the following advantages: the deviation data is obtained by comparing the pipeline bending information with state information of a driving wheel of the inner detector collected in real time, and the control signal is output according to the deviation data to control the inner detector to pass through the current bending pipe, which helps the detector to quickly pass through the bending part of the pipeline and effectively avoids the risk of being stuck; the detector is reduced in collision and friction with the pipe wall when passing through the bending pipe, the damage risk of the pipeline detection equipment in the detection process is reduced, and the service life of the detector is improved; the angle of the detector is adjusted in time at the bending pipe, the time consumption of the detector in over-bending steering is effectively shortened, and the detection efficiency of the detector is improved.

[0025] The over-bending performance of the pipeline detector is improved, and the phenomenon of being stuck is avoided; the detector collision or friction phenomenon due to the difficulty of over-bending of the pipeline detector is solved by the detector over-bending control method of the present application, and the damage risk of the detector is reduced; the detection accuracy and detection efficiency of the pipeline detector at the bending pipe are improved by the pipeline detector over-bending control method of the present application.

[0026] Further, the bending information calculation module is specifically configured to collect first image information of the inner detector at a straight pipe of the pipeline and second image information of the inner detector at a current bending pipe through a laser probe and a visual sensing camera.

[0027] Further, the deviation data comparison module is specifically configured to compare the pipeline bending information with state information of a driving wheel of the inner detector collected in real time to calculate deformation information of the second image information at the bending pipe, and obtain deviation data according to the deformation information.

[0028] Further, the deviation data includes speed deviation data and inclination deviation data.

[0029] Further, the deformation information includes diameter change information, bending inclination information, bending direction information and bending distance information.

[0030] Advantages of the additional aspects of the present application will become apparent in light of the following description. BRIEF DESCRIPTION OF DRAWINGS

[0031] Figure 1 A flowchart of a pipe detector over-bending control method provided for an embodiment of the present application;

[0032] Figure 2 A structural block diagram of a pipe detector over-bending control system provided for an embodiment of the present application;

[0033] Figure 3 An over-bending control structural diagram provided for other embodiments of the present application;

[0034] Figure 4 An over-bending control flowchart provided for other embodiments of the present application;

[0035] Figure 5 A pipe detector over-bending schematic diagram provided for other embodiments of the present application;

[0036] Figure 6 A pipe detector laser circle irradiation diagram provided for other embodiments of the present application. DETAILED DESCRIPTION

[0037] The principles and features of the present application are described below in conjunction with the accompanying drawings, and the embodiments are only used to explain the present application and not to limit the scope of the present application.

[0038] As shown in the drawings, a pipe detector over-bending control method provided for an embodiment of the present application includes: Figure 1 S1, collecting first image information of the detector at a straight pipe of the pipe and second image information of the detector at a current bending pipe, and calculating pipe bending information according to the first image information and the second image information;

[0039] It should be noted that a laser probe and a visual sensing camera are installed at the front end of the detector. When the detector moves in the pipe, the laser probe draws a circle (with the same diameter as the pipe diameter) in front of the detector, and the camera captures the laser circle in real time.

[0040]

[0041] ​When the detector is running in the straight pipe, the laser circle is the pipe inner profile circle, that is, the first image information; at this time, the detector is running normally at the expected speed.

[0042] When the pipe in front of the detector is curved and deformed, the laser circle is also deformed, and the deformed circle is uploaded to the controller part after being collected by the camera, wherein the deformed circle is the second image information.

[0043] In an embodiment, the calculation of the pipe bending information specifically comprises: the controller compares the deformed laser circle with the normal straight pipe laser circle, calculates the deformation information of the curved laser circle, including the diameter change, the bending angle, the bending direction, the bending distance and the like, so as to obtain the pipe bending information in front of the detector, including the pipe center line curvature radius, the bending angle, the bending direction, the bending distance and the like.

[0044] S2, compare the pipe bending information with the state information of the driving wheel of the inner detector collected in real time to obtain deviation data; it should be noted that after the controller calculates the pipe bending information, the speed and the angle at which the detector can smoothly pass through the current curve are calculated, and then compared with the speed and the angle of the driving wheel collected by the detector in real time; the difference is the speed deviation and the angle deviation; the controller outputs a control signal according to the two deviations; when passing through the curve, the angle of the detection arm close to the outer side of the curve is reduced, the angle of the detection arm close to the inner side of the pipe is increased, the speed of the driving wheel close to the outer side of the curve is kept unchanged, and the speed of the driving wheel close to the inner side of the pipe is reduced, so as to control the detector to smoothly pass through the curve in front.

[0045] S3, output a control signal according to the deviation data to control the inner detector to pass through the current curve.

[0046] The scheme compares the pipe bending information with the state information of the driving wheel of the inner detector collected in real time to obtain deviation data, and outputs a control signal according to the deviation data to control the inner detector to pass through the current curve, which helps the detector to quickly pass through the curved part of the pipe and effectively avoids the risk of being stuck; the detector reduces the collision and friction with the pipe wall when passing through the curve, reduces the damage risk of the pipe detection equipment in the detection process, and prolongs the service life of the detector; the angle of the detector is adjusted in time at the curved part of the pipe, the time consumption of the detector in turning through the curve is effectively shortened, and the detection efficiency of the detector is improved.

[0047] The over-bending performance of the pipe detector is improved, and the phenomenon of being stuck is avoided; through the over-bending control method of the detector provided by the present application, the phenomenon of collision or friction of the detector due to the difficulty in over-bending is solved, and the damage risk of the detector is reduced; the over-bending control method of the pipe detector provided by the present application improves the detection accuracy and efficiency of the pipe detector at the curved part of the pipe.

[0048] Optionally, in some embodiments, the first image information of the collecting internal detector at the straight pipe of the pipeline and the second image information at the current bending part specifically include:

[0049] The first image information of the collecting internal detector at the straight pipe of the pipeline and the second image information at the current bending part are collected by a laser probe and a visual sensing camera.

[0050] Optionally, in some embodiments, the comparison of the pipeline bending information with the state information of the driving wheel of the internal detector collected in real time to obtain deviation data specifically includes:

[0051] According to the comparison of the pipeline bending information with the state information of the driving wheel of the internal detector collected in real time, the deformation information of the second image information at the bending part is calculated, and the deviation data is obtained according to the deformation information.

[0052] Optionally, in some embodiments, the deviation data includes speed deviation data and inclination deviation data.

[0053] Optionally, in some embodiments, the deformation information includes diameter change information, bending inclination information, bending direction information and bending distance information.

[0054] In an embodiment, a pipeline detector over-bending steering control method, as shown in Figure 4 , includes pipeline bending recognition, bending information calculation, real-time speed and inclination collection of the detector driving wheel, real-time speed and inclination regulation of the detector driving wheel. This method helps the detector to quickly pass through the pipeline bending part, effectively avoiding the risk of jamming; reduces the collision and friction with the pipe wall when the detector passes through the bending part, reduces the damage risk of the pipeline detection equipment during the detection process, and prolongs the service life of the detector; timely adjusts the angle of the detector at the pipeline bending part, effectively shortens the time consumption of the detector in over-bending steering, and improves the detection efficiency of the detector.

[0055] The pipeline bending recognition specifically includes: installing a laser probe and a visual sensing camera at the front end of the detector. When the detector moves in the pipeline, the laser probe draws a circle (with the same diameter as the pipe diameter) in front of the detector, and the camera captures the laser circle in real time. When the detector travels in the straight pipe, the laser circle is the internal contour circle of the pipeline, and at this time the detector travels at the expected speed; when the pipeline in front of the detector appears bending deformation, the laser circle also deforms, and the deformed circle is collected by the camera and uploaded to the controller part. The over-bending control structure diagram is shown in Figure 3 , wherein the pipeline bending recognition part 1; the speed and inclination collection part of the internal and external wheels of the detector 2; the controller 3; the detector 4.

[0056] Optionally, in some embodiments, the controller compares the deformed laser circle with the normal straight laser circle and calculates the deformation information of the laser circle at the bend, including diameter change, bending angle, bending direction, bending distance, etc., thereby obtaining the pipe bending information in front of the detector, including the radius of curvature of the pipe centerline at the bend, bending angle, bending direction, bending distance, etc.

[0057] After the controller calculates the pipe bend information, it calculates the speed and inclination angle required to smoothly pass through the current bend. It then compares this with the speed and inclination angle of the drive wheel collected in real time by the detector. The difference is the speed deviation and inclination angle deviation. Based on these two deviations, the controller outputs a control signal. When passing through the bend, the inclination angle of the detection arm near the outside of the bend decreases, while the inclination angle of the detection arm near the inside of the pipe increases. The speed of the drive wheel near the outside of the bend remains unchanged, while the speed of the drive wheel near the inside of the pipe decreases, thus controlling the detector to smoothly pass through the bend ahead.

[0058] In one embodiment, such as Figure 2 As shown, a bend control system for a pipe detector includes: a bend information calculation module 1101, a deviation data comparison module 1102, and a control module 1103.

[0059] The bending information calculation module 1101 is used to collect the first image information of the internal detector at the straight part of the pipeline and the second image information at the current bending part, and calculate the pipeline bending information based on the first image information and the second image information;

[0060] The deviation data comparison module 1102 is used to compare the pipe bending information with the real-time acquired state information of the drive wheel of the internal detector to obtain deviation data;

[0061] The control module 1103 is used to output a control signal based on the deviation data to control the inner detector to pass through the current curve.

[0062] This solution compares the pipe bending information with the real-time acquired state information of the drive wheel of the inner detector to obtain deviation data. Based on the deviation data, a control signal is output to control the inner detector to pass through the current bend. This helps the detector quickly pass through the pipe bend and effectively avoids the risk of blockage. It also reduces collisions and friction with the pipe wall when the detector passes through bends, reducing the risk of damage to the pipe detection equipment during the detection process and improving the service life of the detector. Timely adjustment of the detector angle at the pipe bend effectively shortens the time spent turning the detector through the bend and improves the detection efficiency.

[0063] The pipeline detector's over-bending performance is improved, and the jamming phenomenon is avoided; the detector over-bending control method provided by the pipeline detector solves the phenomenon of detector collision or friction due to the difficulty of over-bending, and reduces the damage risk of the detector; the pipeline detector over-bending control method improves the detection accuracy and detection efficiency of the pipeline detector at the pipeline bending place.

[0064] Optionally, in some embodiments, the bending information calculation module 1101 is specifically configured to collect first image information of the inner detector at a straight pipe of the pipeline and second image information of the inner detector at a current bending place through a laser probe and a visual sensing camera.

[0065] Optionally, in some embodiments, the deviation data comparison module 1102 is specifically configured to compare the pipeline bending information with state information of a driving wheel of the inner detector collected in real time, calculate deformation information of the second image information at the bending place, and obtain deviation data according to the deformation information.

[0066] Optionally, in some embodiments, the deviation data includes speed deviation data and inclination deviation data.

[0067] Optionally, in some embodiments, the deformation information includes diameter change information, bending inclination information, bending direction information and bending distance information.

[0068] It can be understood that in some embodiments, some or all of the optional implementation manners in the above embodiments can be included.

[0069] It should be noted that the above embodiments are product embodiments corresponding to the prior method embodiments, and the description of the optional implementation manners of the product embodiments can refer to the corresponding description in the above method embodiments, which will not be described here.

[0070] In an embodiment, as shown in Figure 5 a 90°-bending pipeline is described, the detector travels at a certain speed in a straight pipe section, and the laser probe of the detector head draws a circle in front of the detector. When the detector is in the straight pipe, the laser circle is the pipeline contour circle, and there is no deformation (as shown in Figure 6When the detector head is in the straight pipe, the laser circle is not deformed, and the camera of the detector head captures the laser circle and uploads it to the controller. When the detector head is in the 90° elbow pipe, the laser circle is deformed, and the camera of the detector head captures the deformed laser circle and uploads it to the controller. The controller calculates the curvature and bending angle of the deformed laser circle. The controller adjusts the driving direction of the driving wheels and slows down the speed of the driving wheels on the inner side of the elbow pipe, so that the detector can pass through the 90° elbow pipe smoothly. Figure 5 A simple schematic diagram for the detector passing through the elbow pipe, Figure 6 A diagram of the laser circle irradiation.

[0071] It should be understood by the reader that the description of the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" in the description of the specification means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples. In addition, the skilled person can combine and combine the different embodiments or examples described in the specification and the features of the different embodiments or examples without contradiction.

[0072] In several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the above-described method embodiments are only illustrative, for example, the division of steps is only a logical function division, and actual implementation can have another division manner, for example, multiple steps can be combined or integrated into another step, or some features can be ignored or not executed.

[0073] If the above method is realized in the form of a software function unit and sold or used as an independent product, it can be stored in a computer readable storage medium. Based on this understanding, the technical solutions of the present application or all or part of the technical solutions that essentially contribute to the prior art can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a number of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the various embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various media that can store program codes.

[0074] The above is only a specific embodiment of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of various equivalent modifications or replacements within the technical scope disclosed by the present application, and these modifications or replacements should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A method of over-bend control for a pipe detector, characterized by, The application relates to a pipeline detector over-bend control method, which comprises the following steps: a first image information of an inner detector at a straight pipeline of a pipeline and second image information of the inner detector at a current bend are collected, pipeline bend information is calculated according to the first image information and the second image information; the pipeline bend information is compared with state information of a driving wheel of the inner detector collected in real time, and deviation data is obtained; a control signal is output according to the deviation data, so that the inner detector passes through the current bend; the pipeline bend information is compared with state information of a driving wheel of the inner detector collected in real time, and deviation data is obtained, which comprises the following steps: a speed and an inclination angle for passing through the current bend are calculated based on the pipeline bend information, the speed and the inclination angle are compared with a driving wheel speed and an inclination angle collected in real time by the detector respectively, speed deviation and inclination angle deviation are determined, and the deviation data comprises the speed deviation and the inclination angle deviation.

2. The overbend control method of a pipe detector according to claim 1, wherein, the first image information of the inner detector at the straight pipeline of the pipeline and the second image information of the inner detector at the current bend are collected in the following specific manner: the first image information of the inner detector at the straight pipeline of the pipeline and the second image information of the inner detector at the current bend are collected by a laser probe and a visual sensing camera.

3. The overbend control method of a pipe detector according to claim 1, wherein, the pipeline bend information is compared with state information of a driving wheel of the inner detector collected in real time, and deviation data is obtained, which comprises the following steps: deformation information of the second image information at the bend is calculated according to the comparison between the pipeline bend information and the state information of the driving wheel of the inner detector collected in real time, and the deviation data is obtained according to the deformation information.

4. The overbend control method of a pipe detector according to claim 3, wherein, the deviation data comprises speed deviation data and inclination angle deviation data.

5. A method of overbend control for a pipe detector according to claim 3 or 4, characterised in that, the deformation information comprises diameter change information, bend inclination angle information, bend direction information and bend distance information.

6. An overbend control system for a pipe detector, characterised in that, The application relates to a pipeline detector over-bend control method, which comprises the following steps: a first image information of an inner detector at a straight pipeline of a pipeline and second image information of the inner detector at a current bend are collected, pipeline bend information is calculated according to the first image information and the second image information; the pipeline bend information is compared with state information of a driving wheel of the inner detector collected in real time, and deviation data is obtained; a control signal is output according to the deviation data, so that the inner detector passes through the current bend; 7. A bend control system for a pipe detector according to claim 6, wherein, the pipeline bend information is compared with state information of a driving wheel of the inner detector collected in real time, and deviation data is obtained, which comprises the following steps:

8. A bend control system for a pipe detector according to claim 6, wherein, a speed and an inclination angle for passing through the current bend are calculated based on the pipeline bend information, the speed and the inclination angle are compared with a driving wheel speed and an inclination angle collected in real time by the detector respectively, speed deviation and inclination angle deviation are determined, and the deviation data comprises the speed deviation and the inclination angle deviation.

9. A bend control system for a pipe detector according to claim 8, wherein, the first image information of the inner detector at the straight pipeline of the pipeline and the second image information of the inner detector at the current bend are collected in the following specific manner:

10. A bend control system for a pipe detector according to claim 8 or 9, wherein, the first image information of the inner detector at the straight pipeline of the pipeline and the second image information of the inner detector at the current bend are collected by a laser probe and a visual sensing camera. the pipeline bend information is compared with state information of a driving wheel of the inner detector collected in real time, and deviation data is obtained, which comprises the following steps: deformation information of the second image information at the bend is calculated according to the comparison between the pipeline bend information and the state information of the driving wheel of the inner detector collected in real time, and the deviation data is obtained according to the deformation information. the deviation data comprises speed deviation data and inclination angle deviation data. the deformation information comprises diameter change information, bend inclination angle information, bend direction information and bend distance information. The application relates to a pipeline detector over-bend control method, which comprises the following steps: a first image information of an inner detector at a straight pipeline of a pipeline and second image information of the inner detector at a current bend are collected, pipeline bend information is calculated according to the first image information and the second image information; the pipeline bend information is compared with state information of a driving wheel of the inner detector collected in real time, and deviation data is obtained; a control signal is output according to the deviation data, so that the inner detector passes through the current bend; the pipeline bend information is compared with state information of a driving wheel of the inner detector collected in real time, and deviation data is obtained, which comprises the following steps: a speed and an inclination angle for passing through the current bend are calculated based on the pipeline bend information, the speed and the inclination angle are compared with a driving wheel speed and an inclination angle collected in real time by the detector respectively, speed deviation and inclination angle deviation are determined, and the deviation data comprises the speed deviation and the inclination angle deviation. the first image information of the inner detector at the straight pipeline of the pipeline and the second image information of the inner detector at the current bend are collected in the following specific manner: the first image information of the inner detector at the straight pipeline of the pipeline and the second image information of the inner detector at the current bend are collected by a laser probe and a visual sensing camera. the pipeline bend information is compared with state information of a driving wheel of the inner detector collected in real time, and deviation data is obtained, which comprises the following steps: deformation information of the second image information at the bend is calculated according to the comparison between the pipeline bend information and the state information of the driving wheel of the inner detector collected in real time, and the deviation data is obtained according to the deformation information. the deviation data comprises speed deviation data and inclination angle deviation data. the deformation information comprises diameter change information, bend inclination angle information, bend direction information and bend distance information.

Images