Automatic control method for oil and gas pipeline detection equipment

Abstract

The present invention belongs to the field of automatic control technology, and proposes an automatic control method for oil and gas pipeline detection equipment, which is specifically as follows: first, read the oil and gas pipeline detection task route, identify the key section and the conventional section from the task route, activate the oil and gas pipeline detection equipment to perform the oil and gas pipeline detection task on the oil and gas pipeline detection task route, then collect the power level of the adjustment process in real time after the equipment is activated, and finally determine the power consumption redundancy state according to the power level, and use the power consumption redundancy state to perform automatic control of the oil and gas pipeline detection equipment. By dynamically quantifying the degree of power consumption redundancy that cannot be fully utilized by the equipment and the degree of detection task that the equipment cannot fully perform the oil and gas pipeline detection task route, more oil and gas pipeline detection opportunities are released in conventional sections, so as to improve the pipeline detection data density and the reliability of the detection results, and improve the flexibility of the oil and gas pipeline detection equipment in the task execution process and the applicability in the application scenarios.

Description

Technical Field

[0001] The invention belongs to the technical field of automatic control, and in particular relates to an automatic control method for oil and gas pipeline detection equipment. Background Art

[0002] At present, oil and gas pipeline inspection equipment is mainly used to detect corrosion, cracks, leakage and deformation in oil and gas pipelines to ensure the safety of pipeline applications and the stability of oil and gas supply. PIG (Pipeline Inspection Gauge) inspection equipment is a common oil and gas pipeline inspection equipment. Commonly used PIG inspection equipment usually combines ultrasonic and magnetic flux detection technology to detect the pipeline status inside the pipeline. Its biggest advantage is that it can be inspected during pipeline operation, so as not to affect the normal operation of the oil and gas pipeline. Especially in the relatively long-distance pipeline inspection tasks, the emergence of PIG inspection equipment has greatly improved the execution efficiency of pipeline inspection. The PIG detection equipment uses the oil and gas in the oil and gas pipeline to propel itself forward, so its moving speed is in a passive state to a certain extent and is directly related to the oil and gas flow rate in the oil and gas pipeline, so the PIG detection equipment must consume electricity to adjust the moving speed in real time. It should be noted that the speed of movement will directly affect the accuracy of the data obtained from the oil and gas pipeline detection. Therefore, in order to ensure data availability, the power consumption of real-time adjustment of the moving speed will cause instability due to the uncertainty of the oil and gas flow rate in the oil and gas pipeline, and this instability is usually characterized by high persistence and prominent variation. In addition, in long-distance pipeline detection, the delay in data transmission will also affect the real-time performance of speed control. This data transmission delay will also cause uncertain power demand. The power consumption caused by speed regulation and data transmission is usually classified as adjustment power consumption, and the power consumption caused by posture adjustment and pipeline status detection is usually classified as detection power consumption. When the inspection pipeline is determined, the traditional circuit control method takes ensuring data accuracy and availability as the primary goal, so it is relatively conservative in the power control balance between adjustment power consumption and detection power consumption, that is, in the oil and gas pipeline to be inspected, under the severe consumption situation of adjustment power consumption, it can still be guaranteed that there is enough power for all inspection pipeline status inspection tasks. Therefore, usually a PIG inspection device has a large amount of available power remaining when completing the formulated oil and gas pipeline inspection task. For the measurement project of oil and gas pipeline inspection, the high remaining power of the equipment indicates the loss of measurement and inspection opportunities, which is usually considered to be a misjudgment of pipeline inspection frequency setting; there is also a power control method in the prior art that evaluates and adjusts power consumption based on historical inspection records. This power control balance between adjustment power consumption and detection power consumption is relatively risky. When the measurement scenario occurs in a relatively severe situation, the inspection task of the assigned oil and gas pipeline cannot be fully executed and the power has been exhausted.It should be noted that the data collection work of oil and gas pipelines is often that the higher the detection frequency, the more accurate the detection data obtained. The detection frequency can be reflected in the adjustment of the equipment movement speed or the time interval for the data collector to collect data. That is, when the time interval for the data collector to collect data remains unchanged, the detection frequency is increased by reducing the equipment movement speed; or when the equipment movement speed cannot be changed, the detection frequency is increased by shortening the time interval for the data collector to collect data. Reasonable control of the detection frequency will effectively increase the number of detection opportunities. Therefore, an automatic control method for oil and gas pipeline detection equipment is urgently needed to solve this problem. Summary of the invention

[0003] The purpose of the present invention is to provide an automatic control method for oil and gas pipeline detection equipment to solve one or more technical problems existing in the prior art and at least provide a beneficial choice or create conditions.

[0004] In order to achieve the above object, according to one aspect of the present invention, there is provided an automatic control method for oil and gas pipeline detection equipment, the method comprising the following steps:

[0005] S100, reading the oil and gas pipeline inspection task route and identifying the key sections and conventional sections therefrom;

[0006] S200, activating the oil and gas pipeline inspection equipment to perform the oil and gas pipeline inspection task on the oil and gas pipeline inspection task route;

[0007] S300, after the device is activated, real-time acquisition of the power level of the device adjustment process, the device adjustment process includes mobile speed control and network communication;

[0008] S400, judging the power consumption redundancy state according to the power level, and using the power consumption redundancy state to perform automatic control of the oil and gas pipeline detection equipment, including: when the power consumption redundancy state is high redundancy, increasing the detection frequency of the conventional section, otherwise reducing the detection frequency of the conventional section.

[0009] Further, in step S100, the oil and gas pipeline inspection task route is read, and the method for identifying key sections and conventional sections from the task route is: read the oil and gas pipeline inspection task route from the GIS geographic information software, the oil and gas pipeline inspection task route is the pipeline that the oil and gas pipeline inspection equipment needs to inspect, and the oil and gas pipeline inspection task route is composed of several key sections and conventional sections; wherein the key section is a section that needs to focus on data collection, including one or more of a historical maintenance section, a welding point section, a bending section, a section crossing a river, a section crossing a road, or a high stress section, and the remaining sections are regarded as conventional sections.

[0010] The oil and gas pipeline inspection task route is stored in the computer system in the Shapefile file format and read and write managed by ArcGIS or QGIS software. The Shapefile file includes relevant attribute data of each location on the pipeline, including structural materials, maintenance history, PIG equipment transmitting and receiving stations, etc.

[0011] The PIG detection equipment in key sections needs to be tested more frequently than in regular sections. The moving speed may be reduced or the sampling frequency may be increased, or even a higher sensitivity sensor may be used for adequate detection.

[0012] Conventional sections often use relatively low-power data acquisition and detection strategies because of relatively low detection requirements, which can easily lead to missed detections of pipeline cracks and pipeline damage. Therefore, the high-power redundancy characteristics of PIG detection equipment can be used to reduce the risk of missed detections.

[0013] Further, in step S200, the method of activating the oil and gas pipeline detection device to perform the oil and gas pipeline detection task on the oil and gas pipeline detection task route is: the oil and gas pipeline detection device is set to a PIG detection device by default, the oil and gas pipeline detection device is put into operation from the PIG transmitting station in the oil and gas pipeline system, and when the oil and gas pipeline detection device moves to the beginning of the oil and gas pipeline detection task route, it is activated to start the oil and gas pipeline detection task;

[0014] The oil and gas pipeline inspection tasks performed by the PIG inspection equipment include one or more of ultrasonic inspection or magnetic flux inspection.

[0015] Furthermore, in step S300, the method for real-time acquisition of the power level of the adjustment process after the equipment is activated is: record the power level acquisition interval as Tts, Tts∈[1,10] minutes, record the power level of the adjustment process every Tts from the activation of the oil and gas pipeline detection equipment, and define the power level as the average value of each instantaneous power value collected within the time interval Tts.

[0016] The equipment adjustment process includes mobile speed control and network communication. Therefore, the power level value actually collected is the cumulative value of the power levels of the mobile speed control module and the network communication module. The mobile speed control module includes one or more of a pressure controller, a brake controller or a motor; the network communication module includes a power amplifier, a wireless transmitter and a wireless receiver.

[0017] Different circuit system designs among PIG devices will lead to differences in component combinations, so the above-mentioned settings of the mobile speed control module and the network communication module are the most basic settings. It is usually necessary to pre-assign classification labels to the components in the circuit system that conform to the mobile speed control module and the components that conform to the network communication module, so as to realize the statistics and calculation of the power levels of the mobile speed control module and the network communication module.

[0018] Further, in step S400, the method for determining the power consumption redundancy state according to the power level is:

[0019] The power execution level is the average power level at each moment from activation to the current moment, and the power history level is the average power execution level corresponding to the current moment in each gas pipeline inspection task in history;

[0020] The monitoring period is 20-30 minutes before the current moment;

[0021] A power benchmark group is formed by any moment and its corresponding power historical level. The set constructed by each power benchmark group in the preset monitoring period is interpolated by cubic spline using plrep and splev functions to obtain a smooth curve. The fitting value on the smooth curve obtained at each moment is used as the curve value at the corresponding moment. plrep and splev functions are calling functions of the python program. The absolute value of the difference between the curve value at a moment and its corresponding power historical level is used as the adjustment order value Adm.

[0022] The principle of obtaining the adjustment order value here is actually based on the cubic spline interpolation method. This method constructs a smooth curve to fit the power benchmark group, and compares the difference between the value on the smooth curve and the actual observed value to calculate the adjustment order value. This makes it sensitive to noise and outliers in the data, because these factors will also affect the accuracy of the fitting curve. At the same time, the adjustment order value can dynamically and effectively reflect the power level fluctuation of the oil and gas pipeline inspection equipment during the monitoring period, thereby providing mathematical support for the judgment of the redundant state of power consumption.

[0023] The adjustment order value at any moment and its corresponding power level constitute a redundant feature vector, and the cosine similarity between the redundant feature vector corresponding to any moment and the previous moment is calculated, which is recorded as the redundant order value factor Pncv; when the redundant order value factor of a moment is larger than the redundant order value factor of the previous moment, the moment is recorded as a power fluctuation point; the number of power fluctuation points in the monitoring period is recorded as Pfn; the number of moments searched in the reverse time direction in the current moment to the first occurrence of the power fluctuation point is recorded as the fluctuation index GNST; the redundancy metric Dsvu is calculated based on the adjustment order value and the redundant order value factor:

[0024] ;

[0025] Where i2 is the serial number of the time in the monitoring period, Dsvu i2 ,GNST i2 and Adm i2 They represent the redundant metric, volatility index and adjustment order value at the i2th moment, i1 is the cumulative variable, Pncv i1 represents the redundant order factor of the i1th power fluctuation point, GPncv is the average redundant order factor of all power fluctuation points in the monitoring period, exp() represents the exponential function with the natural constant e as the base, and lg is the logarithmic function with 10 as the base;

[0026] Write the redundant metrics at each moment into a sequence in chronological order and record it as the redundant reference sequence RD.LS; calculate the ratio of the range of RD.LS to Pfn and round it up to an integer, which is recorded as the interval threshold;

[0027] The difference between any element in the redundant reference sequence and its next element is recorded as the horizontal subinterval of the moment corresponding to the element, where the horizontal subinterval of the current moment is the average of all other horizontal subintervals; taking any element in the redundant reference sequence as the current element, traverse from the current element to the direction of the first element in the redundant reference sequence, if the horizontal subinterval corresponding to the traversed element is greater than the interval threshold, then the moment corresponding to the currently traversed element is defined as a high-consumption redundant state, otherwise it is a low-consumption redundant state; if the number of moments marked as a high-consumption redundant state during the monitoring period is greater than the number of moments marked as a high-consumption redundant state from a low-consumption redundant state, then the current power consumption redundancy state is judged to be high redundancy, otherwise it is low redundancy.

[0028] Since the determination of the redundant state of power consumption is obtained by processing based on the redundant measurement index, the degree of redundant power consumption that cannot be fully utilized by the PIG detection equipment and the degree of detection tasks that the equipment cannot fully perform the oil and gas pipeline detection task route are effectively and efficiently dynamically and comprehensively quantified. However, since the calculation of the redundant measurement index is highly dependent on the power level in a short period of time, it is easy to cause underfitting in the process of calculating the redundant measurement index and reduce the reliability of determining the redundant state of power consumption, especially in the same oil and gas pipeline detection task. The power level changes and fluctuates greatly and the power fluctuation points occur more frequently. However, the existing technology cannot effectively compensate for this underfitting phenomenon. In order to eliminate this influence, the present invention proposes a more preferred solution as follows:

[0029] Further, in step S400, the method for determining the redundant state of power consumption according to the power level can be replaced by: for the same oil and gas pipeline inspection task route, in each of its historical oil and gas pipeline inspection tasks, if the remaining power ratio at the end of the task exceeds the preset threshold Etrr, a default record is marked for it, wherein the preset threshold value range of the remaining power ratio is Etrr∈[5%,15%]; the power level reference at any moment is defined as the average power level in the oil and gas pipeline inspection tasks marked as default records at the location at that moment; the difference between the power level and the power level reference is taken as the reference fitness Rfit, the time period from the activation of the device to the current moment is taken as the monitoring period, the power level reference write sequence at each moment of the monitoring period is recorded as the reference sequence RFL, the moment corresponding to the maximum value of the sequence RFL is marked as the reference peak, and the reference peak order Rpdg at any moment is the number of moments between that moment and the first reference peak searched in the reverse time direction; the fitness default model FDM is constructed according to the reference peak order and the reference fitness, specifically:

[0030] ;

[0031] ;

[0032] Where t1 and j1 are the sequence numbers of the moments, FDM(t1) is the model calculation value at moment t1, ifmax(t1) is the peak order maximum function, and if Rpdg j1 =Rpdg t1 For the element Rfit j1 Constraints, Rfit j1 and Rpdg j1 Represent the reference fitness and reference peak order at the j1th moment, Rfit t1 and Rpdg t1 Respectively represent the reference fitness and reference peak order at the t1th moment, where the constraint condition represents that the calling element of the maximum value function max only includes Rfit, and for the j1th Rfit, the j1th Rpdg must be equal to the t1th Rpdg;

[0033] The number of moments corresponding to any reference peak order is recorded as the reference peak order volume, the median value of each reference peak order volume is the volume threshold Vlth, and each model calculation value is written into a sequence in chronological order and recorded as the second redundant reference sequence SRD.LS; the ratio of the range of the sequence SRD.LS to Vlth is rounded up and recorded as the second interval threshold, and the element corresponding to the current moment in the sequence SRD.LS is taken as the current element, and traversal is performed in the reverse time direction starting from the current element. If the horizontal sub-interval corresponding to the traversed element is greater than the interval threshold, the moment corresponding to the currently traversed element is defined as a high-consumption redundant state, otherwise it is a low-consumption redundant state. If the number of moments marked as a high-consumption redundant state within the monitoring period is greater than the number of moments marked as a high-consumption redundant state from a low-consumption redundant state, the current power consumption redundancy state is judged to be high redundancy, otherwise it is low redundancy.

[0034] The power level in each historical oil and gas pipeline inspection task refers to that, since the data record of the power level will be retained each time the oil and gas pipeline inspection task is carried out, and the data record is stored in the Shapefile file, after each complete execution of the oil and gas pipeline inspection task, the corresponding power level data will be saved at each time and each position of the oil and gas pipeline inspection task route; since the power level is collected intermittently, the power level at any moment should inherit the first moment with the power level obtained by searching in the reverse time direction; for any moment of the current oil and gas pipeline inspection task, the corresponding position at this moment has a corresponding power level in each completed oil and gas pipeline inspection task, and the average value of these power levels is the power level reference.

[0035] Since the redundant power consumption status is dynamically calculated based on the power level, it can effectively dynamically quantify and determine the current PIG equipment's operating conditions of maintaining the existing or dynamically adjusted detection frequency to perform detection tasks. It combines the degree to which the equipment's redundant power consumption cannot be fully utilized and the degree to which the equipment cannot fully perform the oil and gas pipeline detection task route. This releases more oil and gas pipeline inspection opportunities in conventional sections, improves pipeline inspection data density and the reliability of inspection results, and reduces the risk of missed detection of pipeline cracks and pipeline damage in conventional sections.

[0036] Furthermore, in step S400, the method of increasing the detection frequency of the conventional section is: reducing the moving speed by 1%-10% of the current moving speed; or increasing the detection interval of the oil and gas pipeline monitoring detection task by 1%-10% of the current detection interval.

[0037] Furthermore, in step S400, the method of reducing the detection frequency of the conventional section is: increasing the moving speed by 1%-10% of the current moving speed; or reducing the detection interval of the oil and gas pipeline monitoring detection task by 1%-10% of the current detection interval.

[0038] The detection frequency refers to the time interval or distance interval of ultrasonic detection or magnetic flux detection trigger. When the moving speed adjustment is selected as the detection frequency control, the distance interval of the detection trigger is applied. When the detection interval of the oil and gas pipeline detection task is selected as the detection frequency control, the time interval of the detection trigger is applied.

[0039] Since the key sections have adopted high-specification detection attributes by default, there is often no room for further improvement in the detection attributes of higher specifications. Otherwise, the high-specification detection attributes cannot guarantee the detection credibility of the key sections. In the conventional sections, due to the relatively stable working conditions, it is usually only necessary to implement the detection attributes or detection frequency of ordinary specifications.

[0040] When the number of PIG devices put into use at the same time is 1, the method of adjusting the mobile speed to control the detection frequency can effectively avoid data distortion caused by the switching gap when the working tasks of the key section and the conventional section alternate, thereby improving the accuracy of the collected data.

[0041] However, the transmitting station and receiving station of the PIG equipment in long-distance oil and gas pipelines are usually far apart. In addition, there are scenarios where PIG equipment with different detection methods work together. Therefore, the task of collaborative detection of multiple PIG detection equipment exists. In this case, the use of mobile speed adjustment will increase the difficulty of adjusting the detection system, and speed changes will increase the complexity of mobile speed control. This is because the distance between PIG equipment in pipeline operations needs to be within a safe range to prevent collisions that cause failures and data distortion. Therefore, when the number of PIG equipment put into use at the same time exceeds 1, the detection interval adjustment method is used.

[0042] Preferably, all undefined variables in the present invention, if not clearly defined, can be manually set thresholds.

[0043] The present invention also provides an automatic control system for oil and gas pipeline detection equipment, the automatic control system for oil and gas pipeline detection equipment comprising: a processor, a memory, and a computer program stored in the memory and executable on the processor, the processor implementing the steps in the automatic control method for oil and gas pipeline detection equipment when executing the computer program, the automatic control system for oil and gas pipeline detection equipment can be run in computing devices such as desktop computers, laptop computers, PDAs, and cloud data centers, the executable system may include, but not limited to, a processor, a memory, and a server cluster, the processor executing the computer program runs in the following system units:

[0044] The oil and gas pipeline section identification unit is used to read the oil and gas pipeline inspection task route and identify the key sections and conventional sections from the task route;

[0045] An equipment activation unit, used to activate the oil and gas pipeline detection equipment to perform the oil and gas pipeline detection task on the oil and gas pipeline detection task route;

[0046] A power data acquisition unit is used to collect the power level of the adjustment process in real time after the device is activated;

[0047] The automatic control unit is used to determine the redundant state of power consumption according to the power level, and to perform automatic control of the oil and gas pipeline detection equipment using the redundant state of power consumption.

[0048] The beneficial effects of the present invention are as follows: the present invention provides an automatic control method for oil and gas pipeline inspection equipment, which can effectively dynamically quantify and judge the current PIG equipment under the working condition of maintaining the existing or dynamically adjusted inspection frequency to perform the inspection task, and comprehensively consider the degree of redundant power consumption that the equipment cannot fully utilize and the degree of inspection task that the equipment cannot fully perform the oil and gas pipeline inspection task route, thereby releasing more oil and gas pipeline inspection opportunities in conventional sections, so as to improve the pipeline inspection data density and the reliability of the inspection results, and reduce the risk of missed inspections of pipeline cracks and pipeline damage in conventional sections. Since the accuracy of the oil and gas pipeline inspection task is directly related to the inspection frequency, making full use of the redundant power of the equipment can effectively improve the execution effect of the inspection task, thereby improving the flexibility of the oil and gas pipeline inspection equipment in the task execution process and the applicability in the application scenario. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] The above and other features of the present invention will become more obvious by describing in detail the embodiments shown in the accompanying drawings. The same reference numerals in the accompanying drawings of the present invention represent the same or similar elements. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other accompanying drawings can be obtained based on these accompanying drawings without creative work. In the accompanying drawings:

[0050] Figure 1 Shown is a flow chart of an automatic control method for oil and gas pipeline detection equipment;

[0051] Figure 2 Shown is a structural diagram of an automatic control system for oil and gas pipeline inspection equipment. DETAILED DESCRIPTION

[0052] The following will be combined with the embodiments and drawings to clearly and completely describe the concept, specific structure and technical effects of the present invention, so as to fully understand the purpose, scheme and effect of the present invention. It should be noted that the embodiments and features in the embodiments of this application can be combined with each other without conflict.

[0053] like Figure 1 The figure shows a flow chart of an automatic control method for oil and gas pipeline detection equipment. Figure 1 To illustrate an automatic control method of an oil and gas pipeline detection device according to an embodiment of the present invention, the method comprises the following steps:

[0054] Embodiment 1: S100, reading the oil and gas pipeline inspection task route and identifying the key section and the conventional section therefrom;

[0055] S200, activating the oil and gas pipeline inspection equipment to perform the oil and gas pipeline inspection task on the oil and gas pipeline inspection task route;

[0056] S300, after the device is activated, real-time acquisition of the power level of the device adjustment process, the device adjustment process includes mobile speed control and network communication;

[0057] S400, judging the power consumption redundancy state according to the power level, and using the power consumption redundancy state to perform automatic control of the oil and gas pipeline detection equipment, including: when the power consumption redundancy state is high redundancy, increasing the detection frequency of the conventional section, otherwise reducing the detection frequency of the conventional section.

[0058] Further, in step S100, the oil and gas pipeline inspection task route is read, and the method for identifying key sections and conventional sections from the task route is: read the oil and gas pipeline inspection task route from the GIS geographic information software, the oil and gas pipeline inspection task route is the pipeline that the oil and gas pipeline inspection equipment needs to inspect, and the oil and gas pipeline inspection task route is composed of several key sections and conventional sections; wherein the key sections are sections that need to focus on data collection, including historical maintenance sections, welding point sections, bending sections, sections crossing rivers, sections crossing roads and high stress sections, and the remaining sections are regarded as conventional sections.

[0059] Further, in step S200, the method of activating the oil and gas pipeline detection device to perform the oil and gas pipeline detection task on the oil and gas pipeline detection task route is: the oil and gas pipeline detection device is set to a PIG detection device by default, the oil and gas pipeline detection device is put into operation from the PIG transmitting station in the oil and gas pipeline system, and when the oil and gas pipeline detection device moves to the beginning of the oil and gas pipeline detection task route, it is activated to start the oil and gas pipeline detection task;

[0060] The oil and gas pipeline inspection tasks performed by the PIG inspection equipment include one or more of ultrasonic inspection or magnetic flux inspection.

[0061] Furthermore, in step S300, the method for real-time acquisition of the power level of the adjustment process after the equipment is activated is: record the power level acquisition interval as Tts, Tts takes a value of 5 minutes, record the power level of the adjustment process every Tts from the activation of the oil and gas pipeline detection equipment, and define the power level as the average value of each instantaneous power value collected within the time interval Tts.

[0062] Further, in step S400, the method for determining the power consumption redundancy state according to the power level is:

[0063] The power execution level is the average power level at each moment from activation to the current moment, and the power history level is the average power execution level corresponding to the current moment in each gas pipeline inspection task in history;

[0064] A power reference group is formed by any moment and its corresponding power historical level. The set constructed by each power reference group in the preset monitoring period is interpolated by cubic spline using plrep and splev functions to obtain a smooth curve. The absolute value of the difference between the curve value and its corresponding power historical level at a moment is used as the adjustment order value Adm.

[0065] The adjustment order value at any moment and its corresponding power level constitute a redundant feature vector, and the cosine similarity between the redundant feature vector corresponding to any moment and the previous moment is calculated, which is recorded as the redundant order value factor Pncv; when the redundant order value factor of a moment is larger than the redundant order value factor of the previous moment, the moment is recorded as a power fluctuation point; the number of power fluctuation points in the monitoring period is recorded as Pfn; the number of moments searched in the reverse time direction in the current moment to the first occurrence of the power fluctuation point is recorded as the fluctuation index GNST; the redundancy metric Dsvu is calculated based on the adjustment order value and the redundant order value factor:

[0066] ;

[0067] Where i2 is the serial number of the time in the monitoring period, Dsvu i2 ,GNST i2 and Adm i2 They represent the redundant metric, volatility index and adjustment order value at the i2th moment, i1 is the cumulative variable, Pncv i1 represents the redundant order factor of the i1th power fluctuation point, GPncv is the average redundant order factor of all power fluctuation points in the monitoring period, exp() represents the exponential function with the natural constant e as the base, and lg is the logarithmic function with 10 as the base;

[0068] Write the redundant metrics at each moment into a sequence in chronological order and record it as the redundant reference sequence RD.LS; calculate the ratio of the range of RD.LS to Pfn and round it up to an integer, which is recorded as the interval threshold;

[0069] The difference between any element in the redundant reference sequence and its next element is recorded as the horizontal subinterval of the moment corresponding to the element, where the horizontal subinterval of the current moment is the average of all other horizontal subintervals; taking any element in the redundant reference sequence as the current element, traverse from the current element to the direction of the first element in the redundant reference sequence, if the horizontal subinterval corresponding to the traversed element is greater than the interval threshold, then the moment corresponding to the currently traversed element is defined as a high-consumption redundant state, otherwise it is a low-consumption redundant state; if the number of moments marked as a high-consumption redundant state during the monitoring period is greater than the number of moments marked as a high-consumption redundant state from a low-consumption redundant state, then the current power consumption redundancy state is judged to be high redundancy, otherwise it is low redundancy.

[0070] Furthermore, in step S400, the method of increasing the detection frequency of the conventional section is to increase the detection interval of the oil and gas pipeline monitoring detection task by 4% of the current detection interval.

[0071] Furthermore, in step S400, the method for reducing the detection frequency of the conventional section is: reducing the detection interval of the oil and gas pipeline monitoring detection task by 4% of the current detection interval.

[0072] Embodiment 2: Embodiment 2 follows the automatic control method of Embodiment 1, and the difference is that the method for determining the redundant state of power consumption according to the power level is replaced by: for the same oil and gas pipeline inspection task route, in each historical oil and gas pipeline inspection task, if the remaining power ratio at the end of the task exceeds the preset threshold value Etrr, a default record is marked for it, wherein the preset threshold value range of the remaining power ratio is Etrr=10%; the power level reference at any moment is defined as the average power level in the oil and gas pipeline inspection tasks marked as default records at the location at that moment; the difference between the power level and the power level reference is taken as the reference fitness Rfit, the time period from the activation of the device to the current moment is taken as the monitoring period, the power level reference write sequence at each moment of the monitoring period is recorded as the reference sequence RFL, and the moment corresponding to the maximum value of the sequence RFL is marked as the reference peak, then the reference peak order Rpdg at any moment is the number of moments between that moment and the first reference peak searched in the reverse time direction; the fitness default model FDM is constructed according to the reference peak order and the reference fitness, specifically:

[0073] ;

[0074] ;

[0075] Where t1 and j1 are the sequence numbers of the moments, FDM(t1) is the model calculation value at moment t1, ifmax(t1) is the peak order maximum function, and if Rpdg j1 =Rpdg t1 For the element Rfit j1 Constraints, Rfit j1 and Rpdg j1 Represent the reference fitness and reference peak order at the j1th moment, Rfit t1 and Rpdg t1 Respectively represent the reference fitness and reference peak order at the t1th moment; wherein, the constraint condition represents that the calling element of the maximum value function max only includes Rfit, and the j1th Rfit must satisfy that the j1th Rpdg is equal to the t1th Rpdg;

[0076] The number of moments corresponding to any reference peak order is recorded as the reference peak order volume, the median value of each reference peak order volume is the volume threshold Vlth, and each model calculation value is written into a sequence in chronological order and recorded as the second redundant reference sequence SRD.LS; the ratio of the range of the sequence SRD.LS to Vlth is rounded up and recorded as the second interval threshold, and the element corresponding to the current moment in the sequence SRD.LS is taken as the current element, and traversal is performed in the reverse time direction starting from the current element. If the horizontal sub-interval corresponding to the traversed element is greater than the interval threshold, the moment corresponding to the currently traversed element is defined as a high-consumption redundant state, otherwise it is a low-consumption redundant state. If the number of moments marked as a high-consumption redundant state within the monitoring period is greater than the number of moments marked as a high-consumption redundant state from a low-consumption redundant state, the current power consumption redundancy state is judged to be high redundancy, otherwise it is low redundancy.

[0077] An embodiment of the present invention provides an automatic control system for oil and gas pipeline detection equipment, such as Figure 2 The figure shows a structural diagram of an automatic control system of an oil and gas pipeline detection device of the present invention. The automatic control system of an oil and gas pipeline detection device of this embodiment includes: a processor, a memory, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps in the above-mentioned embodiment of the automatic control method of the oil and gas pipeline detection device are implemented.

[0078] The system comprises: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to run in the following units of the system:

[0079] The oil and gas pipeline section identification unit is used to read the oil and gas pipeline inspection task route and identify the key sections and conventional sections from the task route;

[0080] An equipment activation unit, used to activate the oil and gas pipeline detection equipment to perform the oil and gas pipeline detection task on the oil and gas pipeline detection task route;

[0081] A power data acquisition unit is used to collect the power level of the adjustment process in real time after the device is activated;

[0082] The automatic control unit is used to determine the redundant state of power consumption according to the power level, and to perform automatic control of the oil and gas pipeline detection equipment using the redundant state of power consumption.

[0083] The automatic control system of the oil and gas pipeline detection equipment can be run in computing devices such as desktop computers, laptop computers, PDAs and cloud servers. The automatic control system of the oil and gas pipeline detection equipment can include, but is not limited to, a processor and a memory. Those skilled in the art can understand that the example is only an example of an automatic control system of an oil and gas pipeline detection equipment, and does not constitute a limitation on the automatic control system of an oil and gas pipeline detection equipment. It can include more or less components than the example, or a combination of certain components, or different components. For example, the automatic control system of the oil and gas pipeline detection equipment can also include input and output devices, network access devices, buses, etc.

[0084] The processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor, etc. The processor is the control center of the automatic control system operation system of the oil and gas pipeline detection equipment, and uses various interfaces and lines to connect the various parts of the automatic control system operation system of the oil and gas pipeline detection equipment.

[0085] The memory can be used to store the computer program and / or module, and the processor realizes various functions of the automatic control system of the oil and gas pipeline detection equipment by running or executing the computer program and / or module stored in the memory and calling the data stored in the memory. The memory can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, an application required for at least one function (such as a sound playback function, an image playback function, etc.), etc.; the data storage area can store data created according to the use of the mobile phone (such as audio data, a phone book, etc.), etc. In addition, the memory can include a high-speed random access memory, and can also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0086] Although the description of the present invention has been quite detailed and has been described in particular with respect to several described embodiments, it is not intended to be limited to any of these details or embodiments or any particular embodiment, so as to effectively cover the intended scope of the present invention. In addition, the present invention is described above with the embodiments foreseeable by the inventors, and its purpose is to provide a useful description, and those non-substantial changes to the present invention that are not currently foreseen may still represent equivalent changes of the present invention.

Claims

1. An automatic control method for oil and gas pipeline detection equipment, characterized in that: The method comprises the following steps: S100, reading the oil and gas pipeline inspection task route and identifying the key sections and conventional sections therefrom; S200, activating the oil and gas pipeline inspection equipment to perform the oil and gas pipeline inspection task on the oil and gas pipeline inspection task route; S300, after the device is activated, real-time acquisition of the power level of the device adjustment process, the device adjustment process includes mobile speed control and network communication; S400, judging the power consumption redundancy state according to the power level, and using the power consumption redundancy state to perform automatic control of the oil and gas pipeline detection equipment, including: when the power consumption redundancy state is high redundancy, increasing the detection frequency of the conventional section, otherwise reducing the detection frequency of the conventional section; Among them, the method for judging the redundant state of power consumption according to the power level is to calculate the power history level through the power level, obtain the adjustment order value after fitting the power history level curve, establish the redundant feature vector and calculate the redundant order value factor by combining the adjustment order value and the power level, calculate the redundant measurement index according to the adjustment order value and the redundant order value factor, obtain the horizontal sub-interval through the redundant measurement index, classify each moment in the preset time period into a high-consumption redundant state or a low-consumption redundant state according to the horizontal sub-interval, and obtain the current power consumption redundant state according to the ratio of the number of high-consumption redundant states to the number of low-consumption redundant states; Among them, in step S200, the method of activating the oil and gas pipeline detection device to perform the oil and gas pipeline detection task on the oil and gas pipeline detection task route is: the oil and gas pipeline detection device is set to the PIG detection device by default, the oil and gas pipeline detection device is put into the oil and gas pipeline system from the PIG transmitting station, and when the oil and gas pipeline detection device moves to the starting point of the oil and gas pipeline detection task route, it is activated to start the oil and gas pipeline detection task; Oil and gas pipeline inspection tasks performed by PIG inspection equipment include one or more of ultrasonic inspection or magnetic flux inspection; In step S400, the method for determining the redundant state of power consumption according to the power level is: the power execution level is the average value of the power levels at each moment from activation to the current moment, and the power history level is the average value of the power execution level corresponding to the current moment in each gas pipeline detection task in history; a power reference group is formed by any moment and its corresponding power history level, and a set constructed by each power reference group in a preset monitoring period is interpolated by cubic spline using plrep and splev functions to obtain a smooth curve, and the absolute value of the difference between the curve value at a moment and its corresponding power history level is used as the adjustment order value Adm; The adjustment order value at any moment and its corresponding power level constitute a redundant feature vector, and the cosine similarity between the redundant feature vector corresponding to any moment and the previous moment is calculated, which is recorded as the redundant order value factor Pncv; when the redundant order value factor of a moment is larger than the redundant order value factor of the previous moment, the moment is recorded as a power fluctuation point; the number of power fluctuation points in the monitoring period is recorded as Pfn; the number of moments that have been searched in the process of searching in the reverse time direction to the first occurrence of the power fluctuation point at the current moment is recorded as the fluctuation index GNST; the redundancy measurement index is calculated based on the adjustment order value and the redundant order value factor; Write the redundant metrics at each moment into a sequence in chronological order and record it as the redundant reference sequence RD.LS; calculate the ratio of the range of RD.LS to Pfn and round it up to an integer, which is recorded as the interval threshold; The difference between any element in the redundant reference sequence and its next element is recorded as the horizontal subinterval of the moment corresponding to the element, where the horizontal subinterval of the current moment is the average of all other horizontal subintervals; taking any element in the redundant reference sequence as the current element, traverse from the current element to the direction of the first element in the redundant reference sequence, if the horizontal subinterval corresponding to the traversed element is greater than the interval threshold, then the moment corresponding to the currently traversed element is defined as a high-consumption redundant state, otherwise it is a low-consumption redundant state; if the number of moments marked as a high-consumption redundant state during the monitoring period is greater than the number of moments marked as a high-consumption redundant state from a low-consumption redundant state, then the current power consumption redundancy state is judged to be high redundancy, otherwise it is low redundancy.

2. The automatic control method of oil and gas pipeline detection equipment according to claim 1 is characterized in that: In step S100, the oil and gas pipeline inspection task route is read, and the method for identifying key sections and conventional sections from the task route is: read the oil and gas pipeline inspection task route from the GIS geographic information software, the oil and gas pipeline inspection task route is the pipeline that the oil and gas pipeline inspection equipment needs to inspect, and the oil and gas pipeline inspection task route is composed of several key sections and conventional sections; wherein the key section is a section that needs to focus on data collection, including one or more of a historical maintenance section, a welding point section, a bending section, a section crossing a river, a section crossing a road, or a high stress section, and the remaining sections are regarded as conventional sections.

3. The automatic control method of oil and gas pipeline detection equipment according to claim 1 is characterized in that: In step S300, the method for real-time acquisition of the power level of the adjustment process after the equipment is activated is: record the power level acquisition interval as Tts, Tts∈[1,10] minutes, record the power level of the adjustment process every Tts from the activation of the oil and gas pipeline detection equipment, and define the power level as the average value of each instantaneous power value collected within the time interval Tts.

4. The automatic control method of oil and gas pipeline detection equipment according to claim 1 is characterized in that: In step S400, the method for determining the redundant state of power consumption according to the power level can be replaced by: for the same oil and gas pipeline inspection task route, in each of its historical oil and gas pipeline inspection tasks, if the remaining power ratio at the end of the task exceeds the preset threshold value Etrr, then a default record is marked for it; the power level reference at any moment is defined as the average power level in the oil and gas pipeline inspection tasks marked as default records at the location at that moment; the difference between the power level and the power level reference is taken as the reference fitness Rfit, the time period from the activation of the device to the current moment is taken as the monitoring period, the power level reference write sequence at each moment of the monitoring period is recorded as the reference sequence RFL, the moment corresponding to the maximum value of the sequence RFL is marked as the reference peak, and the reference peak order Rpdg at any moment is the number of moments between the moment and the first reference peak searched in the reverse time direction; the fitness default model FDM is constructed according to the reference peak order and the reference fitness to obtain the model calculation value corresponding to each moment; The number of moments corresponding to any reference peak order is recorded as the reference peak order volume, the median value of each reference peak order volume is the volume threshold Vlth, and each model calculation value is written into a sequence in chronological order and recorded as the second redundant reference sequence SRD.LS; the ratio of the range of the sequence SRD.LS to Vlth is rounded up and recorded as the second interval threshold, and the element corresponding to the current moment in the sequence SRD.LS is taken as the current element, and traversal is performed in the reverse time direction starting from the current element. If the horizontal sub-interval corresponding to the traversed element is greater than the interval threshold, the moment corresponding to the currently traversed element is defined as a high-consumption redundant state, otherwise it is a low-consumption redundant state. If the number of moments marked as a high-consumption redundant state within the monitoring period is greater than the number of moments marked as a high-consumption redundant state from a low-consumption redundant state, the current power consumption redundancy state is judged to be high redundancy, otherwise it is low redundancy.

5. The automatic control method of oil and gas pipeline detection equipment according to claim 1 is characterized in that: In step S400, the method of increasing the detection frequency of the conventional section is: reducing the moving speed by 1%-10% of the current moving speed; or increasing the detection interval of the oil and gas pipeline monitoring detection task by 1%-10% of the current detection interval.

6. The automatic control method of oil and gas pipeline detection equipment according to claim 1 is characterized in that: In step S400, the method of reducing the detection frequency of the conventional section is: increasing the moving speed by 1%-10% of the current moving speed; or reducing the detection interval of the oil and gas pipeline monitoring detection task by 1%-10% of the current detection interval.

7. An automatic control system for oil and gas pipeline detection equipment, characterized in that: The automatic control system of the oil and gas pipeline detection equipment includes: a processor, a memory, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps in the automatic control method of the oil and gas pipeline detection equipment described in any one of claims 1 to 6 are implemented. The automatic control system of the oil and gas pipeline detection equipment runs on a desktop computer, a laptop computer, a PDA, and a computing device in a cloud data center.

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