Pipeline maintenance method and device and readable storage medium

Abstract

The invention discloses a pipeline maintenance method and device and a readable storage medium, and relates to the technical field of oil and gas pipeline maintenance and first-aid repair. The pipeline maintenance method comprises the steps that under the condition that a damaged pipe section exists in a pipeline, the damaged pipe section in the pipeline is cut off, so that the pipeline is divided into a first pipe section and a second pipe section; acquiring first point cloud data of the first pipe section and second point cloud data of the second pipe section; determining first processing data of the first pipe section and second processing data of the second pipe section according to the first point cloud data and the second point cloud data; according to the first machining data, the end face of the first pipe section is machined to obtain a machined first pipe section, and according to the second machining data, the end face of the second pipe section is machined to obtain a machined second pipe section; a prepared third pipe section is obtained, the third pipe section is machined according to the first machining data and the second machining data, and the machined third pipe section is obtained; and the machined first pipe section, the machined second pipe section and the machined third pipe section are combined and welded, so that the maintained pipeline is obtained. The pipeline maintenance accuracy is improved.

Description

Technical Field

[0001] The present application relates to the technical field of oil and gas pipeline maintenance and emergency repair, and in particular to a pipeline maintenance method, device and readable storage medium. Background Art

[0002] In the maintenance and repair of oil and gas pipelines, replacing a part of the pipeline with a new one is a major method. Affected by factors such as geology, environment, and time, buried oil and gas pipelines will have additional stress. When the pipeline is dug and cut, the pipeline fracture will be offset, which makes it difficult to connect the new pipe with the old upstream and downstream pipes during pipeline maintenance. Therefore, the existing pipeline maintenance methods have technical problems such as low accuracy in connecting the new and old pipelines. Summary of the invention

[0003] The embodiments of the present application provide a pipeline maintenance method, device and readable storage medium, which are used to solve the technical problems in the prior art such as low accuracy in docking new and old pipelines.

[0004] A first aspect of an embodiment of the present application provides a pipeline maintenance method, comprising:

[0005] When there is a damaged pipe section in the pipeline, the damaged pipe section in the pipeline is cut off to split the pipeline into a first pipe section and a second pipe section;

[0006] Acquire first point cloud data of the first pipe segment and second point cloud data of the second pipe segment;

[0007] Determine first processing data of the first pipe segment and second processing data of the second pipe segment according to the first point cloud data and the second point cloud data;

[0008] According to the first processing data, the end surface of the first pipe segment is processed to obtain the processed first pipe segment, and according to the second processing data, the end surface of the second pipe segment is processed to obtain the processed second pipe segment;

[0009] Acquire a prepared third pipe segment, and process the third pipe segment according to the first processing data and the second processing data to obtain a processed third pipe segment;

[0010] The processed first pipe section, the processed second pipe section and the processed third pipe section are combined and welded to obtain a repaired pipeline.

[0011] The pipeline repair method in this embodiment determines the first processing data of the first pipe segment and the second processing data of the second pipe segment according to the first point cloud data and the second point cloud data, respectively, and then processes the third pipe segment according to the first processing data and the second processing data to obtain the processed third pipe segment, and welds the processed first pipe segment, the processed second pipe segment and the processed third pipe segment together to obtain the repaired pipeline, thereby improving the repair accuracy of the damaged pipeline. At the same time, through the first point cloud data and the second point cloud data, the repair efficiency of the damaged pipeline is improved, the pipeline repair time is shortened, and the operation efficiency of the pipeline is guaranteed.

[0012] A second aspect of the embodiments of the present application provides a pipeline maintenance device, comprising:

[0013] A control unit, used for cutting off the damaged pipe section in the pipeline when there is a damaged pipe section in the pipeline, so as to split the pipeline into a first pipe section and a second pipe section;

[0014] An acquisition unit, used for acquiring first point cloud data of the first pipe segment and second point cloud data of the second pipe segment;

[0015] A processing unit, configured to determine first processing data of the first pipe segment and second processing data of the second pipe segment according to the first point cloud data and the second point cloud data;

[0016] The control unit is further used to process the end surface of the first pipe segment according to the first processing data to obtain the processed first pipe segment, and to process the end surface of the second pipe segment according to the second processing data to obtain the processed second pipe segment;

[0017] The control unit is further used to obtain a prepared third pipe segment, and process the third pipe segment according to the first processing data and the second processing data to obtain a processed third pipe segment;

[0018] The control unit is also used to perform combined welding on the processed first pipe section, the processed second pipe section and the processed third pipe section to obtain a repaired pipeline.

[0019] The pipeline maintenance device in this embodiment determines the first processing data of the first pipe segment and the second processing data of the second pipe segment according to the first point cloud data and the second point cloud data, respectively, and then processes the third pipe segment according to the first processing data and the second processing data to obtain the processed third pipe segment, and combines and welds the processed first pipe segment, the processed second pipe segment and the processed third pipe segment to obtain the repaired pipeline, thereby improving the repair accuracy of the damaged pipeline. At the same time, through the first point cloud data and the second point cloud data, the repair efficiency of the damaged pipeline is improved, the pipeline repair time is shortened, and the operation efficiency of the pipeline is guaranteed.

[0020] In a third aspect of the embodiments of the present application, another pipeline maintenance device is provided, comprising a processor and a memory, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the steps of the pipeline maintenance method in any of the above embodiments are implemented. Therefore, the pipeline maintenance device has all the beneficial effects of the pipeline maintenance method in any of the above embodiments, which will not be described in detail here.

[0021] In a fourth aspect of the embodiments of the present application, a readable storage medium is provided, on which a program or instruction is stored, and when the program or instruction is executed by a processor, the steps of the pipeline maintenance method in any of the above embodiments are implemented. Therefore, the readable storage medium has all the beneficial effects of the pipeline maintenance method in any of the above embodiments, which will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0023] Figure 1 One of the flow charts of the pipeline maintenance method provided in the embodiment of the present application;

[0024] Figure 2 The second flowchart of the pipeline maintenance method provided in the embodiment of the present application;

[0025] Figure 3 One of the schematic diagrams of the pipeline maintenance method provided in the embodiment of the present application;

[0026] Figure 4 A second schematic diagram of a pipeline maintenance method provided in an embodiment of the present application;

[0027] Figure 5 A third schematic diagram of a pipeline maintenance method provided in an embodiment of the present application;

[0028] Figure 6 Flow chart 3 of the pipeline maintenance method provided in the embodiment of the present application;

[0029] Figure 7 Flow chart 4 of the pipeline maintenance method provided in the embodiment of the present application;

[0030] Figure 8 A fourth schematic diagram of a pipeline maintenance method provided in an embodiment of the present application;

[0031] Fig. 9 A fifth schematic diagram of a pipeline maintenance method provided in an embodiment of the present application;

[0032] Fig.10 Schematic diagram six of the pipeline maintenance method provided in the embodiment of the present application;

[0033] Fig.11 Schematic diagram seven of the pipeline maintenance method provided in the embodiment of the present application;

[0034] Fig.12 Schematic diagram eight of the pipeline maintenance method provided in an embodiment of the present application;

[0035] Fig.13 A ninth schematic diagram of a pipeline maintenance method provided in an embodiment of the present application;

[0036] Fig.14 Flow chart 5 of the pipeline maintenance method provided in the embodiment of the present application;

[0037] Fig.15 A functional module block diagram of a pipeline maintenance device provided in an embodiment of the present application;

[0038] Fig.16 This is a structural block diagram of a pipeline maintenance device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0039] In order to better understand the technical solutions provided by the embodiments of this specification, the technical solutions of the embodiments of this specification are described in detail below through the accompanying drawings and specific embodiments. It should be understood that the embodiments of this specification and the specific features in the embodiments are detailed descriptions of the technical solutions of the embodiments of this specification, rather than limitations on the technical solutions of this specification. In the absence of conflict, the embodiments of this specification and the technical features in the embodiments can be combined with each other.

[0040] In this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that there is any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or equipment including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or equipment. In the absence of more restrictions, the elements limited by the statement "comprise one..." do not exclude the existence of other identical elements in the process, method, article or equipment including the elements. The term "more than two" includes two or more than two situations.

[0041] In some embodiments, Figure 1One of the flow charts of the pipeline maintenance method provided in the embodiment of the present application is as follows: Figure 1 As shown, a pipeline repair method is proposed, comprising:

[0042] Step S101, when there is a damaged pipe section in the pipeline, the damaged pipe section in the pipeline is cut off to split the pipeline into a first pipe section and a second pipe section;

[0043] Step S102, obtaining first point cloud data of the first pipe segment and second point cloud data of the second pipe segment;

[0044] Step S103, determining first processing data of the first pipe segment and second processing data of the second pipe segment according to the first point cloud data and the second point cloud data;

[0045] Step S104, processing the end surface of the first pipe segment according to the first processing data to obtain the processed first pipe segment, and processing the end surface of the second pipe segment according to the second processing data to obtain the processed second pipe segment;

[0046] Step S105, obtaining a prepared third pipe segment, and processing the third pipe segment according to the first processing data and the second processing data to obtain a processed third pipe segment;

[0047] Step S106, combining and welding the processed first pipe segment, the processed second pipe segment, and the processed third pipe segment to obtain a repaired pipeline.

[0048] In this embodiment, the pipeline is detected for damage, and when a damaged pipe section is found in the pipeline, the damaged pipe section in the pipeline is cut off to split the pipeline into a first pipe section and a second pipe section, wherein the damaged pipe section is a pipe section with damage, and the first pipe section and the second pipe section are intact pipe sections in the pipeline.

[0049] Illustratively, the pipeline may be an oil or gas pipeline.

[0050] Exemplarily, the first pipe section may be an upstream pipe section in an oil and gas pipeline, and the second pipe section may be a downstream pipe section in the oil and gas pipeline.

[0051] First point cloud data of the first pipe segment and second point cloud data of the second pipe segment are obtained, wherein the first point cloud data is the point cloud data of the first pipe segment, and the second point cloud data is the point cloud data of the second pipe segment.

[0052] Exemplarily, the first pipe segment and the second pipe segment are scanned respectively by a scanner to obtain first point cloud data of the first pipe segment and second point cloud data of the second pipe segment.

[0053] Exemplarily, the first point cloud data may include point cloud data of an end surface of a first pipe segment, and the second point cloud data may include point cloud data of an end surface of a second pipe segment.

[0054] Before repairing the pipeline, the first pipe segment and the second pipe segment need to be processed to ensure that the first pipe segment and the second pipe segment can be accurately connected. Therefore, according to the first point cloud data and the second point cloud data, the first processing data of the first pipe segment and the second processing data of the second pipe segment are respectively determined, wherein the first processing data is the size processing data of the first pipe segment, and the second processing data is the size processing data of the second pipe segment.

[0055] Exemplarily, the first processing data may include dimensional data such as cutting points and cutting surfaces of the first pipe segment.

[0056] Exemplarily, the second processing data may include dimensional data such as cutting points and cutting surfaces of the second pipe segment.

[0057] According to the first processing data, the end surface of the first pipe segment is processed to obtain the processed first pipe segment, and according to the second processing data, the end surface of the second pipe segment is processed to obtain the processed second pipe segment.

[0058] Exemplarily, the end surfaces of the first pipe segment and the second pipe segment are processed by end surface processing equipment.

[0059] A prepared third pipe segment is obtained, and the third pipe segment is processed according to the first processing data and the second processing data to obtain a processed third pipe segment, wherein the third pipe segment is a pipeline replacing the damaged pipe segment.

[0060] Exemplarily, the third pipe segment is a brand new pipe segment replacing the damaged pipe segment, and the diameter of the third pipe segment is equal to the diameters of the first pipe segment and the second pipe segment.

[0061] Exemplarily, one end of the third pipe segment is processed according to the first processing data, and then the other end of the third pipe segment is processed according to the second processing data to obtain the processed third pipe segment.

[0062] The processed first pipe section, the processed second pipe section and the processed third pipe section are combined and welded to obtain a repaired pipeline.

[0063] Exemplarily, the processed first pipe segment, the processed second pipe segment and the processed third pipe segment are first spliced ​​together, and then the processed first pipe segment, the processed second pipe segment and the processed third pipe segment are welded to obtain the repaired pipeline.

[0064] The pipeline repair method in this embodiment determines the first processing data of the first pipe segment and the second processing data of the second pipe segment according to the first point cloud data and the second point cloud data, respectively, and then processes the third pipe segment according to the first processing data and the second processing data to obtain the processed third pipe segment, and welds the processed first pipe segment, the processed second pipe segment and the processed third pipe segment together to obtain the repaired pipeline, thereby improving the repair accuracy of the damaged pipeline. At the same time, through the first point cloud data and the second point cloud data, the repair efficiency of the damaged pipeline is improved, the pipeline repair time is shortened, and the operation efficiency of the pipeline is guaranteed.

[0065] In some embodiments, a pipeline maintenance method is provided, which determines first processing data of a first pipe segment and second processing data of a second pipe segment based on first point cloud data and second point cloud data, including:

[0066] Step S201, obtaining pipe diameter data of the pipeline;

[0067] Step S202, determining a first intersection point corresponding to the first pipe segment according to the first point cloud data, where the first intersection point is an intersection point between a central axis of the first pipe segment and a port plane;

[0068] Step S203, determining a second intersection point corresponding to the second pipe segment according to the second point cloud data, where the second intersection point is an intersection point between a central axis of the second pipe segment and a port plane;

[0069] Step S204, determining a first straight line, a first angle, a second angle, and a third angle according to the first intersection point and the second intersection point, wherein the first straight line is a straight line where the first intersection point and the second intersection point are located, the first angle is an angle between the first straight line and the central axis of the first pipe segment, the second angle is an angle between the first straight line and the central axis of the second pipe segment, and the second angle is an angle between a plane where the first straight line and the central axis of the first pipe segment are located and a plane where the first straight line and the central axis of the second pipe segment are located;

[0070] Step S205, determining the first processing data and the second processing data according to the pipe diameter data, the first straight line, the first angle, the second angle and the third angle.

[0071] In this embodiment, the pipe diameter data of the pipe is obtained, wherein the pipe diameter data is data indicating the diameter of the pipe.

[0072] According to the first point cloud data, a first intersection point corresponding to the first pipe segment is determined, wherein the first intersection point is an intersection point between a central axis of the first pipe segment and a port plane, and the port plane is a plane at one end of the first pipe segment.

[0073] Exemplarily, the first pipe section can be regarded as a cylinder, and the first intersection point is the intersection point of the central axis of the cylinder and the port plane of the cylinder.

[0074] A second intersection point corresponding to the second pipe segment is determined according to the second point cloud data, wherein the second intersection point is an intersection point between a central axis of the second pipe segment and the port plane.

[0075] Exemplarily, the first pipe section can be regarded as a cylinder, and the first intersection point is the intersection point of the central axis of the cylinder and the port plane of the cylinder.

[0076] Based on the first intersection and the second intersection, the first straight line, the first angle, the second angle and the third angle are determined respectively, wherein the first straight line is the straight line where the first intersection and the second intersection are located, the first angle is the angle between the first straight line and the central axis of the first pipe segment, the second angle is the angle between the first straight line and the central axis of the second pipe segment, and the third angle is the angle between the plane where the first straight line and the central axis of the first pipe segment are located and the plane where the first straight line and the central axis of the second pipe segment are located.

[0077] Exemplarily, a straight line is confirmed based on the first intersection point and the second intersection point to obtain a first straight line.

[0078] Exemplarily, the angle between the first straight line and the central axis of the first pipe segment is determined to obtain the first angle.

[0079] Exemplarily, the angle between the first straight line and the central axis of the second pipe segment is determined to obtain the second angle.

[0080] Exemplarily, a plane is determined based on the first straight line and the central axis of the first pipe segment, and then a plane is determined based on the first straight line and the central axis of the second pipe segment, and the angle between the two planes is determined to obtain the third angle.

[0081] Data processing is performed on the pipe diameter data, the first straight line, the first angle, the second angle and the third angle to obtain first processed data and second processed data.

[0082] Exemplarily, the pipe diameter data, the first straight line, the first angle, the second angle and the third angle are input into the data processing model to obtain the first processing data and the second processing data output by the data processing model.

[0083] The pipeline maintenance method in this embodiment determines the first straight line, the first angle, the second angle and the third angle based on the first intersection point and the second intersection point, respectively, and processes the pipe diameter data, the first straight line, the first angle, the second angle and the third angle to obtain the first processing data and the second processing data, thereby improving the data accuracy of the first processing data and the second processing data, and thereby ensuring the processing accuracy of the first pipe section and the second pipe section.

[0084] In some embodiments, a pipeline maintenance method is provided, which determines a first straight line, a first angle, a second angle, and a third angle according to a first intersection point and a second intersection point, including:

[0085] Step S301, determining a first straight line according to the coordinates of the first intersection point and the coordinates of the second intersection point;

[0086] Step S302, determining a first angle according to the coordinates of the first straight line, the central axis of the first pipe segment and the first intersection, and determining a second angle according to the first straight line, the central axis of the second pipe segment and the coordinates of the second intersection;

[0087] Step S303, determining a first plane according to the first straight line and the central axis of the first pipe segment, and determining a second plane according to the first straight line and the central axis of the second pipe segment;

[0088] Step S304: determine the angle between the first plane and the second plane to obtain a third angle.

[0089] In this embodiment, the first straight line is determined according to the coordinates of the first intersection point and the coordinates of the second intersection point.

[0090] Exemplarily, according to the coordinates of the first intersection point and the coordinates of the second intersection point, the first intersection point and the second intersection point are connected to determine the first straight line.

[0091] The angle between the first straight line and the central axis of the first pipe segment at the first intersection is determined to obtain a first angle.

[0092] The second angle is obtained according to the angle between the first straight line and the central axis of the second pipe segment at the second intersection.

[0093] A first plane is determined based on the first straight line and the central axis of the first pipe segment, and a second plane is determined based on the first straight line and the central axis of the second pipe segment.

[0094] Exemplarily, a plane is determined based on the first straight line and the central axis of the first pipe segment to obtain a first plane.

[0095] Exemplarily, a plane is determined based on the first straight line and the central axis of the second pipe segment to obtain the second plane.

[0096] An angle between the first plane and the second plane is determined to obtain a third angle.

[0097] The pipeline maintenance method in this embodiment determines the first straight line, the first angle, the second angle and the third angle according to the first intersection point and the second intersection point, respectively, thereby ensuring the data accuracy of the first straight line, the first angle, the second angle and the third angle, and further ensuring the data accuracy of the first processing data and the second processing data.

[0098] In some embodiments, a pipeline maintenance method is provided, which determines first processing data and second processing data according to pipe diameter data, a first straight line, a first angle, a second angle, and a third angle, including:

[0099] Step S401, determining a first distance between a first intersection point and a second intersection point according to a first straight line;

[0100] Step S402, determining a first axis distance difference corresponding to the first pipe segment and a second axis distance difference corresponding to the second pipe segment according to the pipe diameter data, the first distance, the first angle, the second angle and the third angle;

[0101] Step S403, determining a third intersection corresponding to the first pipe segment according to the first axis distance difference and the first intersection, and determining a fourth intersection corresponding to the second pipe segment according to the second axis distance difference and the second intersection, wherein the third intersection is the intersection between the central axis of the first pipe segment and the central axis of the third pipe segment, and the fourth intersection is the intersection between the central axis of the second pipe segment and the central axis of the third pipe segment;

[0102] Step S404, determining the first processing data and the second processing data according to the third intersection point, the fourth intersection point and the pipe diameter data.

[0103] In this embodiment, based on the first straight line, the distance between the first intersection point and the second intersection point is determined to obtain a first distance, wherein the first distance is the distance between the first intersection point and the second intersection point.

[0104] Data processing is performed on the pipe diameter data, the first distance, the first angle, the second angle and the third angle to obtain a first axis distance difference corresponding to the first pipe section and a second axis distance difference corresponding to the second pipe section.

[0105] The first axis distance difference represents the distance between the first intersection point and the new intersection point on the first pipe segment, and the second axis distance difference represents the distance between the second intersection point and the new intersection point on the second pipe segment.

[0106] The third intersection point corresponding to the first pipe segment is determined according to the first axis distance difference and the first intersection point, wherein the third intersection point is the intersection point between the central axis line of the first pipe segment and the central axis line of the third pipe segment.

[0107] The fourth intersection point corresponding to the second pipe segment is determined according to the second axis distance difference and the second intersection point, wherein the fourth intersection point is the intersection point between the central axis line of the second pipe segment and the central axis line of the third pipe segment.

[0108] Exemplarily, the new intersection point on the first pipe segment is the intersection point between the central axis of the first pipe segment and the central axis of the third pipe segment.

[0109] Exemplarily, the new intersection point on the second pipe segment is the intersection point between the central axis of the second pipe segment and the central axis of the third pipe segment.

[0110] The first processing data and the second processing data are determined according to the third intersection point, the fourth intersection point and the pipe diameter data.

[0111] The pipeline maintenance method in this embodiment determines the first processing data and the second processing data based on the third intersection point, the fourth intersection point and the pipe diameter data, thereby ensuring the data accuracy of the first processing data and the second processing data, and further ensuring the processing accuracy of the first pipe section and the second pipe section.

[0112] In some embodiments, a pipeline maintenance method is provided, which determines first processing data and second processing data according to the third intersection point, the fourth intersection point and the pipe diameter data, including:

[0113] Step S501, determining a second straight line according to the third intersection point and the fourth intersection point;

[0114] Step S502, determining a first intersecting surface between the first pipe segment and the third pipe segment according to the coordinates of the third intersection point, the second straight line and the pipe diameter data;

[0115] Step S503, generating first processing data according to the first intersecting surface;

[0116] Step S504, determining a second intersecting surface between the second pipe segment and the third pipe segment according to the coordinates of the fourth intersection point, the second straight line and the pipe diameter data;

[0117] Step S505, generating second processing data according to the second intersecting surface.

[0118] In this embodiment, the third intersection point and the fourth intersection point are connected to obtain a second straight line, wherein the second straight line is a straight line where the third intersection point and the fourth intersection point are located.

[0119] A first intersecting surface between the first pipe segment and the third pipe segment is determined according to the coordinates of the third intersection point, the second straight line and the pipe diameter data, wherein the first intersecting surface is a connecting surface between the first pipe segment and the third pipe segment.

[0120] Based on the first intersecting surface, first processing data is generated.

[0121] Exemplarily, the first processing data can be generated according to the dimension data of the first intersecting surface.

[0122] A second intersecting surface between the second pipe segment and the third pipe segment is determined according to the coordinates of the fourth intersection point, the second straight line and the pipe diameter data, wherein the second intersecting surface is a connecting surface between the second pipe segment and the third pipe segment.

[0123] Based on the second intersecting surface, second processing data is generated.

[0124] Exemplarily, the second processing data can be generated according to the dimension data of the second intersecting surface.

[0125] The pipeline maintenance method in this embodiment generates first processing data based on the first intersection surface, and then generates second processing data based on the second intersection surface, thereby ensuring the data accuracy of the first processing data and the second processing data, and further ensuring the processing accuracy of the first pipe segment and the second pipe segment.

[0126] In some embodiments, a pipeline repair method is provided. After the damaged pipe section in the pipeline is cut off to separate the pipeline into a first pipe section and a second pipe section, the method further includes:

[0127] Step S601, processing the end surface of the first pipe segment so that the plane where the end surface of the first pipe segment is located is perpendicular to the central axis of the first pipe segment;

[0128] Step S602: Process the end surface of the second pipe segment so that the plane where the end surface of the second pipe segment is located is perpendicular to the central axis of the second pipe segment.

[0129] In this embodiment, the end surface of the first pipe segment is processed so that the plane where the end surface of the first pipe segment is located is perpendicular to the central axis of the first pipe segment.

[0130] Exemplarily, the end surface of the first pipe segment is flattened so that the end surface flatness is ≤0.1.

[0131] The end surface of the second pipe segment is processed so that the plane where the end surface of the second pipe segment is located is perpendicular to the central axis of the second pipe segment.

[0132] Exemplarily, the end surface of the second pipe segment is flattened so that the end surface flatness is ≤0.1.

[0133] In the pipeline maintenance method of this embodiment, after splitting the pipeline into a first pipe section and a second pipe section, the end face of the first pipe section is processed so that the plane where the end face of the first pipe section is located is perpendicular to the central axis of the first pipe section, and then the end face of the second pipe section is processed so that the plane where the end face of the second pipe section is located is perpendicular to the central axis of the second pipe section, thereby ensuring the processing accuracy of the first pipe section and the second pipe section.

[0134] In some embodiments, a pipeline repair method is provided, wherein a processed first pipe segment, a processed second pipe segment, and a processed third pipe segment are combined and welded to obtain a repaired pipeline, comprising:

[0135] Step 701, aligning the first identification point and the third identification point to combine the processed first pipe segment and the processed third pipe segment;

[0136] Step 702, aligning the second identification point and the fourth identification point to combine the processed second pipe segment and the processed third pipe segment;

[0137] Step 703, after the processed first pipe segment, the processed second pipe segment and the processed third pipe segment are assembled, the processed first pipe segment, the processed second pipe segment and the processed third pipe segment are welded to obtain a repaired pipeline.

[0138] In this embodiment, the first pipe segment after processing has a first identification point, the second pipe segment after processing has a second identification point, the third pipe segment after processing has a third identification point at one end and a fourth identification point at the other end, wherein the first identification point, the second identification point, the third identification point and the fourth identification point are marking points used to combine the various pipe segments.

[0139] The first marking point and the third marking point are aligned to combine the processed first pipe segment and the processed third pipe segment.

[0140] The second marking point and the fourth marking point are then aligned to combine the processed second pipe segment and the processed third pipe segment.

[0141] After the processed first pipe segment, the processed second pipe segment and the processed third pipe segment are assembled, the processed first pipe segment, the processed second pipe segment and the processed third pipe segment are welded to obtain a repaired pipeline.

[0142] The pipeline maintenance method in this embodiment splices the first pipe section, the second pipe section and the third pipe section based on the combination of the first identification point, the second identification point, the third identification point and the fourth identification point, thereby ensuring the accuracy of pipeline maintenance.

[0143] In some embodiments, Figure 2 The second flowchart of the pipeline maintenance method provided in the embodiment of the present application is as follows: Figure 2 As shown, a pipeline repair method is proposed, comprising:

[0144] Step S1, pre-processing.

[0145] Figure 3 One of the schematic diagrams of the pipeline maintenance method provided in the embodiment of the present application is as follows: Figure 3 As shown, it includes earthwork, pipeline support, removal of damaged pipe sections, etc.

[0146] Exemplarily, the length of the pipe cut is usually 1000mm-3000mm.

[0147] Step S2, calibrating the upstream and downstream pipelines.

[0148] Figure 4The second schematic diagram of the pipeline maintenance method provided in the embodiment of the present application is as follows: Figure 4 As shown, the pipe end is calibrated by squeezing the pipe end from the outer wall toward the center of the pipe.

[0149] Exemplarily, the distance between the rounding point and the end face is 100mm-300mm.

[0150] Step S3: processing the upstream and downstream pipeline end faces.

[0151] Specifically, Figure 5 The third schematic diagram of the pipeline maintenance method provided in the embodiment of the present application is as follows: Figure 5 As shown, the upstream and downstream pipeline end surface treatment includes:

[0152] Step S31, processing the end face of the upstream pipeline to make the end face perpendicular to the central axis of the upstream pipeline and the end face flatness ≤ 0.1.

[0153] Step S32, draw a line on the end face of the upstream pipeline. The drawn line should be clearly scanned and captured in S4, and the intersection of the drawn line and the outer wall of the upstream pipeline is recorded as point Pa.

[0154] Step S33, processing the end face of the downstream pipeline to make the end face perpendicular to the central axis of the downstream pipeline and the end face flatness ≤ 0.1.

[0155] Step S34, draw a line on the end face of the downstream pipeline. The drawn line should be clearly scanned and captured in S4, and the intersection of the drawn line and the outer wall of the downstream pipeline is recorded as point Pb.

[0156] Exemplarily, the line marks are respectively at the 12 o'clock position on both end surfaces.

[0157] Step S4: scanning the upstream and downstream pipeline end faces.

[0158] Figure 6 The third flowchart of the pipeline maintenance method provided in the embodiment of the present application is as follows: Figure 6 As shown, a scanner is placed between the upstream pipe and the downstream pipe, and the end faces of the pipes are scanned by the scanner to form the spatial position and shape of the two end faces. The scanning range of the scanner should cover the end faces of the upstream pipe and the downstream pipe, and the scanning accuracy should be better than 0.1mm. The scanner generates a model or point cloud data, which contains (Pa, Pb) marker point information.

[0159] Step S5, data processing.

[0160] Specifically, Figure 7 The fourth flowchart of the pipeline maintenance method provided in the embodiment of the present application is as follows: Figure 7 As shown, data processing includes:

[0161] Step S51, generating the central axis of the upstream and downstream pipelines, the outer wall of the pipeline, and the intersection point of the central axis and the end face according to the scanned model or point cloud data.

[0162] The calculation conditions include:

[0163] Calculation condition 1: According to the pipe roundness calibration in S2, the upstream and downstream pipes can be considered as standard round pipes;

[0164] Calculation condition 2: According to the end surface treatment in S3, it can be considered that the end surface is perpendicular to the central axis;

[0165] Calculation condition 3: Based on the model and point cloud data scanned in S4, the spatial position and shape of the upstream and downstream end faces can be obtained.

[0166] Based on the above conditions, the central axis of the upstream and downstream pipelines passes through the center point of the end face and is perpendicular to the plane where the end face is located; the outer wall of the pipeline is parallel to the central axis and passes through the outer circular contour of the end face; the intersection of the central axis and the end face is at the center of the end face.

[0167] Step S52, calculate the central axis of the new pipe, determine the intersection of the central axis of the new pipe with the central axis of the upstream pipeline, and determine the intersection of the central axis of the new pipe with the central axis of the downstream pipeline.

[0168] The calculation conditions include:

[0169] Calculation condition 1: The new pipe is a standard pipe section, and its specifications and dimensions are consistent with those of the upstream and downstream pipe sections;

[0170] Calculation condition 2: The new pipe intersects with the upstream and downstream pipes respectively, and the intersection line formed is a closed plane curve;

[0171] Calculation condition 3: The central axis of the upstream pipeline and the spatial axis of the downstream pipeline are non-intersecting straight lines in space.

[0172] Calculation condition 4: When selecting the intersection surface of the upstream and downstream pipelines, the minimum distance between the intersection line and its end face is 0, that is, the intersection surface with the minimum cutting amount of the upstream and downstream pipelines is selected.

[0173] Calculation condition 5: According to step S51, it is considered that the pipe diameter D, the direction of the central axis of the upstream pipe, the direction of the central axis of the downstream pipe, the position of the intersection point A of the central axis of the upstream pipe and its end face, the position of the intersection point B of the central axis of the downstream pipe and its end face, the AB distance, and the angle ∠A between the upstream centerline and the AB line 1 AB, angle ∠B between the downstream center line and AB line 1 BA, the angle ∠A between the plane where the upstream center axis and AB line are located and the plane where the downstream center axis and AB line are located 1 'O'B 1 The data are known.

[0174] Figure 8 The fourth schematic diagram of the pipeline maintenance method provided in the embodiment of the present application is as follows: Fig. 9 The fifth schematic diagram of the pipeline maintenance method provided in the embodiment of the present application is as follows: Fig.10 The sixth schematic diagram of the pipeline maintenance method provided in the embodiment of the present application is as follows: Fig.11 The seventh schematic diagram of the pipeline maintenance method provided in the embodiment of the present application is as follows: Fig.12 This is a schematic diagram eight of the pipeline maintenance method provided in an embodiment of the present application.

[0175] According to the above conditions, we can get:

[0176] (1) By Figure 8 and Fig. 9 It can be seen that the acute angle between the central axis of the upstream pipeline and the central axis of the new pipe is α, and the angle between the intersection surface of the upstream pipeline and the new pipe and the end surface of the upstream pipeline is α / 2. Formula (1) can be obtained as follows:

[0177] 2L a =D×tan(α / 2); (1)

[0178] (2) By Figure 8 and Fig. 9 It can be seen that the acute angle between the center axis of the downstream pipeline and the center axis of the new pipe is β, and the angle between the intersection surface of the downstream pipeline and the new pipe and the end surface of the downstream pipeline is β / 2. Formula (2) can be obtained as follows:

[0179] 2L b =D×tan(β / 2); (2)

[0180] (3) By Fig.10 It can be seen that in triangle A 1 AB 1 Middle, AB 1 2 =L a 2 +A 1 B 1 2 -2L a ×A 1 B 1 ×cosα.

[0181] In triangle AB 1 B, AB 1 2 =L b 2 +AB 2 -2L b ×AB×∠B 1 BA. Therefore, formula (3) can be obtained as:

[0182] L a2 +A 1 B 1 2 -2L a ×A 1 B 1 ×cosα=L b 2 +AB 2 -2L b ×AB×∠B 1 BA; (3)

[0183] (4) By Fig.11 It can be seen that in triangle A 1 B 1 In B, A 1 B 2 =L b 2 +A 1 B 1 2 -2L b ×A 1 B 1 ×cosβ.

[0184] At the same time, in triangle A 1 In AB, A 1 B 2 =L a 2 +AB 2 -2L a ×AB×∠A 1 AB. Therefore, formula (4) can be obtained as:

[0185] L b 2 +A 1 B 1 2 -2L b ×A 1 B 1 ×cosβ=L a 2 +AB 2 -2L a ×AB×∠A 1 AB; (4)

[0186] (5) By Fig.12 It can be seen that Fig.12 Indicates the location of the upstream center axis, AB line, and downstream center axis, where the dotted line is an auxiliary line. 1 Draw a perpendicular line from point B to line AB, and mark the foot of the perpendicular as point O. 1 Draw a perpendicular line from point A to line AB, and mark the foot of the perpendicular as point O'. 1'O' is parallel to and equal in length to A 1 O.

[0187] In right triangle A 1 In OA, A 1 O=L a ×cosα=A 1 'O', AO=L a ×cosα.

[0188] In right triangle B 1 O'B, B 1 O'=L b × sinβ, BO'=L b ×cosβ.

[0189] In triangle A 1 'O'B 1 A 1 'B 1 2 =A 1 'O' 2 +B 1 O' 2 -2A 1 'O'×B 1 O'×cos∠A 1 'O'B 1 .

[0190] On the straight line AB, A 1 A 1 '=OO'=AO+AB+BO'.

[0191] In triangle A 1 A 1 'B 1 Since the line AB is perpendicular to A 1 'O'B 1 The plane, A 1 A 1 'It is also parallel to the line AB, so ∠A 1 A 1 'B 1 is a right angle. According to the Pythagorean theorem, formula (5) can be obtained as:

[0192] A 1 B 1 2 =A 1 A 1 ' 2 +A 1 'B 1 2

[0193] =(AO+AB+BO')2 +(A 1 'O' 2 +B 1 O' 2 -2A 1 'O'×B 1 O'×cos∠A 1 'O'B 1 )

[0194] =(L a cosα+AB+L b cosβ) 2 +(L a cosα) 2 +(L b cosβ) 2 -2L a sinα×2L b sinβ×cos∠A 1 'O'B 1 ; (5)

[0195] In summary, in formulas (1), (2), (3), (4) and (5), L a , L b , α, β, A 1 B 1 is unknown, and the others are known, so L can be calculated a and L b .

[0196] Then the intersection point A of the center axis of the new pipe and the center axis of the upstream pipe can be determined. 1 point.

[0197] Then the intersection point B of the center axis of the new pipe and the center axis of the downstream pipeline can be determined. 1 point.

[0198] Step S53, calculating the intersection line trajectory of the upstream pipeline and the new pipe, and generating the intersection surface between the upstream pipeline and one end of the new pipe.

[0199] The calculation conditions include:

[0200] Calculation condition 1: The two intersection points in S52 have been determined, and the two points determine a straight line, and then the center axis of the new pipe is confirmed;

[0201] Calculation condition 2: The new pipe has the same specifications as the upstream pipe section and the diameter is known.

[0202] According to the above conditions, we can get:

[0203] The acute angle α between the center axis of the new pipe and the center axis of the upstream pipeline, and their intersection plane passes through the intersection point of the center axis of the new pipe and the center axis of the upstream pipeline.

[0204] Furthermore, since the pipes are of equal diameter, the intersection line is a closed plane curve, and the plane where the intersection line is located is the intersection plane. It can be seen from the figure that the intersection plane is perpendicular to the plane where the center axis of the upstream pipeline and the center axis of the new pipe are located, and the angle between the intersection plane and the end face of the upstream pipeline is α / 2.

[0205] A point on the intersection surface and the direction of the surface have been determined, so the intersection surface between the upstream pipeline and one end of the new pipe has been determined.

[0206] Step S54, calculating the intersection trajectory of the downstream pipeline and the new pipe, and generating the intersection surface between the downstream pipeline and the other end of the new pipe.

[0207] The calculation conditions include:

[0208] Calculation condition 1: The two intersection points in S52 have been determined, and the two points determine a straight line, and then the center axis of the new pipe is confirmed;

[0209] Calculation condition 2: The new pipe has the same specifications as the downstream pipe section and the diameter is known.

[0210] According to the above conditions, we can get:

[0211] The acute angle β between the central axis of the new pipe and the central axis of the downstream pipeline, and the intersection plane passes through the intersection point of the central axis of the new pipe and the central axis of the downstream pipeline.

[0212] Furthermore, since the pipes are of equal diameter, the intersection line is a closed plane curve, and the plane where the intersection line is located is the intersection plane. It can be seen from the figure that the intersection plane is perpendicular to the plane where the center axis of the downstream pipeline and the center axis of the new pipe are located, and the angle between the intersection plane and the end face of the downstream pipeline is β / 2.

[0213] A point on the intersection surface and the direction of the surface have been determined, so the intersection surface between the downstream pipeline and the other end of the new pipe has been determined.

[0214] Step S55, based on the upstream marking point Pa, according to the intersecting surface and the groove form, the upstream pipeline processing surface processing data is generated, and the marking point Pa1 is generated at the corresponding position of the processing surface.

[0215] Step S56, based on the downstream marking point Pb, according to the intersecting surface and the groove form, the processing data of the downstream pipeline processing surface is generated, and the marking point Pb1 is generated at the corresponding position of the processing surface.

[0216] Step S57, generating new pipe cutting data according to the intersecting surface and groove form, and generating marking points Pa2 and Pb2 at corresponding positions.

[0217] For example, Fig.13 A ninth schematic diagram of a pipeline maintenance method provided in an embodiment of the present application, as shown in FIG. Fig.13As shown, for step S5 data processing, a data processing software can be developed to process data with one click. The software performs calculations based on steps S51 to S57, input 1 is the model or point cloud data, input 2 is the groove shape, output 1 is the processing data of the upstream pipeline processing surface, output 2 is the processing data of the downstream pipeline processing surface, and output 3 is the new pipe cutting data.

[0218] Step S6: processing upstream and downstream pipelines and cutting new pipes.

[0219] Specifically, Fig.14 The fifth flow chart of the pipeline maintenance method provided in the embodiment of the present application is as follows: Fig.14 As shown, step S6 includes:

[0220] Step S61, upstream pipeline processing and marking Pa1.

[0221] like Fig.15 As shown, according to the processing data of the upstream pipeline processing surface, a processing program is generated to process the upstream pipeline and mark the Pa1 point.

[0222] Furthermore, point Pa1 is: a straight line passing through point Pa and parallel to the central axis of the upstream pipeline, and the intersection of the straight line and the processing surface of the upstream pipeline.

[0223] Step S62, downstream pipeline processing and marking Pb1.

[0224] Generate a machining program based on the machining data of the downstream pipeline machining surface, machine the upstream pipeline, and mark the Pb1 point.

[0225] Furthermore, point Pb1 is: a straight line passing through point Pb and parallel to the central axis of the downstream pipeline, and the intersection of the straight line and the processing surface of the downstream pipeline.

[0226] Step S63, cutting new tubes and marking them as Pa2 and Pb2.

[0227] Generate a processing program based on the new pipe cutting data, use standard pipes to cut new pipes, and mark the Pa2 and Pb2 points.

[0228] Furthermore, point Pa2 corresponds to point Pa1, and the method for confirming point Pa2 is: first, draw a straight line through point Pa and parallel to the central axis of the upstream pipeline, and the straight line forms an intersection with the intersection surface of the upstream pipeline; then, draw a straight line through the intersection and parallel to the central axis of the new pipe, and the intersection of the straight line and the processing surface of the new pipe is point Pa2.

[0229] Furthermore, point Pb2 corresponds to point Pb1, and the method for confirming point Pb2 is as follows: first, draw a straight line through point Pb and parallel to the central axis of the downstream pipeline, and the straight line forms an intersection with the intersection surface of the downstream pipeline; then, draw a straight line through the intersection and parallel to the central axis of the new pipe, and the intersection of the straight line and the processing surface of the new pipe is point Pb2.

[0230] S7 post-processing, including assembly, welding, etc. When assembling new pipes, align the marking points Pa1 with Pa2, and Pb1 with Pb2.

[0231] The beneficial effects of the present application are: first, it reduces the difficulty of connecting new pipes during emergency repairs of oil and gas pipelines, and does not require experienced operators, but only requires general operators to apply it after simple training; second, it improves the dimensional accuracy of pipeline connection, and does not require repeated grinding and repair; finally, it significantly improves the efficiency of replacing new pipes during emergency repairs of oil and gas pipelines, shortens the emergency repair time, and has important economic significance.

[0232] In some embodiments, Fig.15 The functional module block diagram of the pipeline maintenance device provided in the embodiment of the present application is as follows: Fig.15 As shown, in an embodiment of the present application, a pipeline maintenance device 1500 is provided, and the pipeline maintenance device 1500 includes:

[0233] The control unit 1502 is used for, when there is a damaged pipe section in the pipeline, cutting off the damaged pipe section in the pipeline, so as to split the pipeline into a first pipe section and a second pipe section;

[0234] An acquiring unit 1504 is used to acquire first point cloud data of the first pipe segment and second point cloud data of the second pipe segment;

[0235] A processing unit 1506, configured to determine first processing data of the first pipe segment and second processing data of the second pipe segment according to the first point cloud data and the second point cloud data;

[0236] The control unit 1502 is further configured to process the end surface of the first pipe segment according to the first processing data to obtain the processed first pipe segment, and process the end surface of the second pipe segment according to the second processing data to obtain the processed second pipe segment;

[0237] The control unit 1502 is further configured to obtain a prepared third pipe segment, and process the third pipe segment according to the first processing data and the second processing data to obtain a processed third pipe segment;

[0238] The control unit 1502 is further used to perform combination welding on the processed first pipe segment, the processed second pipe segment and the processed third pipe segment to obtain a repaired pipeline.

[0239] In this embodiment, the pipeline is detected for damage, and when a damaged pipe section is found in the pipeline, the damaged pipe section in the pipeline is cut off to split the pipeline into a first pipe section and a second pipe section, wherein the damaged pipe section is a pipe section with damage, and the first pipe section and the second pipe section are intact pipe sections in the pipeline.

[0240] Illustratively, the pipeline may be an oil or gas pipeline.

[0241] Exemplarily, the first pipe section may be an upstream pipe section in an oil and gas pipeline, and the second pipe section may be a downstream pipe section in the oil and gas pipeline.

[0242] First point cloud data of the first pipe segment and second point cloud data of the second pipe segment are obtained, wherein the first point cloud data is the point cloud data of the first pipe segment, and the second point cloud data is the point cloud data of the second pipe segment.

[0243] Exemplarily, the first pipe segment and the second pipe segment are scanned respectively by a scanner to obtain first point cloud data of the first pipe segment and second point cloud data of the second pipe segment.

[0244] Exemplarily, the first point cloud data may include point cloud data of an end surface of a first pipe segment, and the second point cloud data may include point cloud data of an end surface of a second pipe segment.

[0245] Before repairing the pipeline, the first pipe segment and the second pipe segment need to be processed to ensure that the first pipe segment and the second pipe segment can be accurately connected. Therefore, according to the first point cloud data and the second point cloud data, the first processing data of the first pipe segment and the second processing data of the second pipe segment are respectively determined, wherein the first processing data is the size processing data of the first pipe segment, and the second processing data is the size processing data of the second pipe segment.

[0246] Exemplarily, the first processing data may include dimensional data such as cutting points and cutting surfaces of the first pipe segment.

[0247] Exemplarily, the second processing data may include dimensional data such as cutting points and cutting surfaces of the second pipe segment.

[0248] According to the first processing data, the end surface of the first pipe segment is processed to obtain the processed first pipe segment, and according to the second processing data, the end surface of the second pipe segment is processed to obtain the processed second pipe segment.

[0249] Exemplarily, the end surfaces of the first pipe segment and the second pipe segment are processed by end surface processing equipment.

[0250] A prepared third pipe segment is obtained, and the third pipe segment is processed according to the first processing data and the second processing data to obtain a processed third pipe segment, wherein the third pipe segment is a pipeline replacing the damaged pipe segment.

[0251] Exemplarily, the third pipe segment is a brand new pipe segment replacing the damaged pipe segment, and the diameter of the third pipe segment is equal to the diameters of the first pipe segment and the second pipe segment.

[0252] Exemplarily, one end of the third pipe segment is processed according to the first processing data, and then the other end of the third pipe segment is processed according to the second processing data to obtain the processed third pipe segment.

[0253] The processed first pipe section, the processed second pipe section and the processed third pipe section are combined and welded to obtain a repaired pipeline.

[0254] Exemplarily, the processed first pipe segment, the processed second pipe segment and the processed third pipe segment are first spliced ​​together, and then the processed first pipe segment, the processed second pipe segment and the processed third pipe segment are welded to obtain the repaired pipeline.

[0255] The pipeline maintenance device 1500 in this embodiment determines the first processing data of the first pipe segment and the second processing data of the second pipe segment according to the first point cloud data and the second point cloud data, respectively, and then processes the third pipe segment according to the first processing data and the second processing data to obtain the processed third pipe segment, and welds the processed first pipe segment, the processed second pipe segment and the processed third pipe segment together to obtain the repaired pipeline, thereby improving the repair accuracy of the damaged pipeline. At the same time, through the first point cloud data and the second point cloud data, the repair efficiency of the damaged pipeline is improved, the pipeline repair time is shortened, and the operation efficiency of the pipeline is ensured.

[0256] In some embodiments, an embodiment of the present application provides a pipeline maintenance device 1500, and the pipeline maintenance device 1500 includes:

[0257] The processing unit 1506 is also used to obtain the pipe diameter data of the pipe;

[0258] The processing unit 1506 is further used to determine a first intersection point corresponding to the first pipe segment according to the first point cloud data, where the first intersection point is an intersection point between a central axis of the first pipe segment and a port plane;

[0259] The processing unit 1506 is further used to determine a second intersection point corresponding to the second pipe segment according to the second point cloud data, where the second intersection point is an intersection point between a central axis of the second pipe segment and the port plane;

[0260] The processing unit 1506 is further configured to determine a first straight line, a first angle, a second angle, and a third angle according to the first intersection point and the second intersection point, wherein the first straight line is a straight line where the first intersection point and the second intersection point are located, the first angle is an angle between the first straight line and the central axis of the first pipe segment, the second angle is an angle between the first straight line and the central axis of the second pipe segment, and the third angle is an angle between a plane where the first straight line and the central axis of the first pipe segment are located and a plane where the first straight line and the central axis of the second pipe segment are located;

[0261] The processing unit 1506 is further configured to determine the first processing data and the second processing data according to the pipe diameter data, the first straight line, the first angle, the second angle and the third angle.

[0262] In some embodiments, an embodiment of the present application provides a pipeline maintenance device 1500, and the pipeline maintenance device 1500 includes:

[0263] The processing unit 1506 is further configured to determine a first straight line according to the coordinates of the first intersection point and the coordinates of the second intersection point;

[0264] The processing unit 1506 is further configured to determine a first angle according to the coordinates of the first straight line, the central axis of the first pipe segment and the first intersection point, and to determine a second angle according to the first straight line, the central axis of the second pipe segment and the coordinates of the second intersection point;

[0265] The processing unit 1506 is further configured to determine a first plane according to the first straight line and the central axis of the first pipe segment, and determine a second plane according to the first straight line and the central axis of the second pipe segment;

[0266] The processing unit 1506 is further configured to determine an angle between the first plane and the second plane to obtain a third angle.

[0267] In some embodiments, an embodiment of the present application provides a pipeline maintenance device 1500, and the pipeline maintenance device 1500 includes:

[0268] The processing unit 1506 is further configured to determine a first distance between the first intersection point and the second intersection point according to the first straight line;

[0269] The processing unit 1506 is further used to determine a first axis distance difference corresponding to the first pipe segment and a second axis distance difference corresponding to the second pipe segment according to the pipe diameter data, the first distance, the first angle, the second angle and the third angle;

[0270] The processing unit 1506 is further configured to determine a third intersection corresponding to the first pipe segment according to the first axis distance difference and the first intersection, and to determine a fourth intersection corresponding to the second pipe segment according to the second axis distance difference and the second intersection, wherein the third intersection is an intersection between a central axis of the first pipe segment and a central axis of the third pipe segment, and the fourth intersection is an intersection between a central axis of the second pipe segment and a central axis of the third pipe segment;

[0271] The processing unit 1506 is further configured to determine the first processing data and the second processing data according to the third intersection point, the fourth intersection point and the pipe diameter data.

[0272] In some embodiments, an embodiment of the present application provides a pipeline maintenance device 1500, and the pipeline maintenance device 1500 includes:

[0273] The processing unit 1506 is further configured to determine a second straight line according to the third intersection point and the fourth intersection point;

[0274] The processing unit 1506 is further used to determine a first intersecting surface between the first pipe segment and the third pipe segment according to the coordinates of the third intersection point, the second straight line and the pipe diameter data;

[0275] The processing unit 1506 is further used to generate first processing data according to the first intersecting surface;

[0276] The processing unit 1506 is further used to determine a second intersecting surface between the second pipe segment and the third pipe segment according to the coordinates of the fourth intersection point, the second straight line and the pipe diameter data;

[0277] The processing unit 1506 is further configured to generate second processing data according to the second intersecting surface.

[0278] In some embodiments, an embodiment of the present application provides a pipeline maintenance device 1500, and the pipeline maintenance device 1500 includes:

[0279] The control unit 1502 is further used to process the end surface of the first pipe segment so that the plane where the end surface of the first pipe segment is located is perpendicular to the central axis of the first pipe segment;

[0280] The control unit 1502 is further used to process the end surface of the second pipe segment so that the plane where the end surface of the second pipe segment is located is perpendicular to the central axis of the second pipe segment.

[0281] In some embodiments, an embodiment of the present application provides a pipeline maintenance device 1500, and the pipeline maintenance device 1500 includes:

[0282] The control unit 1502 is further configured to combine the processed first pipe segment and the processed third pipe segment by aligning the first identification point and the third identification point;

[0283] The control unit 1502 is further configured to combine the processed second pipe segment and the processed third pipe segment by aligning the second identification point and the fourth identification point;

[0284] The control unit 1502 is also used to weld the processed first pipe segment, the processed second pipe segment and the processed third pipe segment after they are assembled to obtain a repaired pipeline.

[0285] In some embodiments, Fig.16 The structural block diagram of the pipeline maintenance device provided in the embodiment of the present application is as follows: Fig.16 As shown, a pipeline maintenance device 1600 is proposed, and the pipeline maintenance device 1600 includes a processor 1602 and a memory 1604. The memory 1604 stores a computer program, and when the computer program is executed by the processor 1602, the steps of the pipeline maintenance method in any of the above embodiments are implemented. Therefore, the pipeline maintenance device 1600 has all the beneficial effects of the pipeline maintenance method in any of the above embodiments, which will not be repeated here.

[0286] In some embodiments, a readable storage medium is provided, on which a program is stored. When the program is executed by a processor, the steps of the pipeline maintenance method in any of the above embodiments are implemented, thereby having all the beneficial technical effects of the pipeline maintenance method in any of the above embodiments.

[0287] It should be noted that in the above embodiments, the description of each embodiment has its own emphasis, and for parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0288] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-readable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-readable program code.

[0289] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded computer, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0290] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0291] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0292] An embodiment of the present application further provides a computer program product, which includes computer software instructions. When the computer software instructions are executed on a processing device, the processing device executes a process of a pipeline maintenance method.

[0293] The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on the computer, the process or function according to the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from a website site, a computer, a server or a data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (digital subscriber line, DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server or data center. The computer-readable storage medium can be any available medium that a computer can store or a data storage device such as a server or a data center that includes one or more available media integration. The available medium can be a magnetic medium, (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid state drive (SSD)), etc.

[0294] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0295] In the several embodiments provided in the present application, it should be understood that the disclosed devices, apparatuses and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0296] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0297] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0298] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), disk or optical disk and other media that can store program codes.

[0299] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

[0300] Although the preferred embodiments of this specification have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of this specification.

[0301] Obviously, those skilled in the art can make various changes and modifications to this specification without departing from the spirit and scope of this specification. Thus, if these modifications and variations of this specification fall within the scope of the claims of this specification and their equivalents, this specification is also intended to include these modifications and variations.

Claims

1. A pipeline maintenance method, characterized in that: The method comprises: In the case where there is a damaged pipe section in the pipeline, the damaged pipe section in the pipeline is cut off to split the pipeline into a first pipe section and a second pipe section; Acquire first point cloud data of the first pipe segment and second point cloud data of the second pipe segment; Determining first processing data of the first pipe segment and second processing data of the second pipe segment according to the first point cloud data and the second point cloud data; According to the first processing data, the end surface of the first pipe segment is processed to obtain the processed first pipe segment, and according to the second processing data, the end surface of the second pipe segment is processed to obtain the processed second pipe segment; Acquire a prepared third pipe segment, and process the third pipe segment according to the first processing data and the second processing data to obtain the processed third pipe segment; The processed first pipe section, the processed second pipe section and the processed third pipe section are combined and welded to obtain the repaired pipeline.

2. The method according to claim 1, characterized in that The determining, according to the first point cloud data and the second point cloud data, first processing data of the first pipe segment and second processing data of the second pipe segment comprises: Obtaining the pipe diameter data of the pipe; Determine, according to the first point cloud data, a first intersection point corresponding to the first pipe segment, where the first intersection point is an intersection point between a central axis of the first pipe segment and a port plane; Determine, according to the second point cloud data, a second intersection point corresponding to the second pipe segment, where the second intersection point is an intersection point between a central axis of the second pipe segment and a port plane; Determine a first straight line, a first angle, a second angle, and a third angle according to the first intersection point and the second intersection point, wherein the first straight line is a straight line where the first intersection point and the second intersection point are located, the first angle is an angle between the first straight line and the central axis of the first pipe segment, the second angle is an angle between the first straight line and the central axis of the second pipe segment, and the third angle is an angle between a plane where the first straight line and the central axis of the first pipe segment are located and a plane where the first straight line and the central axis of the second pipe segment are located; The first processing data and the second processing data are determined according to the pipe diameter data, the first straight line, the first angle, the second angle and the third angle.

3. The method according to claim 2, characterized in that The determining of the first straight line, the first angle, the second angle and the third angle according to the first intersection point and the second intersection point includes: determining the first straight line according to the coordinates of the first intersection point and the coordinates of the second intersection point; Determine a first angle according to the coordinates of the first straight line, the central axis of the first pipe segment and the first intersection point, and determine a second angle according to the coordinates of the first straight line, the central axis of the second pipe segment and the second intersection point; Determine a first plane according to the first straight line and the central axis of the first pipe segment, and determine a second plane according to the first straight line and the central axis of the second pipe segment; The angle between the first plane and the second plane is determined to obtain the third angle.

4. The method according to claim 2, characterized in that: The determining the first processing data and the second processing data according to the pipe diameter data, the first straight line, the first angle, the second angle and the third angle comprises: Determine a first distance between the first intersection point and the second intersection point according to the first straight line; Determine a first axis distance difference corresponding to the first pipe segment and a second axis distance difference corresponding to the second pipe segment according to the pipe diameter data, the first distance, the first angle, the second angle and the third angle; Determine a third intersection corresponding to the first pipe segment according to the first axis distance difference and the first intersection point, and determine a fourth intersection corresponding to the second pipe segment according to the second axis distance difference and the second intersection point, wherein the third intersection point is the intersection point between the central axis of the first pipe segment and the central axis of the third pipe segment, and the fourth intersection point is the intersection point between the central axis of the second pipe segment and the central axis of the third pipe segment; The first processing data and the second processing data are determined according to the third intersection point, the fourth intersection point and the pipe diameter data.

5. The method according to claim 4, characterized in that The determining the first processing data and the second processing data according to the third intersection point, the fourth intersection point and the pipe diameter data comprises: Determine a second straight line according to the third intersection point and the fourth intersection point; Determining a first intersecting surface between the first pipe segment and the third pipe segment according to the coordinates of the third intersection point, the second straight line and the pipe diameter data; generating the first processing data according to the first intersecting surface; Determining a second intersecting surface between the second pipe segment and the third pipe segment according to the coordinates of the fourth intersection point, the second straight line and the pipe diameter data; The second processing data is generated according to the second intersecting surface.

6. The method according to any one of claims 1 to 5, characterized in that After the damaged pipe section in the pipeline is cut off so as to split the pipeline into a first pipe section and a second pipe section, the method further comprises: Processing the end surface of the first pipe segment so that the plane where the end surface of the first pipe segment lies is perpendicular to the central axis of the first pipe segment; The end surface of the second pipe segment is processed so that the plane where the end surface of the second pipe segment is located is perpendicular to the central axis of the second pipe segment.

7. The method according to any one of claims 1 to 5, characterized in that The first pipe segment after processing has a first identification point, the second pipe segment after processing has a second identification point, one end of the third pipe segment after processing has a third identification point, and the other end has a fourth identification point, and the first pipe segment after processing, the second pipe segment after processing and the third pipe segment after processing are combined and welded to obtain the repaired pipeline, including: Aligning the first marking point with the third marking point to combine the processed first pipe segment and the processed third pipe segment; Aligning the second marking point with the fourth marking point to combine the processed second pipe segment and the processed third pipe segment; After the processed first pipe segment, the processed second pipe segment and the processed third pipe segment are assembled, the processed first pipe segment, the processed second pipe segment and the processed third pipe segment are welded to obtain the repaired pipeline.

8. A pipeline maintenance device, characterized in that: The device comprises: A control unit, configured to, when there is a damaged pipe section in the pipeline, cut off the damaged pipe section in the pipeline, so as to split the pipeline into a first pipe section and a second pipe section; an acquisition unit, configured to acquire first point cloud data of the first pipe segment and second point cloud data of the second pipe segment; a processing unit, configured to determine first processing data of the first pipe segment and second processing data of the second pipe segment according to the first point cloud data and the second point cloud data; The control unit is further configured to process the end surface of the first pipe segment according to the first processing data to obtain the processed first pipe segment, and process the end surface of the second pipe segment according to the second processing data to obtain the processed second pipe segment; The control unit is further used to obtain a prepared third pipe segment, and process the third pipe segment according to the first processing data and the second processing data to obtain the processed third pipe segment; The control unit is further used to perform combination welding on the processed first pipe section, the processed second pipe section and the processed third pipe section to obtain the repaired pipeline.

9. A pipeline maintenance device, characterized in that: include: processor; A memory, wherein a program or instruction is stored in the memory, and when the processor executes the program or instruction in the memory, the steps of the pipeline maintenance method according to any one of claims 1 to 7 are implemented.

10. A readable storage medium, characterized in that: The readable storage medium stores a program or an instruction, and when the program or the instruction is executed by the processor, the steps of the pipeline maintenance method according to any one of claims 1 to 7 are implemented.

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