Sinking strain assessment method based on pipeline trend surveying and mapping and deformation internal detection technology

Abstract

The invention belongs to the field of petroleum and natural gas pipelines, and particularly relates to a sinking strain evaluation method based on pipeline trend surveying and mapping and a deformation internal detection technology. The method aims at solving the problems that an existing pipeline sinking strain evaluation method only depends on a conventional deformation internal detection technology to obtain a sinking strain value, the precision is low, the calculation efficiency is low, the robustness is poor, and industrial application cannot be met. The method comprises the following steps: acquiring a recess size parameter and a recess contour size parameter of a recess position of a pipeline to be subjected to recess strain evaluation; carrying out filtering processing on the contour dimension parameter of the recess; calculating the sunken strain value of the sunken position of the pipeline to be subjected to sunken strain evaluation; and according to the welding seam state, the sunken strain value is matched with a correspondingly set strain threshold value, and a sunken strain evaluation result corresponding to the pipeline to be subjected to sunken strain evaluation is obtained. According to the method, the precision of the sag strain value is improved, and the robustness of strain evaluation is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of oil and gas pipelines, and in particular relates to a sag strain assessment method, system and electronic equipment based on pipeline direction mapping and deformation internal detection technology. Background Art

[0002] When buried pipelines are hit by external forces or squeezed by hard objects, the cross section of the pipe body will be deformed, resulting in geometric deformations such as depression, buckling, and out-of-roundness. In recent years, accidents of pipeline rupture and failure due to stress concentration in depressions have become more and more prominent, and some accidents are even catastrophic, with huge impacts.

[0003] Pipeline in-line inspection is an effective means to identify dents and assess their risks, which can avoid and effectively reduce pipeline operation accidents. Currently, there are three evaluation methods for pipeline dents, including depth-based dent evaluation, strain-based dent evaluation, and fatigue-based dent evaluation.

[0004] Among them, depth-based dent evaluation is to judge whether the dent is acceptable by the relative depth of the dent (percentage of outer diameter, %OD). The current pipeline deformation detection technology can detect, identify and quantify the size of the dent, which meets the depth-based dent evaluation and has a wide range of applications. However, this evaluation method is too simple and cannot consider the stress distribution at the dent and local stress concentration. As a result, the management efficiency and strategy of pipeline dents are not targeted enough, overly conservative and uneconomical. Therefore, in order to scientifically evaluate the impact of dents on pipeline safety, evaluation based on strain and other methods is usually adopted.

[0005] Strain-based dent evaluation requires obtaining the detailed contour dimensions of the dent and calculating the curvature and strain values. However, due to the limitations of technologies such as the number of sensor distribution, sampling spacing / frequency, and data analysis quantification, it is impossible to directly obtain the detailed contour and curvature of the dent by relying solely on deformation in-situ detection technology. This requires adding a complex data processing process and cannot meet the needs of industrial applications.

[0006] To solve the above problems, this application proposes to combine the pipeline direction mapping internal detection technology and deformation internal detection technology into the method of strain-based sag evaluation. By combining the two technologies, the size and contour information of the pipeline sag position are obtained at the same time, and a reasonable filtering method is used to reduce random errors, accurately quantify and calculate the sag curvature and strain, and realize the strain-based evaluation of the sag, which is of great value and significance to the safe management of pipeline sags. Summary of the invention

[0007] In order to solve the above problems in the prior art, that is, to solve the problem that the existing pipeline dent strain assessment method only relies on the conventional deformation internal detection technology to obtain the dent strain value with low accuracy, low calculation efficiency, poor robustness, and cannot meet the industrial application, the present invention proposes a dent strain assessment method based on pipeline direction mapping and deformation internal detection technology, the method comprising:

[0008] Step S100, obtaining the depression size parameters and depression profile size parameters at the depression position of the pipeline to be evaluated for depression strain; the depression size parameters include the depression length and depression depth; the depression profile size parameters include the horizontal curvature and vertical curvature of the depression;

[0009] Step S200, filtering the concave contour size parameters;

[0010] Step S300, combining the concave size parameter and the concave contour size parameter after filtering, calculating the concave strain value at the concave position of the pipeline to be evaluated for concave strain;

[0011] Step S400, obtaining the weld state at the depressed position of the pipeline to be evaluated for the depressed strain; matching the depressed strain value with the corresponding set strain threshold according to the weld state, and then obtaining the depressed strain evaluation result corresponding to the pipeline to be evaluated for the depressed strain.

[0012] In some preferred embodiments, the depression size parameters are obtained by: based on the wall thickness at the depression position of the pipeline to be evaluated for depression strain and the initial radius of the pipeline, the depression length and depression depth are obtained through the pipeline deformation internal detection technology.

[0013] In some preferred embodiments, the concave profile size parameter is obtained by:

[0014] The pipeline attitude angle that changes with the pipeline mileage is obtained through the pipeline direction surveying and mapping internal detection technology; the pipeline attitude angle includes the pitch angle P and the azimuth angle A;

[0015] According to the pipeline attitude angle, the pitch angle change ΔP and the azimuth angle change ΔA within the concave pipe section length ΔS of the pipeline to be subjected to the concave strain assessment are obtained, and then the horizontal curvature and the vertical curvature at the concave position are calculated:

[0016]

[0017]

[0018] Among them, κ v represents the horizontal curvature, κ h Represents the vertical curvature.

[0019] In some preferred embodiments, the pipeline attitude angle is obtained by:

[0020] Attitude angular velocity ω collected by IMU unit A ,ω P , sampling period Δt, calculate the initial value of the attitude angle at any time, the attitude angle includes azimuth angle and pitch angle:

[0021]

[0022]

[0023] Δt=t 1 -t 0

[0024] Among them, A 1 , P 1 The sampling time t 1 The initial solution values ​​of azimuth and elevation angles, A 0 , P 0 The sampling time t 0 The initial values ​​of the azimuth and elevation angles, ω A0 and ω P0 t 0 Angular velocity of azimuth and pitch angle at the moment;

[0025] Calculate the errors δA and δP of azimuth and elevation:

[0026]

[0027]

[0028] Among them, a i , b j They represent the polynomial coefficients of the azimuth error and the polynomial coefficients of the elevation error, respectively; l and m represent the number of polynomial terms of the azimuth error and the number of polynomial terms of the elevation error, respectively; and t represents time;

[0029] A'=A 1 +δA

[0030] P'=P 1 +δP;

[0031] Where A' and P' represent the azimuth and elevation angles after error correction, respectively;

[0032] During IMU detection, N reference points are set at set intervals, and the accurate straight line azimuth A between the two points is calculated based on the surveying coordinates of point k and point k+1. k,k+1 and the linear pitch angle Pk,k+1 , k=0,1,....N; and calculate the straight line azimuth error and straight line pitch angle error;

[0033] Based on the linear azimuth error and the linear pitch angle error, the mean square error minimization criterion is used to solve the unknown coefficients of the polynomial, and then the pipeline attitude angle is obtained.

[0034] In some preferred embodiments, the annular curvature radius R of the concave position of the pipe to be evaluated for concave strain is 1 , concave axial curvature radius R 2 The relationship with the concave profile size parameters is:

[0035] R 1 =1 / κ' v

[0036] R 2 =1 / κ' h

[0037] Among them, κ' v , κ' h They represent the horizontal curvature and vertical curvature after filtering respectively.

[0038] In some preferred embodiments, the method for calculating the depression strain value at the depression position of the pipeline to be evaluated for depression strain is as follows:

[0039] Based on the concave annular curvature radius R 1 , the initial radius R of the pipeline 0 , calculate the hoop bending strain value ε 1 :

[0040] Wherein, T represents the wall thickness at the concave position of the pipe to be evaluated for concave strain;

[0041] Based on the concave axial curvature radius R 2 , calculate the axial bending strain value ε 2 :

[0042]

[0043] Based on the concave length L and the concave depth d, the axial film strain value ε is calculated. 3 :

[0044]

[0045] Combined with the hoop bending strain value ε 1 , the axial bending strain value ε 2 , the axial membrane strain value ε 3, calculate the composite strain value ε of the inner surface i and the composite strain value of the outer surface ε o :

[0046]

[0047]

[0048] The larger value of the inner surface synthetic strain value and the outer surface synthetic strain value is taken as the depression strain value ε at the depression position of the pipeline to be evaluated for depression strain.

[0049] In some preferred embodiments, according to the weld state, the dent strain value is matched with a corresponding set strain threshold, thereby obtaining a dent strain assessment result corresponding to the pipeline to be subjected to dent strain assessment, and the method is as follows:

[0050] If the weld state is that there is no weld at the concave part, when the concave strain value is less than or equal to the set first strain threshold, the concave strain assessment result is acceptable, but regular attention is required in the future, otherwise the concave strain assessment result is unacceptable and excavation and repair are required;

[0051] If the weld state is that the depression is located at the weld, then when the depression strain value is less than or equal to the set second strain threshold, the depression strain assessment result is acceptable, but regular attention is required in the future, otherwise the depression strain assessment result is unacceptable and excavation and repair are required.

[0052] In a second aspect of the present invention, a sag strain assessment system based on pipeline direction mapping and deformation internal detection technology is proposed, the system comprising: a parameter acquisition module, a filtering processing module, a strain value calculation module, and an assessment result acquisition module;

[0053] The parameter acquisition module is configured to acquire the depression size parameters and depression profile size parameters at the depression position of the pipeline to be subjected to depression strain assessment; the depression size parameters include the depression length and the depression depth; the depression profile size parameters include the horizontal curvature and the vertical curvature of the depression;

[0054] The filtering processing module is configured to perform filtering processing on the concave contour size parameters;

[0055] The strain value calculation module is configured to calculate the concave strain value at the concave position of the pipeline to be evaluated for concave strain by combining the concave size parameter and the concave contour size parameter after filtering;

[0056] The assessment result acquisition module is configured to obtain the weld state at the depressed position of the pipeline to be subjected to the depression strain assessment; according to the weld state, the depression strain value is matched with the corresponding set strain threshold, so as to obtain the depression strain assessment result corresponding to the pipeline to be subjected to the depression strain assessment.

[0057] In a third aspect of the present invention, an electronic device is proposed, comprising: at least one processor; and a memory communicatively connected to at least one of the processors; wherein the memory stores instructions executable by the processor, and the instructions are used to be executed by the processor to implement the above-mentioned depression strain assessment method based on pipeline direction mapping and deformation internal detection technology.

[0058] In a fourth aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to be executed by the computer to implement the above-mentioned sag strain assessment method based on pipeline direction mapping and deformation internal detection technology.

[0059] Beneficial effects of the present invention:

[0060] The present invention improves the accuracy of the concave strain value and enhances the robustness of the strain evaluation.

[0061] The present invention combines pipeline direction mapping technology and deformation internal detection technology into a method for evaluating sags based on strain. By combining the two technologies, the size and contour information of the pipeline sag position are obtained at the same time, and the curvature and strain of the sag are solved by combining error correction and smoothing filtering methods to achieve strain-based evaluation of the sag. In this way, the potential application value of the internal detection data source is fully explored, the utilization rate of the internal detection data is improved, the limitations of the application of the pipeline sag-based strain evaluation method are broken, and the comprehensiveness and pertinence of the sag integrity evaluation are guaranteed, which has important value and significance for the safe management of pipeline sags. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] Other features, objects and advantages of the present application will become more apparent by reading the detailed description of non-limiting embodiments made with reference to the following drawings.

[0063] Figure 1 It is a flow chart of a method for evaluating sag strain based on pipeline orientation mapping and deformation internal detection technology according to an embodiment of the present invention;

[0064] Figure 2 A schematic diagram of a framework of a sag strain assessment system based on pipeline orientation mapping and deformation internal detection technology according to an embodiment of the present invention;

[0065] Figure 3A schematic diagram of a pipeline depression strain acquisition process according to an embodiment of the present invention;

[0066] Figure 4 A schematic diagram of the difference in pitch angles calculated by mapping two adjacent points and IMU according to an embodiment of the present invention;

[0067] Figure 5 A schematic diagram of the difference in azimuth angles calculated by two adjacent points and IMU according to an embodiment of the present invention;

[0068] Figure 6 This is a schematic diagram of filtering effect comparison when the filtering window length is 200 data points according to an embodiment of the present invention;

[0069] Figure 7 This is a schematic diagram of filtering effect comparison when the filtering window length is 400 data points in one embodiment of the present invention;

[0070] Figure 8 This is a schematic diagram of filtering effect comparison when the filtering window length is 600 data points in one embodiment of the present invention;

[0071] Fig. 9 A schematic diagram of a concave curvature smoothing effect according to an embodiment of the present invention;

[0072] Fig.10 A schematic diagram of calculating the concave strain value according to an embodiment of the present invention;

[0073] Fig.11 It is a structural diagram of a computer system of an embodiment of the present invention that is suitable for implementing an electronic device of an embodiment of the present application. DETAILED DESCRIPTION

[0074] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0075] The present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the relevant invention, rather than to limit the invention. It should be noted that, in the absence of conflict, the embodiments in the present application and the features in the embodiments can be combined with each other.

[0076] A method for evaluating sag strain based on pipeline orientation mapping and internal deformation detection technology in a first embodiment of the present invention is as follows: Figure 1As shown, the method includes:

[0077] Step S100, obtaining the depression size parameters and depression profile size parameters at the depression position of the pipeline to be evaluated for depression strain; the depression size parameters include the depression length and depression depth; the depression profile size parameters include the horizontal curvature and vertical curvature of the depression;

[0078] Step S200, filtering the concave contour size parameters;

[0079] Step S300, combining the concave size parameter and the concave contour size parameter after filtering, calculating the concave strain value at the concave position of the pipeline to be evaluated for concave strain;

[0080] Step S400, obtaining the weld state at the depressed position of the pipeline to be evaluated for the depressed strain; matching the depressed strain value with the corresponding set strain threshold according to the weld state, and then obtaining the depressed strain evaluation result corresponding to the pipeline to be evaluated for the depressed strain.

[0081] In order to more clearly illustrate the sag strain assessment method based on pipeline orientation mapping and deformation internal detection technology of the present invention, each step in an embodiment of the method of the present invention is described in detail below with reference to the accompanying drawings.

[0082] Step S100, obtaining the depression size parameters and depression profile size parameters at the depression position of the pipeline to be evaluated for depression strain; the depression size parameters include the depression length and depression depth; the depression profile size parameters include the horizontal curvature and vertical curvature of the depression;

[0083] In this embodiment, the wall thickness of the concave position of the pipeline is first obtained, and the initial radius R of the pipeline is 0 Parameters, the depression size parameters are obtained by deformation detection, which include the pipeline depression length L and depression depth d, such as Figure 1 shown.

[0084] Then, the pipeline attitude angles that change with pipeline mileage are obtained through in-line detection of pipeline direction surveying and mapping, including pitch angle P and azimuth angle A. According to the pitch angle change ΔP and azimuth angle change ΔA within the length ΔS of the concave pipe section, the horizontal curvature κ of the corresponding concave is calculated. h and the vertical curvature κ v , as shown in formula (1)(2):

[0085]

[0086]

[0087] Among them, the pipeline attitude angle is obtained by:

[0088] Considering that the sampling period Δt of the IMU unit (Inertial measurement unit is a device for measuring the three-axis attitude angle and acceleration of an object; IMU refers to inertial measurement unit, which is a device for measuring the three-axis attitude angle (or angular velocity) and acceleration of an object; generally, an IMU contains three single-axis accelerometers and three single-axis gyroscopes. The accelerometer detects the acceleration signal of the object in the independent three-axis of the carrier coordinate system, and the gyroscope detects the angular velocity signal of the carrier relative to the navigation coordinate system, and measures the angular velocity and acceleration of the object in three-dimensional space, thereby solving the attitude of the object) is small enough, the attitude angle and angular velocity ω collected by the IMU unit can be used. A ,ω P (Generally, the three-axis attitude angles collected by the IMU unit include azimuth, pitch and roll, and the collected attitude angle angular velocity includes azimuth angular velocity ω A , pitch angle angular velocity ω P 、Roll angle angular velocity ω R In the present invention, only ω is used A ,ω P ), sampling period Δt, calculate the initial value of the attitude angle at any time, the solution formula is as follows:

[0089]

[0090]

[0091] Δt=t 1 -t 0 (5)

[0092] Among them, A 1 , P 1 The sampling time t 1 The initial solution values ​​of azimuth and elevation angles, A 0 , P 0 The sampling time t 0 The initial values ​​of the azimuth and elevation angles, ω A0 and ω P0 t 0 Angular velocity of azimuth and pitch angle at the moment;

[0093] Due to the limitations of the solution method and factors such as the deviation of the local centerline of the IMU unit and the internal detection equipment, a certain solution error will occur, and the error has the characteristic of accumulating as the running time increases. Analyze the source and characteristics of the error, and approximate the errors δA and δP of the azimuth and pitch angles as polynomial functions related to time t:

[0094]

[0095]

[0096] Among them, a i , b j They represent the polynomial coefficients of the azimuth error and the polynomial coefficients of the elevation error, respectively; l and m represent the number of polynomial terms of the azimuth error and the number of polynomial terms of the elevation error, respectively; and t represents time;

[0097] A'=A 1 +δA (8)

[0098] P'=P 1 +δP (9)

[0099] Where A' and P' represent the azimuth and elevation angles after error correction, respectively;

[0100] During the internal detection implementation process, N reference points are set at a set interval (preferably set to 1 km in the present invention, and can be set according to actual conditions in other embodiments), and high-precision centerline ground mapping is performed on the reference points one by one to obtain accurate latitude, longitude and elevation coordinates of the reference points. Based on the mapping coordinates of point k and point k+1 (k=0, 1, .... N), the accurate straight line azimuth A between the two points is calculated. k,k+1 and the linear pitch angle P k,k+1 ,like Figure 4 , Figure 5 As shown, the linear azimuth and linear pitch angle errors calculated by the IMU after error correction are as follows:

[0101] δA k,k+1 =|A k,k+1 -A' k,k+1 | (10)

[0102] δP k,k+1 =|P k,k+1 -P k ' ,k+1 | (11)

[0103] The minimization criterion of mean-square error is used to solve the unknown coefficients of the polynomial, that is, the root mean square MSE of the errors δA and δP of N reference points A , MSE P Minimum:

[0104]

[0105]

[0106] When the above criteria are met, 1 ,a 2,...a m and b 1 , b 2 ,...b l The optimal solution is obtained, and then the error approximation δA and δP, as well as the error-corrected A' and P', are obtained to obtain the pipeline attitude angle.

[0107] Step S200, filtering the concave contour size parameters;

[0108] In this embodiment, considering the random noise introduced by local velocity fluctuations and external interference in the IMU data acquisition process, it is necessary to perform smoothing and noise reduction processing on the vertical curvature and horizontal curvature data to obtain the smoothed (i.e. filtered) horizontal curvature κ' v and vertical curvature κ' h In this embodiment, three commonly used filtering methods, namely, moving average smoothing filtering, median smoothing filtering and least square smoothing filtering, are first selected, and the elbow signal is used as the "reference signal". The noise reduction effect is evaluated from the two perspectives of signal smoothness and characteristic signal integrity, and the most suitable filtering method is selected.

[0109] Pipe elbows (hot bends) are prefabricated in the factory and have a fixed curvature. For example, the curvature of an elbow with a radius of 5D is κ. b =1 / (5D), where D is the pipe diameter of the corresponding elbow. Therefore, in an ideal state, the curvature of the elbow is distributed in a "square wave" shape along the axial direction of the pipeline, that is, the curvature of the straight pipe section upstream and downstream of the elbow is 0, and the curvature at the elbow is a fixed value of 1 / (5D); extract the original curvature data at a typical elbow, and use the above three methods (i.e., moving average smoothing filter, median smoothing filter and least square smoothing filter) to perform smoothing filter with a filter window length of 200, 400, and 600 data points, respectively, and compare with the ideal "square wave" signal to evaluate the filtering effect, such as Figure 6 , Figure 7 , Figure 8 shown.

[0110] By comparison, it is found that as the filter window length increases, the moving average filter and median filter signals gradually lose the "square wave" feature, the curvature value at the vertex is very different from the original signal, and the signal integrity does not meet the requirements. The least squares filter signal feature is closer to the "square wave", and the curvature value at the vertex is very close to the original signal, and the signal integrity is better. Therefore, the least squares filter method is preferred to smooth the concave signal. The concave curvature smoothing effect diagram is shown in the figure. Fig. 9 .

[0111] Concave annular curvature radius R 1 and the concave axial curvature radius R 2 Respectively with κ' v and κ'h The following corresponding relationship exists:

[0112] R 1 =1 / κ' v (14)

[0113] R 2 =1 / κ' h (15)

[0114] Step S300, combining the concave size parameter and the concave contour size parameter after filtering, calculating the concave strain value at the concave position of the pipeline to be evaluated for concave strain;

[0115] In this embodiment, the calculation process of the concave strain value is as follows: Fig.10 As shown, the details are as follows:

[0116] Based on the concave annular curvature radius R 1 , initial radius of the pipe R 0 , calculate the hoop bending strain value ε 1 :

[0117]

[0118] Wherein, T represents the wall thickness at the concave position of the pipe to be evaluated for concave strain;

[0119] Based on the concave axial curvature radius R 2 , calculate the axial bending strain value ε 2 :

[0120]

[0121] Based on the indentation length L and indentation depth d, the axial film strain value ε is calculated. 3 :

[0122]

[0123] Combined with the hoop bending strain value ε 1 , axial bending strain value ε 2 , axial membrane strain value ε 3 , calculate the composite strain value ε of the inner surface i and the composite strain value of the outer surface ε o :

[0124]

[0125]

[0126] The larger value of the inner surface synthetic strain value and the outer surface synthetic strain value is taken as the depression strain value ε at the depression position of the pipeline to be evaluated for depression strain:

[0127] ε=Max{ε i ,ε o} (twenty one)

[0128] Step S400, obtaining the weld state at the depressed position of the pipeline to be evaluated for the depressed strain; matching the depressed strain value with the corresponding set strain threshold according to the weld state, and then obtaining the depressed strain evaluation result corresponding to the pipeline to be evaluated for the depressed strain.

[0129] In this embodiment, if the weld state is that there is no weld at the concave part, when the concave strain value is less than or equal to the set first strain threshold (the first strain threshold of the present invention is preferably set to 6%), the concave strain assessment result is acceptable, but regular attention is required in the future, otherwise the concave strain assessment result is unacceptable and excavation and maintenance are required;

[0130] If the weld state is that the depression is located at the weld, then when the depression strain value is less than or equal to the set second strain threshold (the second strain threshold of the present invention is preferably set to 4%), the depression strain assessment result is acceptable, but regular attention is required in the future, otherwise the depression strain assessment result is unacceptable and excavation and maintenance are required.

[0131] A second embodiment of the present invention is a sag strain assessment system based on pipeline direction mapping and deformation internal detection technology, such as Figure 2 As shown, a parameter acquisition module 100, a filtering processing module 200, a strain value calculation module 300, and an evaluation result acquisition module 400;

[0132] The parameter acquisition module 100 is configured to acquire the depression size parameters and depression profile size parameters at the depression position of the pipeline to be subjected to depression strain assessment; the depression size parameters include the depression length and the depression depth; the depression profile size parameters include the horizontal curvature and the vertical curvature of the depression;

[0133] The filtering processing module 200 is configured to perform filtering processing on the concave contour size parameters;

[0134] The strain value calculation module 300 is configured to calculate the concave strain value at the concave position of the pipeline to be evaluated for concave strain by combining the concave size parameter and the concave contour size parameter after filtering;

[0135] The assessment result acquisition module 400 is configured to obtain the weld state at the depressed position of the pipeline to be subjected to the depression strain assessment; according to the weld state, the depression strain value is matched with the corresponding set strain threshold, so as to obtain the depression strain assessment result corresponding to the pipeline to be subjected to the depression strain assessment.

[0136] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process and related instructions of the system described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0137] It should be noted that the above embodiment provides a sag strain assessment system based on pipeline orientation mapping and deformation internal detection technology, which is only illustrated by the division of the above functional modules. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the modules or steps in the embodiments of the present invention can be decomposed or combined. For example, the modules in the above embodiments can be combined into one module, or further divided into multiple sub-modules to complete all or part of the functions described above. The names of the modules and steps involved in the embodiments of the present invention are only for distinguishing the modules or steps, and are not regarded as improper limitations of the present invention.

[0138] An electronic device according to a third embodiment of the present invention comprises at least one processor; and a memory in communication with at least one of the processors; wherein the memory stores instructions executable by the processor, and the instructions are used to be executed by the processor to implement the above-mentioned depression strain assessment method based on pipeline direction mapping and deformation internal detection technology.

[0139] A computer-readable storage medium according to a fourth embodiment of the present invention stores computer instructions, and the computer instructions are used to be executed by the computer to implement the above-mentioned method for evaluating sag strain based on pipeline orientation mapping and internal deformation detection technology.

[0140] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process and related instructions of the electronic device and computer-readable storage medium described above can refer to the corresponding process in the aforementioned method example and will not be repeated here.

[0141] Reference below Fig.11 , which shows a structural diagram of a computer system of a server suitable for implementing the method, system, and device embodiments of the present application. Fig.11 The server shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0142] like Fig.11 As shown, the computer system includes a central processing unit (CPU) 1101, which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) 1102 or the program loaded from the storage part 1108 to the random access memory (RAM) 1103. Various programs and data required for system operation are also stored in the RAM 1103. The CPU 1101, ROM 1102 and RAM 1103 are connected to each other through a bus 1104. An input / output (I / O) interface 1105 is also connected to the bus 1104.

[0143] The following components are connected to the I / O interface 1105: an input section 1106 including a keyboard, a mouse, etc.; an output section 1107 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker; a storage section 1108 including a hard disk, etc.; and a communication section 1109 including a network interface card such as a LAN (Local Area Network) card, a modem, etc. The communication section 1109 performs communication processing via a network such as the Internet. A drive 1110 is also connected to the I / O interface 1105 as needed. A removable medium 1111, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 1110 as needed so that a computer program read therefrom is installed into the storage section 1108 as needed.

[0144] In particular, according to an embodiment of the present invention, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present invention includes a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from the network through the communication part 1109, and / or installed from the removable medium 1111. When the computer program is executed by the central processing unit (CPU) 1101, the above-mentioned functions defined in the method of the present application are executed. It should be noted that the above-mentioned computer-readable medium of the present application can be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium can be, for example, - but not limited to - a system, device or device of electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to, an electrical connection with one or more conductors, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, a computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, an apparatus or a device. In the present application, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, which carries a computer-readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate, or transmit a program for use by or in combination with an instruction execution system, an apparatus or a device. The program code contained on the computer-readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, optical cable, RF, etc., or any suitable combination of the above.

[0145] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages, such as Java, Smalltalk, C++, and conventional procedural programming languages, such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0146] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some implementations as replacements, the functions marked in the box can also occur in a sequence different from that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flow chart, and the combination of the boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0147] The terms "first", "second", etc. are used to distinguish similar objects rather than to describe or indicate a particular order or sequence.

[0148] The term "comprise" or any other similar term is intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus / device that includes a list of elements includes not only those elements but also other elements not expressly listed, or also includes elements inherent to such process, method, article, or apparatus / device.

[0149] So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

Claims

1. A method for evaluating sag strain based on pipeline orientation mapping and internal deformation detection technology, characterized in that: The method includes: Step S100, obtaining the depression size parameters and depression profile size parameters at the depression position of the pipeline to be evaluated for depression strain; the depression size parameters include the depression length and depression depth; the depression profile size parameters include the horizontal curvature and vertical curvature of the depression; Step S200, filtering the concave contour size parameters; Step S300, combining the concave size parameter and the concave contour size parameter after filtering, calculating the concave strain value at the concave position of the pipeline to be evaluated for concave strain; Step S400, obtaining the weld state at the depressed position of the pipeline to be evaluated for the depressed strain; matching the depressed strain value with the corresponding set strain threshold according to the weld state, and then obtaining the depressed strain evaluation result corresponding to the pipeline to be evaluated for the depressed strain.

2. The method for evaluating sag strain based on pipeline orientation mapping and internal deformation detection technology according to claim 1 is characterized in that: The concave size parameter is obtained by: Based on the wall thickness at the concave position of the pipeline to be evaluated for concave strain and the initial radius of the pipeline, the concave length and the concave depth are obtained through the pipeline deformation internal detection technology.

3. The method for evaluating sag strain based on pipeline orientation mapping and internal deformation detection technology according to claim 2 is characterized in that: The concave contour size parameters are obtained by: The pipeline attitude angle that changes with the pipeline mileage is obtained through the pipeline direction surveying and mapping internal detection technology; the pipeline attitude angle includes the pitch angle P and the azimuth angle A; According to the pipeline attitude angle, the pitch angle change ΔP and the azimuth angle change ΔA within the concave pipe section length ΔS of the pipeline to be subjected to the concave strain assessment are obtained, and then the horizontal curvature and the vertical curvature at the concave position are calculated: Among them, κ v represents the horizontal curvature, κ h Represents the vertical curvature.

4. The method for evaluating sag strain based on pipeline orientation mapping and internal deformation detection technology according to claim 3 is characterized in that: The pipeline attitude angle is obtained by: Attitude angular velocity ω collected by IMU unit A ,ω P , sampling period Δt, calculate the initial value of the attitude angle at any time, the attitude angle includes azimuth angle and pitch angle: Δt = t1 - t0; Among them, A1 and P1 are the initial solution values ​​of azimuth and pitch angle at sampling time t1, A0 and P0 are the initial values ​​of azimuth and pitch angle at sampling time t0, ω A0 and ω P0 are the angular velocities of the azimuth and pitch angles at time t0 respectively; time t0 is the moment before time t1; Calculate the errors δA and δP of azimuth and elevation: Among them, a i , b j They represent the polynomial coefficients of the azimuth error and the polynomial coefficients of the elevation error, respectively; l and m represent the number of polynomial terms of the azimuth error and the number of polynomial terms of the elevation error, respectively; and t represents time; Calculate the attitude angle after error correction: A'=A1+δA P'=P1+δP Where A' and P' represent the azimuth and elevation angles after error correction, respectively; During IMU detection, N reference points are set at set intervals, and the accurate straight line azimuth A between the two points is calculated based on the surveying coordinates of point k and point k+1. k,k+1 and the linear pitch angle P k,k+1 , k=0,1,....N; and calculate the straight line azimuth error and straight line pitch angle error; Based on the linear azimuth error and the linear pitch angle error, the mean square error minimization criterion is used to solve the unknown coefficients of the polynomial, and then the pipeline attitude angle is obtained.

5. The method for evaluating sag strain based on pipeline orientation mapping and internal deformation detection technology according to claim 3 is characterized in that: The relationship between the annular curvature radius R1 and the axial curvature radius R2 of the concave position of the pipe to be evaluated for concave strain and the concave profile size parameters is: R1=1 / κ' v R2=1 / k' h Among them, κ' v , κ' h They represent the horizontal curvature and vertical curvature after filtering respectively.

6. The method for evaluating sag strain based on pipeline orientation mapping and internal deformation detection technology according to claim 5 is characterized in that: The method for calculating the depression strain value at the depression position of the pipeline to be evaluated for depression strain is as follows: Based on the annular curvature radius R1 of the concave and the initial radius R0 of the pipe, the annular bending strain value ε1 is calculated: Wherein, T represents the wall thickness at the concave position of the pipe to be evaluated for concave strain; Based on the concave axial curvature radius R2, the axial bending strain value ε2 is calculated: Based on the indentation length L and the indentation depth d, the axial film strain value ε3 is calculated: Combined with the circumferential bending strain value ε1, the axial bending strain value ε2, and the axial membrane strain value ε3, the inner surface composite strain value ε is calculated. i and the composite strain value of the outer surface ε o : The larger value of the inner surface synthetic strain value and the outer surface synthetic strain value is taken as the depression strain value ε at the depression position of the pipeline to be evaluated for depression strain.

7. The method for evaluating sag strain based on pipeline orientation mapping and internal deformation detection technology according to claim 1 is characterized in that: According to the weld state, the dent strain value is matched with the corresponding set strain threshold, and then the dent strain evaluation result corresponding to the pipeline to be evaluated for dent strain is obtained, and the method is as follows: If the weld state is that there is no weld at the concave part, when the concave strain value is less than or equal to the set first strain threshold, the concave strain assessment result is acceptable, but regular attention is required in the future, otherwise the concave strain assessment result is unacceptable and excavation and repair are required; If the weld state is that the depression is located at the weld, then when the depression strain value is less than or equal to the set second strain threshold, the depression strain assessment result is acceptable, but regular attention is required in the future, otherwise the depression strain assessment result is unacceptable and excavation and repair are required.

8. A sag strain assessment system based on pipeline direction mapping and deformation internal detection technology, characterized in that: The system includes: a parameter acquisition module, a filtering processing module, a strain value calculation module, and an evaluation result acquisition module; The parameter acquisition module is configured to acquire the depression size parameters and depression profile size parameters at the depression position of the pipeline to be subjected to depression strain assessment; the depression size parameters include the depression length and the depression depth; the depression profile size parameters include the horizontal curvature and the vertical curvature of the depression; The filtering processing module is configured to perform filtering processing on the concave contour size parameters; The strain value calculation module is configured to calculate the concave strain value at the concave position of the pipeline to be evaluated for concave strain by combining the concave size parameter and the concave contour size parameter after filtering; The assessment result acquisition module is configured to obtain the weld state at the depressed position of the pipeline to be subjected to the depression strain assessment; according to the weld state, the depression strain value is matched with the corresponding set strain threshold, so as to obtain the depression strain assessment result corresponding to the pipeline to be subjected to the depression strain assessment.

9. An electronic device, characterized in that: include: at least one processor; and a memory communicatively coupled to at least one of the processors; The memory stores instructions executable by the processor, and the instructions are used to be executed by the processor to implement the depression strain assessment method based on pipeline direction mapping and deformation internal detection technology as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to be executed by the computer to implement the sag strain assessment method based on pipeline direction mapping and deformation internal detection technology as described in any one of claims 1 to 7.

Images