A micro-leakage internal detection system, method and device for oil, gas and water pipelines

Abstract

The present specification relates to the field of oil and gas field exploration and long-distance pipeline, and particularly relates to an oil and gas pipeline micro-leakage internal detection system, method and device. The system comprises a collection unit and a processing unit. The collection unit comprises a mileage wheel in contact with the inside of the pipeline, which is used to determine the mileage data of the acoustic sensor in the pipeline; the acoustic sensor is arranged at equal angles around the circumference of the column body at the center of the detection system, which is used to collect the micro-leakage signal in the pipeline; the pose sensor is fixedly connected with the acoustic sensor, which is used to obtain the pose information of the acoustic sensor when running in the pipeline; the processing unit is used to obtain the mileage data, the pose information of the acoustic sensor and the micro-leakage signal; according to the micro-leakage signal and the pose information of the acoustic sensor, the angle of the leakage sound source in the circumferential direction is determined; and according to the mileage data, the position of the leakage sound source in the axial direction is determined. The present specification configures the acoustic sensor combined with the pose sensor, obtains the amplitude and characteristic information of different sound signals, and realizes the pipeline leakage positioning.

Description

Technical Field

[0001] This specification relates to the fields of oil and gas field exploration and long-distance pipelines, and in particular to a micro-leakage detection system, method and device for oil, gas and water pipelines. Background Technology

[0002] Pipeline transportation has become the primary mode of oil and gas transportation due to its high efficiency, safety, reliability, and cost-effectiveness. However, oil and gas are flammable and explosive; leaks in pipelines can not only pollute the environment and cause economic losses, but also lead to major accidents such as fires and explosions, resulting in casualties. Small pipeline leaks refer to tiny holes or leaks in the pipeline system, a common occurrence in industries such as petroleum and chemicals, which can have serious impacts on the environment and human health. These small leaks may go undetected due to factors such as pipeline corrosion, and if they develop into large leaks, they can cause even more severe consequences. Summary of the Invention

[0003] To address the problems in the prior art, this specification provides an internal detection system, method, and apparatus for micro-leakage in oil, gas, and water pipelines.

[0004] This specification discloses an internal micro-leakage detection system for oil, gas, and water pipelines. The system includes a data acquisition unit and a processing unit. The data acquisition unit includes: a mileage wheel that contacts the inside of the pipeline to determine the mileage data of an acoustic sensor within the pipeline; multiple acoustic sensors arranged circumferentially around a central column of the detection system at equally spaced angles, used to acquire micro-leakage signals within the pipeline, with the distance between the acoustic sensors and the mileage wheel within a preset range; and multiple pose sensors, each fixedly connected to each acoustic sensor to acquire the pose information of the acoustic sensors as they operate within the pipeline. The processing unit acquires the mileage data, the pose information of the acoustic sensors, and the micro-leakage signals within the pipeline; determines the angle of the leak sound source in the circumferential direction of the pipeline based on the micro-leakage signals and the pose information of the acoustic sensors; and determines the position of the leak sound source in the axial direction of the pipeline based on the mileage data.

[0005] According to one aspect of the embodiments of this specification, the acoustic sensor is fitted with a compression cover made of sound-permeable material on its upper part, the compression cover being used to protect the acoustic sensor under high pressure; the micro-leakage detection system for oil, gas and water pipelines further includes: a diaphragm connected to both ends of the column, and a plurality of support wheels installed below the diaphragm, the support wheels being used to support the detection system to move along the inner wall of the pipeline.

[0006] This specification discloses an internal detection method for micro-leakage in oil, gas, and water pipelines, applied to an internal detection system for micro-leakage in oil, gas, and water pipelines. The method includes: acquiring mileage data, the orientation information of an acoustic sensor, and a micro-leakage signal within the pipeline; determining the angle of the leak sound source in the circumferential direction of the pipeline based on the micro-leakage signal and the orientation information of the acoustic sensor; determining the position of the leak sound source in the axial direction of the pipeline based on the mileage data; and realizing internal detection of the micro-leakage based on the circumferential angle and the axial position.

[0007] According to one aspect of the embodiments of this specification, determining the angle of the leakage sound source in the circumferential direction of the pipe includes: determining the spatial vector coordinates of each acoustic sensor based on the pose information of the acoustic sensors; determining the time division ratio between the leakage sound source and each acoustic sensor; determining the spatial relationship between the leakage sound source and each acoustic sensor based on the spatial vector coordinates of each acoustic sensor and the sound source position vector of the leakage sound source; and determining the angle of the leakage sound source in the circumferential direction of the pipe based on the spatial relationship.

[0008] According to one aspect of an embodiment of this specification, the spatial relationship between the leakage sound source and each acoustic sensor is determined using the following formula:

[0009] , where r h n represents the spatial vector coordinates of the leaking sound source. i1 n i2 n i3 n i4 These are four acoustic sensors N i1 N i2 N i3 N i4 Spatial vector coordinates, t i1 t i2 t i3 t i4 To leak sound source to four acoustic sensors N i1 N i2 N i3 N i4 The time fraction; c is the speed of sound in the medium, in m / s.

[0010] According to one aspect of the embodiments of this specification, determining the angle of the leakage sound source in the circumferential direction of the pipeline based on the spatial relationship includes: determining the azimuth angle of the leakage sound source based on the polar coordinates of the spatial vector coordinates of each acoustic sensor and the polar coordinates of the spatial vector coordinates of the leakage sound source, wherein the azimuth angle is the angle of the leakage sound source in the circumferential direction of the pipeline.

[0011] According to one aspect of an embodiment of this specification, determining the axial position includes: determining the time when the micro-leakage signal is acquired and the fluid velocity in the pipe corresponding to the time; determining first mileage data between the leak sound source and the acoustic sensor based on the time and the fluid velocity; determining whether the difference between the first mileage data and the second mileage data recorded by the mileage wheel is within a preset error range; if so, taking the average value of the first mileage data and the second mileage data as the location of the micro-leakage in the axial direction of the pipe.

[0012] This specification also discloses an internal detection device for micro-leakage in oil, gas, and water pipelines. The device includes: an acquisition unit for acquiring mileage data, the pose information of an acoustic sensor, and a micro-leakage signal within the pipeline; an angle determination unit for determining the angle of the leak sound source in the circumferential direction of the pipeline based on the micro-leakage signal and the pose information of the acoustic sensor; a position determination unit for determining the position of the leak sound source in the axial direction of the pipeline based on the mileage data; and an internal detection unit for realizing internal detection of micro-leakage based on the angle and the position in the axial direction.

[0013] This specification also provides a computer device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the method for detecting micro-leakage in oil, gas and water pipelines.

[0014] This specification also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the method for detecting micro-leakage in oil, gas, and water pipelines.

[0015] This manual describes a multi-channel acoustic sensor configured for actual pipeline operation. By picking up the sound signals of leakage, it assists the odometer wheel in obtaining the accurate location of the leak. At the same time, it combines the position sensor and the amplitude and characteristic information of different sound signals to locate even minor leaks in the pipeline. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments or prior art of this specification, the drawings used in the description of the embodiments or prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this specification. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 The diagram shown is a schematic diagram of an internal detection system for micro-leakage in oil, gas and water pipelines according to an embodiment of this specification.

[0018] Figure 2The diagram shown is a flowchart of an embodiment of the micro-leakage detection method for oil, gas and water pipelines in this specification.

[0019] Figure 3 The diagram shown is a flowchart of a method for determining the angle of a leakage sound source in the circumferential direction of a pipeline, according to an embodiment of this specification.

[0020] Figure 4 The diagram shown is a flowchart of a method for determining the axial location of a microleak according to an embodiment of this specification.

[0021] Figure 5 The diagram shown is a structural schematic of an internal detection device for micro-leakage in oil, gas and water pipelines according to an embodiment of this specification.

[0022] Figure 6 The diagram shown is a schematic representation of the internal structure of a micro-leakage detection device for oil, gas and water pipelines according to an embodiment of this specification.

[0023] Figure 7 The diagram shown is a schematic diagram of the sound signal emitted by a leakage sound source according to an embodiment of this specification;

[0024] Figure 8 The diagram shown is a spatial arrangement of multiple acoustic sensors according to an embodiment of this specification.

[0025] Figure 9 The diagram shown is a structural schematic of a computer device according to an embodiment of this specification.

[0026] Explanation of symbols in the attached drawings:

[0027] 101. Mileage Wheel;

[0028] 102. Acoustic sensors;

[0029] 103. Pose sensor;

[0030] 104. Leather bowl;

[0031] 105. Support wheel;

[0032] 106. Column;

[0033] 107. Press the cap tight;

[0034] 108. Vibration damping device;

[0035] 109. Low-frequency transmitter;

[0036] 200. Processing unit;

[0037] 501. Acquisition Unit;

[0038] 502, Angle Determination Unit;

[0039] 5021. Spatial Vector Coordinate Determination Module;

[0040] 5022, Time Division Ratio Determination Module;

[0041] 5023. Spatial Relationship Determination Module;

[0042] 503. Position Determination Unit;

[0043] 504. Internal detection unit;

[0044] 902. Computer equipment;

[0045] 904, Processor;

[0046] 906. Memory;

[0047] 908. Drive mechanism;

[0048] 910. Input / Output Module;

[0049] 912. Input devices;

[0050] 914. Output devices;

[0051] 919. Presentation equipment;

[0052] 918. Graphical User Interface;

[0053] 920. Network interface;

[0054] 922. Communication link;

[0055] 924. Communication bus. Detailed Implementation

[0056] To enable those skilled in the art to better understand the technical solutions in this specification, the technical solutions in the embodiments of this specification will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this specification, and not all embodiments. Based on the embodiments in this specification, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this specification.

[0057] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, apparatus, product, or device that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or devices.

[0058] This specification provides the operational steps of the methods described in the embodiments or flowcharts, but based on conventional or non-inventive labor, more or fewer operational steps may be included. The order of steps listed in the embodiments is merely one possible execution order among many and does not represent the only possible execution order. In actual system or device products, the methods shown in the embodiments or drawings can be executed sequentially or in parallel.

[0059] It should be noted that the methods in this manual can be used in oil and gas field exploration and long-distance pipelines. This manual does not limit the application of the micro-leakage detection system, method and device for oil, gas and water pipelines.

[0060] This specification describes an internal micro-leakage detection system and an internal acoustic detector for oil, gas, and water pipelines. The internal acoustic detector is used inside the pipeline, which is a liquid environment under pressure. The pipeline contains complex environments such as bends and tees, and there are variations in the straight pipe diameter.

[0061] Figure 1 The diagram shown is a schematic diagram of an internal detection system for micro-leakage in oil, gas and water pipelines according to an embodiment of this specification. The internal detection system for micro-leakage in oil, gas and water pipelines includes a data acquisition unit and a processing unit 200.

[0062] In the embodiments of this specification, the acquisition unit is used to acquire the displacement of the system moving in the pipeline, the acoustic signal emitted by the leakage sound source in the pipeline acquired by the acoustic sensor, and further acquire the relative positional relationship between the leakage sound source and the acoustic sensor.

[0063] The data acquisition unit includes a mileage wheel 101, multiple acoustic sensors 102, and multiple pose sensors 103. The mileage wheel 101 contacts the inside of the pipe to determine the mileage data of the acoustic sensors within the pipe. The multiple acoustic sensors 102 are arranged circumferentially around a central column 106 of the detection system, at equally spaced angles. Specifically, the central column 106 of the micro-leakage detection system houses multiple acoustic sensors 102 and multiple pose sensors 103. These multiple acoustic sensors can also be referred to as multi-channel acoustic sensors.

[0064] In order to uniformly receive the acoustic signal emitted by the leakage sound source inside the pipeline, multiple acoustic sensors 102 are arranged at equal angles along the column 106. For example, three acoustic sensors are evenly arranged around the column 106 at equal angles, with an angular interval of 120° between each acoustic sensor; or four acoustic sensors are evenly arranged around the column 106 at equal angles, with an angular interval of 90° between each acoustic sensor. The embodiment of this specification arranges acoustic sensors at equal angles along the column, ensuring that the micro-leakage detection system in oil, gas, and water pipelines can receive the acoustic signal emitted by the micro-leakage sound source inside the pipeline in every direction. This avoids the problem that a small number of acoustic sensors may result in the sensors being unable or difficult to receive the acoustic signal emitted by the leakage sound source, or receiving a small amplitude acoustic signal emitted by the leakage sound source.

[0065] The acoustic sensor 102 is used to collect micro-leakage signals inside the pipeline. The distance between the acoustic sensor 102 and the odometer wheel 101 is within a preset distance range. In some embodiments of this specification, the acoustic sensor 102 and the odometer wheel 101 can be arranged opposite each other, and the distance between them is relatively close, within a certain distance range; in other embodiments of this specification, the distance between the acoustic sensor 102 and the odometer wheel is fixed.

[0066] The acquisition unit also includes multiple pose sensors 103, each of which is fixedly connected to each acoustic sensor 102 to acquire the pose information of the acoustic sensor as it operates within the pipe. In this embodiment, each acoustic sensor 102 is stationary and cannot rotate, but it can also rotate within a certain angle. Regardless of the motion of the acoustic sensor, the pose sensor 103 connected to each acoustic sensor 102 can acquire the pose information of the acoustic sensor 102 within the pipe space. The pose information represents the coordinate information of the acoustic sensor in space.

[0067] The processing unit 200 is used to acquire mileage data, the pose information of the acoustic sensor, and the micro-leakage signal in the pipeline; determine the angle of the leakage sound source in the circumferential direction of the pipeline based on the micro-leakage signal and the pose information of the acoustic sensor; and determine the position of the leakage sound source in the axial direction of the pipeline based on the mileage data.

[0068] In one embodiment of this specification, a pressure cap 107 made of sound-transparent material is fitted over the upper part of the acoustic sensor 102. The pressure cap 107 is used to protect the acoustic sensor 102 from damage under high pressure. High pressure, as mentioned in this specification, refers to pressures of 10 MPa and above. Simultaneously, the pressure cap ensures that the sound signal from the leakage source does not attenuate or experiences minimal attenuation during propagation and is received by the acoustic sensor. Therefore, the acoustic sensor 102 can accurately distinguish leakage noise signals of different apertures.

[0069] The micro-leakage detection system for oil, gas, and water pipelines further includes: cups 104 connected to both ends of the column, and multiple support wheels 105 installed below the cups 104. The support wheels 105 are used to support the movement of the detection system along the inner wall of the pipeline. In this embodiment, the micro-leakage acoustic internal detector is mainly used to detect and identify micro-leakage or pinhole leaks in oil and gas pipelines and to locate the leak point. A multi-channel acoustic sensor can be used to locate and identify leak points in the circumferential direction of the pipeline. Additionally, the micro-leakage detection system for oil, gas, and water pipelines also includes a shock-absorbing device 108 installed at one end of the column 106 to provide shock absorption during operation. The system also includes a low-frequency transmitter 109, which can communicate with a ground marker box to determine the movement position of the micro-leakage detection system within the pipeline, thereby determining whether the internal detection system is blocked or stuck within the pipeline, and thus determining whether to intervene in the test to facilitate the smooth progress of the micro-leakage detection.

[0070] In the embodiments described in this specification, when using the micro-leakage detection system for oil, gas, and water pipelines to conduct micro-leakage detection tests, the micro-leakage acoustic detector is placed into the pipeline through a launch tube installed on the pipeline. Micro-leakage holes of different diameters are set at four different locations on the pipeline. The pipeline is filled with water, and a booster centrifugal pump is used to pressurize the pipeline, causing the fluid inside to flow. Simultaneously, a pressure difference is created across the micro-leakage acoustic detector, propelling it to move within the pipeline along with the medium inside.

[0071] As the acoustic detector for micro-leakage gradually approaches the micro-leakage hole, the sound source during a micro-leakage in the pipeline is primarily caused by fluid dynamics factors such as the fluid's interaction with the leak hole wall and its own unstable flow. When a pinhole leak or micro-leak occurs, the flow field within the pipeline changes. Under the influence of the internal and external pressure difference, the medium inside the pipeline is rapidly ejected along the leak hole, thus generating a sound source, which continuously changes as the flow field becomes unstable. When the leak flow field stabilizes, the sound source also stabilizes and begins to emit sound continuously.

[0072] The micro-leak acoustic internal detector is equipped with multi-channel acoustic sensors that can pick up the noise generated by tiny leaks. By using the differences in the amplitude of the noise picked up by different channels of acoustic sensors, the characteristics of the acoustic signals, and the data from the pose sensor, the leak point can be located in the circumferential direction of the pipeline.

[0073] Figure 2 The diagram shown is a flowchart of a method for detecting micro-leakage in oil, gas, and water pipelines according to an embodiment of this specification, which specifically includes the following steps:

[0074] Step 201: Acquire mileage data, acoustic sensor pose information, and micro-leakage signals within the pipeline.

[0075] In this step, mileage data is obtained based on the data collected by the mileage wheel; the pose information of the acoustic sensor is obtained based on the data collected by the pose sensor; and the micro-leakage signal inside the pipeline is obtained based on the data received by the acoustic sensor.

[0076] Step 202: Determine the angle of the leakage sound source in the circumferential direction of the pipeline based on the micro-leakage signal and the pose information of the acoustic sensors. In some embodiments of this specification, the micro-leakage detection system for oil, gas, and water pipelines is equipped with multiple acoustic sensors, which are arranged at equal intervals and angles around a central cylinder. Based on the micro-leakage acoustic signals received by each acoustic sensor and the pose information of each acoustic sensor, the angle of the sound source relative to each acoustic sensor can be determined, thereby determining the angle of the leakage sound source in the circumferential direction of the pipeline. Here, circumferential direction refers to the direction around the axis of the cylinder.

[0077] Step 203: Based on the mileage data, determine the position of the leakage sound source in the axial direction of the pipeline. After determining the angle of the leakage sound source in the circumferential direction of the pipeline in step 202, and combining the mileage data collected by the mileage wheel, the mileage distance of the leakage sound source relative to the acoustic sensor in the micro-leakage acoustic detector can be determined, thereby determining the position of the leakage sound source in the axial direction of the pipeline.

[0078] Step 204: Based on the circumferential angle and axial position, micro-leakage detection is achieved. Based on the axial and circumferential positions of the leakage sound source determined in steps 202 and 203, the location of the leakage sound source within the pipeline is accurately determined, thereby achieving micro-leakage detection in oil, gas, and water pipelines.

[0079] Figure 3 The diagram shown is a flowchart of a method for determining the angle of a leakage sound source in the circumferential direction of a pipeline, according to an embodiment of this specification. The method specifically includes the following steps:

[0080] Step 301: Determine the spatial vector coordinates of each acoustic sensor based on the pose information of the acoustic sensors. In this step, it is assumed that four acoustic sensors are deployed in the micro-leakage acoustic detector, and each acoustic sensor corresponds to a pose sensor. During the experiment, each pose sensor acquires the pose information of the corresponding acoustic sensor. Specifically, the spatial coordinates of each acoustic sensor are as follows:

[0081] , where n i1 n i2 n i3 n i4 These represent the spatial coordinates of the four acoustic sensors. i1x， n i1y， n i1z Representing acoustic sensors n i1 Coordinates on the x, y, and z axes; n i2x， n i2y， n i2z Representing acoustic sensors n i2 Coordinates on the x, y, and z axes; n i3x， n i3y， n i3z Representing acoustic sensors n i3 Coordinates on the x, y, and z axes.

[0082] Step 302: Determine the time ratio between the leakage sound source and each acoustic sensor. In the embodiments of this specification, the time ratio represents the difference in the time it takes for each acoustic sensor to receive the sound signal emitted by the same leakage sound source. For example, four acoustic sensors are deployed in the micro-leakage acoustic detector, positioned at 0°, 90°, 180°, and 270° in the ZOX coordinate plane of the pipe space coordinate system, respectively. The leakage sound source is located at 0° in the ZOX plane of the pipe space coordinate system. Therefore, the acoustic sensor located at 0° receives the sound signal earliest compared to the other three acoustic sensors. Thus, because of the different deployment positions of each acoustic sensor in the micro-leakage acoustic detector, each acoustic sensor receives the sound signal generated by the leakage sound source at different times, forming a time difference, which is the time ratio.

[0083] In this step, the time division ratio is determined by the time it takes for each acoustic sensor to receive the sound signal emitted by the same leakage sound source.

[0084] Step 303: Determine the spatial relationship between the leakage sound source and each acoustic sensor based on the spatial vector coordinates of each acoustic sensor and the sound source location vector of the leakage sound source. In this step, the spatial relationship between the leakage sound source and the acoustic sensors is calculated using the following formula:

[0085] Among them, the leakage sound source is connected to four acoustic sensors n i1 n i2 n i3 n i4 The time fraction is , , , , This represents the time difference between the first acoustic sensor and the second acoustic sensor receiving the acoustic signal emitted by the same leaking sound source; This represents the time difference between the second and third acoustic sensors receiving the acoustic signal emitted by the same leaking sound source. This represents the time difference between the third and fourth acoustic sensors receiving the acoustic signal emitted by the same leaking sound source. This represents the time difference between the fourth acoustic sensor and the first acoustic sensor receiving the acoustic signal emitted from the same leakage sound source; r h The spatial vector coordinates of the leaking sound source.

[0086] Step 304: Determine the angle of the leakage sound source in the circumferential direction of the pipeline based on the spatial relationship.

[0087] Specifically, based on the polar coordinates of the spatial vector coordinates of each acoustic sensor and the polar coordinates of the spatial vector coordinates of the leakage sound source, the azimuth angle of the leakage sound source is determined, whereby the azimuth angle is the angle of the leakage sound source in the circumferential direction of the pipeline.

[0088] In this step, after calculating the spatial relationship between the leakage sound source and each acoustic sensor, the spatial coordinates of the leakage sound source are obtained. , , The representation of ) in polar coordinates is r h (r, , ).

[0089] The azimuth angle is then calculated using the following formula: , where △ represents the time difference between the sound source and any two acoustic sensors, or the time difference between the sound signals received by any two acoustic sensors from the same sound source.

[0090] Figure 4 The diagram shown is a flowchart of a method for determining the axial location of a microleak according to an embodiment of this specification, which specifically includes the following steps:

[0091] Step 401: Determine the time when the micro-leakage signal was acquired and the corresponding fluid velocity in the pipe. Based on the time when each acoustic sensor receives the acoustic signal emitted by the leaking sound source and the fluid velocity in the pipe during that time period, the distance between the leaking sound source and the corresponding acoustic sensor is determined by the distance the fluid travels. This distance represents the straight-line distance between the leaking sound source and the acoustic sensor. In some embodiments of this specification, this straight-line distance is not necessarily equivalent to the horizontal distance between the leaking sound source and the acoustic sensor.

[0092] Step 402: Determine the first mileage data between the leakage sound source and the acoustic sensor based on the time and the fluid velocity. Determine the distance between the leakage sound source and the acoustic sensor based on the product of the fluid velocity and time, and define this distance as the first mileage distance.

[0093] In some embodiments of this specification, the spatial relationship between the same leakage sound source and each acoustic sensor is different. When calculating the distance value, it is necessary to consider the angle difference between the acoustic sensor and the leakage sound source in the three-dimensional spatial coordinates. The distance between the leakage sound source and the acoustic sensor in the horizontal position is determined based on the angle difference, which is also the distance of the leakage sound source in the axial direction of the pipe.

[0094] In some other embodiments of this specification, if the leakage sound source and an acoustic sensor are at the same horizontal level, there is no angular difference between the leakage sound source and the acoustic sensor. For example, if the leakage sound source is in the positive direction of the Z-axis in the ZOX coordinate system and the acoustic sensor located at 0° of the Z-axis in the ZOX coordinate system receives the sound signal emitted by the leakage sound source, then the leakage sound source and the acoustic sensor are at the same horizontal level. In this case, the first mileage data is determined by multiplying the time when the acoustic sensor receives the sound signal emitted by the leakage sound source with the corresponding fluid velocity.

[0095] In this specification, if there are multiple acoustic sensors, each acoustic sensor can calculate the distance value based on the time when the micro-leak acoustic signal is acquired, the fluid velocity in the pipe corresponding to the time, and the spatial angle between the acoustic sensor and the leak sound source.

[0096] Step 403: Determine whether the difference between the first mileage data and the second mileage data recorded by the mileage wheel is within a preset error range. In this step, the second mileage data is the mileage data collected by the mileage wheel. In some embodiments of this specification, the mileage wheel may slip as it moves within the pipeline along with the micro-leakage acoustic detector. Therefore, the mileage data recorded by the mileage wheel may be inaccurate. Therefore, the first mileage data is used to help determine whether the second mileage data recorded by the mileage wheel is accurate. By determining whether the difference between the first mileage data and the second mileage data is within a preset error range, the accuracy of the first and second mileage data is determined.

[0097] Step 404: If yes, use the average of the first mileage data and the second mileage data as the location of the micro-leakage in the axial direction of the pipeline. If it is within the preset error range, then the second mileage data and the first mileage data are determined to be relatively accurate. Therefore, the average of the two can be taken as the location of the leakage sound source in the axial direction of the pipeline.

[0098] Step 405: If not, reacquire the acoustic signal of the leakage source. If the difference between the first mileage data and the second mileage data exceeds the preset error range, it indicates that the difference between the first mileage data and the second mileage data is large, and it is impossible to determine which of the two mileage data is more accurate. Therefore, it is necessary to retest and reacquire the acoustic signal of the leakage source.

[0099] like Figure 5 The diagram shown is a structural schematic of an internal leak detection device for oil, gas, and water pipelines according to an embodiment of this specification. The basic structure of the internal leak detection device is illustrated in this diagram. The functional units and modules can be implemented using software for internal leak detection of oil, gas, and water pipelines, or they can be implemented using general-purpose chips or specific chips. The device specifically includes:

[0100] Acquisition unit 501 is used to acquire mileage data, pose information of acoustic sensors, and micro-leakage signals in the pipeline;

[0101] Angle determination unit 502 is used to determine the angle of the leakage sound source in the circumferential direction of the pipe based on the micro-leakage signal and the pose information of the acoustic sensor.

[0102] The location determination unit 503 is used to determine the location of the leakage sound source in the axial direction of the pipeline based on the mileage data.

[0103] The internal detection unit 504 is used to realize micro-leakage internal detection based on the circumferential positioning and axial positioning.

[0104] As one embodiment of this specification, reference may also be made to, for example, Figure 6 The diagram shown is a schematic representation of the internal structure of the micro-leakage detection device for oil, gas and water pipelines in this embodiment.

[0105] As one embodiment of this specification, the angle determining unit 502 further includes:

[0106] The spatial vector coordinate determination module 5021 is used to determine the spatial vector coordinates of each acoustic sensor based on the pose information of the acoustic sensors.

[0107] The time division ratio determination module 5022 is used to determine the time division ratio between the leakage sound source and each acoustic sensor.

[0108] The spatial relationship determination module 5023 is used to determine the spatial relationship between the leakage sound source and each acoustic sensor based on the spatial vector coordinates of each acoustic sensor and the sound source position vector of the leakage sound source.

[0109] Figure 7 The diagram illustrates the acoustic signal emitted by a leakage sound source according to an embodiment of this specification. The diagram shows signals emitted from four leakage points: leakage point 1, leakage point 2, leakage point 3, and leakage point 4. The signal characteristics of the sound source signals emitted from the leakage points are: the amplitude reaches a peak at a certain instant, and then decreases and fluctuates over a subsequent period. At pipe bends, the signal amplitude also exhibits certain fluctuations. Therefore, based on the acoustic signals acquired by the acoustic sensors, the number of leakage points, the number of bends, and the time at which the acoustic signals emitted from the leakage points are received can be determined.

[0110] Figure 8 The diagram shows a spatial arrangement of multiple acoustic sensors according to an embodiment of this specification. Four acoustic sensors are shown: acoustic sensor 1, acoustic sensor 2, acoustic sensor 3, and acoustic sensor 4. These four sensors are arranged at 90° intervals in the ZOX coordinate plane. The diagram also shows the location of a small leakage sound source, where the azimuth angle between acoustic sensor 2 and the small leakage sound source is [missing information]. The pose sensor moves vertically upwards or downwards along the Z-axis to provide a comparison at absolute 0 degrees. This is the angle of deflection in the vertical direction of the z-axis, which allows us to locate the angle of the leakage sound source in the circumferential direction.

[0111] like Figure 9The diagram illustrates a computer device provided in an embodiment of this specification. The method for detecting micro-leakage in oil, gas, and water pipelines described in this specification can be applied to this computer device. The computer device 902 may include one or more processors 904, such as one or more central processing units (CPUs), each of which can implement one or more hardware threads. The computer device 902 may also include any memory 906 for storing information of any kind, such as code, settings, data, etc. Non-limitingly, for example, the memory 906 may include any type of RAM, any type of ROM, flash memory, hard disk, optical disk, etc. More generally, any memory can use any technology to store information. Further, any memory can provide volatile or non-volatile retention of information. Further, any memory can represent a fixed or removable component of the computer device 902. In one case, when the processor 904 executes associated instructions stored in any memory or combination of memories, the computer device 902 can perform any operation of the associated instructions. The computer device 902 also includes one or more drive mechanisms 908 for interacting with any memory, such as hard disk drive mechanisms, optical disk drive mechanisms, etc.

[0112] Computer device 902 may also include an input / output module 910 (I / O) for receiving various inputs (via input device 912) and providing various outputs (via output device 914). A specific output mechanism may include a presentation device 916 and an associated graphical user interface (GUI) 918. In other embodiments, the input / output module 910 (I / O), input device 912, and output device 914 may be omitted, and the device may function solely as a computer device within a network. Computer device 902 may also include one or more network interfaces 920 for exchanging data with other devices via one or more communication links 922. One or more communication buses 924 couple the components described above together.

[0113] Communication link 922 can be implemented in any way, such as via a local area network (LAN), a wide area network (WAN) (e.g., the Internet), a point-to-point connection, or any combination thereof. Communication link 922 may include any combination of hardwired links, wireless links, routers, gateway functions, name servers, etc., governed by any protocol or combination of protocols.

[0114] Corresponding to Figures 2 to 4 In addition to the methods described above, embodiments of this specification also provide a computer-readable storage medium storing a computer program that, when executed by a processor, performs the steps of the methods described above.

[0115] This specification also provides computer-readable instructions, wherein when a processor executes the instructions, the program therein causes the processor to perform the following... Figures 2 to 4 The method shown.

[0116] It should be understood that in the various embodiments of this specification, the sequence number of each process does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this specification.

[0117] It should also be understood that, in the embodiments of this specification, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this specification generally indicates that the preceding and following related objects have an "or" relationship.

[0118] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed in this specification can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of each example have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this specification.

[0119] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0120] In the several embodiments provided in this specification, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the couplings or direct couplings or communication connections shown or discussed may be indirect couplings or communication connections through some interfaces, devices, or units, or they may be electrical, mechanical, or other forms of connection.

[0121] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of the embodiments described in this specification, depending on actual needs.

[0122] Furthermore, the functional units in the various embodiments of this specification can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0123] If the integrated unit is implemented as a software functional 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 solution of this specification, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this specification. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0124] This specification uses specific embodiments to illustrate the principles and implementation methods of this specification. The descriptions of the above embodiments are only for the purpose of helping to understand the methods and core ideas of this specification. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this specification. Therefore, the content of this specification should not be construed as a limitation of this specification.

Claims

1. A micro-leakage detection system for oil, gas, and water pipelines, characterized in that, The system includes a data acquisition unit and a processing unit: The acquisition unit includes: Multiple acoustic sensors are arranged circumferentially around a central column of the detection system at equal angles. These acoustic sensors are used to collect micro-leakage signals within the pipeline. A mileage wheel is in contact with the inside of the pipeline to determine the mileage data of the acoustic sensors within the pipeline. The distance between the acoustic sensors and the mileage wheel is within a preset range. Multiple pose sensors, wherein each pose sensor is fixedly connected to each acoustic sensor, and is used to acquire the pose information of the acoustic sensor when it is running in the pipe; The processing unit is used to acquire mileage data, the position and orientation information of the acoustic sensor running in the pipeline, and the micro-leakage signal in the pipeline; determine the angle of the leakage sound source in the circumferential direction of the pipeline based on the micro-leakage signal and the position and orientation information of the acoustic sensor running in the pipeline; and determine the position of the leakage sound source in the axial direction of the pipeline based on the mileage data.

2. The micro-leakage detection system for oil, gas, and water pipelines according to claim 1, characterized in that, The acoustic sensor is fitted with a pressure cover made of sound-transparent material on its upper part, and the pressure cover is used to protect the acoustic sensor under high pressure. The micro-leakage detection system for oil, gas and water pipelines also includes: a diaphragm connected to both ends of the column and multiple support wheels installed below the diaphragm. The support wheels are used to support the micro-leakage detection system for oil, gas and water pipelines to move along the inner wall of the pipeline.

3. A method for detecting micro-leakage in oil, gas, and water pipelines, characterized in that, The method, applied to the micro-leakage detection system for oil, gas, and water pipelines as described in claim 1 or 2, comprises: Acquire mileage data, acoustic sensor pose information, and micro-leakage signals within the pipeline; Based on the micro-leakage signal and the pose information of the acoustic sensor, the angle of the leakage sound source in the circumferential direction of the pipeline is determined; Based on the mileage data, the location of the leakage sound source in the axial direction of the pipeline is determined; Based on the angle in the circumferential direction and the position in the axial direction, micro-leakage detection of oil, gas and water pipelines can be achieved.

4. The method for detecting micro-leakage in oil, gas, and water pipelines according to claim 3, characterized in that, Determining the angle of the leakage sound source in the circumferential direction of the pipeline includes: determining the spatial vector coordinates of each acoustic sensor based on the pose information of the acoustic sensors; Determine the time ratio between the leakage sound source and each acoustic sensor; Based on the spatial vector coordinates of each acoustic sensor and the spatial vector coordinates of the leakage sound source, determine the spatial relationship between the leakage sound source and each acoustic sensor; Based on the spatial relationship, determine the angle of the leakage sound source in the circumferential direction of the pipeline.

5. The method for detecting micro-leakage in oil, gas, and water pipelines according to claim 4, characterized in that, The spatial relationship between the leakage sound source and each acoustic sensor is determined using the following formula: , where r h n represents the spatial vector coordinates of the leaking sound source. i1 n i2 n i3 n i4 These are four acoustic sensors N i1 N i2 N i3 N i4 Spatial vector coordinates, t i1 t i2 t i3 t i4 To leak sound source to four acoustic sensors N i1 N i2 N i3 N i4 The time fraction; c is the speed of sound in the medium, in m / s.

6. The method for detecting micro-leakage in oil, gas, and water pipelines according to claim 5, characterized in that, Based on the aforementioned spatial relationships, determining the angle of the leakage sound source in the circumferential direction of the pipeline includes: Based on the polar coordinates of the spatial vector coordinates of each acoustic sensor and the polar coordinates of the spatial vector coordinates of the leakage sound source, the azimuth angle of the leakage sound source is determined, whereby the azimuth angle is the angle of the leakage sound source in the circumferential direction of the pipeline.

7. The method for detecting micro-leakage in oil, gas, and water pipelines according to claim 3, characterized in that, Determining the axial position includes: Determine the time when the micro-leakage signal was acquired and the corresponding fluid velocity in the pipe; The first mileage data of the acoustic sensor is determined based on the time and the fluid velocity. Determine whether the difference between the first mileage data and the second mileage data recorded by the mileage wheel is within a preset error range; If so, the average of the first mileage data and the second mileage data is taken as the location of the micro-leak in the axial direction of the pipeline.

8. A micro-leakage detection device for oil, gas, and water pipelines, characterized in that, The device includes: The acquisition unit is used to acquire mileage data, the pose information of acoustic sensors, and micro-leakage signals within the pipeline. The mileage data is determined by a mileage wheel, and the pose information of the acoustic sensors is acquired using multiple pose sensors. The micro-leakage signals within the pipeline are collected by multiple acoustic sensors. The mileage wheel is in contact with the inside of the pipeline to determine the mileage data of the acoustic sensors within the pipeline. The multiple acoustic sensors are arranged circumferentially around a central column of the detection system, with equal angles. Each pose sensor is fixedly connected to each acoustic sensor to acquire the pose information of the acoustic sensors as they operate within the pipeline. An angle determination unit is used to determine the angle of the leakage sound source in the circumferential direction of the pipe based on the micro-leakage signal and the pose information of the acoustic sensor. The location determination unit is used to determine the location of the leakage sound source in the axial direction of the pipeline based on the mileage data. The internal detection unit is used to detect micro-leakage in oil, gas and water pipelines based on the angle in the circumferential direction and the position in the axial direction.

9. A computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the method according to any one of claims 3 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the method according to any one of claims 3 to 7.

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