Safety inspection vehicle for oil and gas pipeline

Abstract

The invention relates to the technical field of pipeline inspection, in particular to an oil and gas pipeline safety inspection vehicle which comprises a mobile robot body, a sound wave collection module, a sound wave receiving module, a positioning module and a detection module. The mobile robot body is used for carrying the sound wave acquisition module for safety inspection; the sound wave acquisition module is used for acquiring sound wave signals of the surrounding environment of the mobile robot body and transmitting the sound wave signals; the sound wave receiving module is used for receiving sound wave signals; the positioning module is used for determining the current position of the oil and gas pipeline according to the received sound wave signal; and the detection module is used for detecting whether the oil and gas pipeline has defects or not according to the received sound wave signals, obtaining defect positions based on the current position of the oil and gas pipeline and marking the defect positions. According to the invention, whether the oil and gas pipeline has defects can be automatically detected without spending a lot of time and energy.

Description

Technical Field

[0001] The invention relates to the technical field of pipeline inspection, and in particular to an oil and gas pipeline safety inspection vehicle. Background Art

[0002] As a common transportation device, oil and gas pipelines are regarded as the most effective and reliable long-distance transportation method due to their advantages such as large transportation volume, small footprint, high efficiency, safety, reliability, and strong continuity. The area where pipelines are installed is usually large, and the pipeline lines are also relatively dense. If inspections are carried out by manpower, it is very laborious and inefficient. It is difficult to detect small leaks in the pipeline by manpower. If the source of the leak is not discovered and remedied in time, in addition to causing certain economic losses, it may also cause more serious damage to the pipeline system.

[0003] Most of the existing inspection methods are real-time monitoring through ultrasonic detectors. Ultrasonic testers are also called sound wave testers. They are used to test the propagation time and speed of longitudinal ultrasonic waves propagating in concrete, rock, marble and other non-metallic materials. Through these data, the strength and quality of materials and structures can be evaluated. The principle of this method is to use the relationship between the ultrasonic wave velocity of the material and its physical properties. The ultrasonic detector currently used integrates the excitation power supply and the ultrasonic data acquisition system. The computer controls the setting of parameters and the collection of data. The operation mode can be selected by touch screen operation, function key operation and mouse operation to improve the test efficiency. For example, the detector measures and records the automatic emission of ultrasonic waves at certain positions and collects the ultrasonic waves returned in the concrete. The defect situation at this position is judged by analyzing the waveform, wave velocity and scattering spectrum of the received ultrasonic wave. The application of sound wave testers is very extensive.

[0004] To detect the structure of oil and gas pipelines using an acoustic wave detector, the first thing to do is to determine the location that needs to be detected. During the detection process, the existing acoustic wave detector needs to first lay out horizontal and vertical wires on the surface of the object to be detected, manually measure the specific locations of these detection points, determine a detection point at the same interval, and then emit and collect sound waves at each detection point. First, manually measure to determine the location of each point, and then the detection device collects the sound wave data at these locations at one time. This method is cumbersome to operate, especially when the surface area of ​​the object to be detected is large enough, and it takes a lot of time and effort. Summary of the invention

[0005] The purpose of the present invention is to provide an oil and gas pipeline safety inspection vehicle to solve the problems existing in the above-mentioned prior art, and to automatically detect whether there are defects in the oil and gas pipeline without spending a lot of time and effort.

[0006] To achieve the above object, the present invention provides the following solutions:

[0007] An oil and gas pipeline safety inspection vehicle, comprising:

[0008] Mobile robot body, sound wave collection module, sound wave receiving module, positioning module and detection module;

[0009] The mobile robot body is used to carry the sound wave collection module to perform safety inspections;

[0010] The sound wave acquisition module is used to collect sound wave signals from the surrounding environment of the mobile robot body and transmit the sound wave signals;

[0011] A sound wave receiving module, used for receiving the sound wave signal;

[0012] The positioning module is used to determine the current position of the oil and gas pipeline according to the received sound wave signal;

[0013] The detection module is used to detect whether there is a defect in the oil and gas pipeline according to the received sound wave signal, and obtain the defect position based on the current oil and gas pipeline position, and mark the defect position.

[0014] Optionally, the sound wave receiving module includes:

[0015] A plurality of sound wave receiving units are used to simultaneously receive the sound wave signal at different positions.

[0016] Optionally, the positioning module includes:

[0017] The positioning unit is used to determine the current oil and gas pipeline position according to a preset transmission rate and a time difference between the sound wave signals received by each of the sound wave receiving units, combined with the position information of each of the sound wave receiving units.

[0018] Optionally, the sound wave signal includes: a defect reflection wave and a reflection callback signal.

[0019] Optionally, the detection module includes:

[0020] The detection unit is used to detect whether a defect occurs in the oil and gas pipeline based on the received defect reflection wave. When a defect occurs in the oil and gas pipeline, the defect type is obtained based on the reflected callback signal, and the defect position is obtained through the current oil and gas pipeline position; when no defect occurs in the oil and gas pipeline, no processing is performed.

[0021] Optionally, obtaining the defect type includes:

[0022] Processing the reflected callback signal, performing pulse window selection on the processed reflected callback signal, and obtaining an SH0 pulse and an AH1 pulse; wherein the selection window widths of the SH0 pulse and the AH1 pulse are the same;

[0023] Acquire the RMS values ​​of the SH0 pulse and the AH1 pulse in the window, add the RMS value of the SH0 pulse and the RMS value of the AH1 pulse, thereby calculating the RMS value ratio of the SH0 pulse and the AH1 pulse, and acquiring a calculation result;

[0024] The defect type is distinguished according to the calculation result.

[0025] Optionally, the defect types include: crack defects and metal loss defects.

[0026] Optionally, the detection module further includes: a marking unit, configured to mark the defect location on a preset oil and gas pipeline map.

[0027] The beneficial effects of the present invention are:

[0028] The present invention can automatically determine the current oil and gas pipeline position based on a preset transmission rate and a time difference between the sound wave signals received by each sound wave receiving unit and the position information of each sound wave receiving unit without manually measuring and determining the position of each point.

[0029] The present invention detects whether an oil and gas pipeline has a defect based on the received defect reflection wave, and obtains the defect type based on the reflected callback signal. Without spending a lot of time and effort, it can automatically detect whether an oil and gas pipeline has a defect and the defect type. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0031] Figure 1 The present invention is a schematic diagram of an oil and gas pipeline safety inspection vehicle according to an embodiment of the present invention. DETAILED DESCRIPTION

[0032] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only 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.

[0033] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0034] like Figure 1 As shown, an oil and gas pipeline safety inspection vehicle includes: a mobile robot body, an acoustic wave acquisition module, an acoustic wave receiving module, a positioning module and a detection module; the mobile robot body is used to carry the acoustic wave acquisition module for safety inspection; the acoustic wave acquisition module is used to collect acoustic wave signals from the surrounding environment of the mobile robot body and transmit the acoustic wave signals; the acoustic wave receiving module is used to receive the acoustic wave signals; wherein the acoustic wave signals include: defect reflection waves and reflection callback signals; the positioning module is used to determine the current oil and gas pipeline position according to the received acoustic wave signals; the detection module is used to detect whether there is a defect in the oil and gas pipeline according to the received acoustic wave signals, and based on the current oil and gas pipeline position, obtain the defect position and mark the defect position.

[0035] The mobile robot body consists of a base, a top cover, a back cover, two driving wheels and two driven wheels. The top cover is fixedly connected to the base, and the back cover is fixedly connected to the top cover and the base. The base is equipped with an acoustic wave acquisition module, a microcomputer, a lithium battery, a voltage stabilizer, a motor driver, a control circuit board and a driving motor. The driving motor is symmetrically fixed on both sides of the base. The driving motor is connected to the driving wheel through an axial flange, and the driven wheel is connected to the bottom of the base. The lithium battery is used to power each module; the voltage stabilizer is electrically connected to the microcomputer.

[0036] A display screen, a flat-head button switch, an emergency stop button switch, a power display meter and a USB interface are provided on the front of the top cover; the emergency stop button switch is electrically connected to the control circuit board, the USB interface and the display screen are electrically connected to the microcomputer, and the flat-head button switch and the power display meter are electrically connected to the lithium battery.

[0037] The mobile robot body is also equipped with a mobile navigation module, which is used to realize autonomous obstacle avoidance and autonomous path planning of the mobile robot body, including a laser radar, a binocular camera and a navigation algorithm run by a microcomputer; a radar support tube is provided on the top cover, and a camera radar base is provided on the top of the radar support tube. The laser radar and binocular camera are arranged on the camera radar base and are electrically connected to the microcomputer.

[0038] The acoustic wave acquisition module includes: a sensor control unit, which is used to control the sensor group to excite the ultrasonic guided wave and send the received reflected echo to the acoustic wave receiving module; a sensor group, which is used to generate the ultrasonic guided wave and receive the reflected echo; the sensor group includes six sensors, which are evenly distributed in the same circumferential direction of the detection device; the six sensors are both excitation sensors and receiving sensors; the sensor group has two excitation sensors and four receiving sensors at the same time;

[0039] The excitation sensor is used to excite ultrasonic guided waves propagating along the pipe wall in the pipe wall; the receiving sensors are arranged on both sides of the excitation sensor and are used to receive reflected echoes; the six sensors are alternately used as excitation sensors or receiving sensors; the two excitation sensors excite the 0th order horizontal shear wave SH0 and the 1st order horizontal shear wave AH1; wherein, the detection method includes: the detection module determines whether the detection device reaches the detection position; if the detection device reaches the detection position, the detection module controls the sensor control unit to initiate detection;

[0040] The sensor control unit controls the sensor group to excite ultrasonic guided waves, including: the first sensor and the fourth sensor are excited, the second sensor and the sixth sensor receive the waveguide signal of the first sensor, the third sensor and the fifth sensor receive the waveguide signal of the fourth sensor, and the first sensor and the fourth sensor receive the reflected echo of the defect; the second sensor and the fifth sensor are excited, the first sensor and the third sensor receive the waveguide signal of the second sensor, the fourth sensor and the sixth sensor receive the waveguide signal of the fifth sensor, and the second sensor and the fifth sensor receive the reflected echo of the defect; the third sensor and the sixth sensor are excited, the second sensor and the fourth sensor receive the waveguide signal of the third sensor, the first sensor and the fifth sensor receive the waveguide signal of the sixth sensor, and the third sensor and the sixth sensor receive the reflected echo of the defect; the reflected echo is received and the received reflected echo is sent to the sound wave receiving module; the detection module judges the pipe wall defect according to the reflected echo.

[0041] The sound wave receiving module includes: a plurality of sound wave receiving units, which are used to simultaneously receive sound wave signals at different positions.

[0042] The positioning module includes: a positioning unit for determining the current oil and gas pipeline position according to a preset transmission rate and a time difference between the sound wave signals received by each sound wave receiving unit, combined with the position information of each sound wave receiving unit.

[0043] The detection module includes: a detection unit, which is used to detect whether a defect occurs in the oil and gas pipeline based on the received defect reflection wave. When a defect occurs in the oil and gas pipeline, the defect type is obtained based on the reflected callback signal, and the defect location is obtained through the current oil and gas pipeline location; when no defect occurs in the oil and gas pipeline, no processing is performed.

[0044] Obtaining the defect type includes: processing the reflected echo signal, performing pulse window selection on the processed reflected echo signal, and obtaining the SH0 pulse and the AH1 pulse; wherein the selection window widths of the SH0 pulse and the AH1 pulse are the same; obtaining the RMS values ​​of the SH0 pulse and the AH1 pulse within the window, adding the RMS value of the SH0 pulse and the RMS value of the AH1 pulse, thereby calculating the RMS value ratio of the SH0 pulse and the AH1 pulse, and obtaining the calculation result; distinguishing the defect type according to the calculation result; wherein the defect types include: crack defects and metal loss defects.

[0045] The detection module also includes: a marking unit, which is used to mark the defect location on a preset oil and gas pipeline map.

[0046] The present invention also discloses a work flow of an oil and gas pipeline safety inspection vehicle, including: carrying an acoustic wave acquisition module to perform safety inspections, collecting acoustic wave signals from the surrounding environment of the mobile robot body; the acoustic wave signals include: defect reflection waves and reflection callback signals, and transmitting the acoustic wave signals;

[0047] Using a plurality of acoustic wave receiving units at different positions to simultaneously receive acoustic wave signals, the current position of the oil and gas pipeline is determined based on the preset transmission rate and the time difference between the acoustic wave signals received by each acoustic wave receiving unit and the position information of each acoustic wave receiving unit;

[0048] Whether a defect occurs in the oil and gas pipeline is detected based on the received defect reflection wave. When a defect occurs in the oil and gas pipeline, the reflected callback signal is processed, and the processed reflected callback signal is pulse window selected to obtain SH0 pulse and AH1 pulse; wherein, the selection window width of the SH0 pulse and the AH1 pulse is the same; the RMS value of the SH0 pulse and the AH1 pulse in the window is obtained, and the RMS value of the SH0 pulse and the RMS value of the AH1 pulse are added to calculate the RMS value ratio of the SH0 pulse and the AH1 pulse to obtain the calculation result; the defect type is distinguished according to the calculation result, and the defect location is obtained through the current oil and gas pipeline location, and the defect location is marked on the preset oil and gas pipeline map; when no defect occurs in the oil and gas pipeline, no processing is performed.

[0049] The embodiments described above are only descriptions of the preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should all fall within the protection scope determined by the claims of the present invention.

Claims

1. An oil and gas pipeline safety inspection vehicle, characterized in that: include: Mobile robot body, sound wave collection module, sound wave receiving module, positioning module and detection module; The mobile robot body is used to carry the sound wave collection module to perform safety inspections; The sound wave acquisition module is used to collect sound wave signals from the surrounding environment of the mobile robot body and transmit the sound wave signals; A sound wave receiving module, used for receiving the sound wave signal; The positioning module is used to determine the current position of the oil and gas pipeline according to the received sound wave signal; The detection module is used to detect whether there is a defect in the oil and gas pipeline according to the received sound wave signal, and obtain the defect position based on the current oil and gas pipeline position, and mark the defect position.

2. The oil and gas pipeline safety inspection vehicle according to claim 1 is characterized in that: The sound wave receiving module comprises: A plurality of sound wave receiving units are used to simultaneously receive the sound wave signal at different positions.

3. The oil and gas pipeline safety inspection vehicle according to claim 2 is characterized in that: The positioning module comprises: The positioning unit is used to determine the current oil and gas pipeline position according to a preset transmission rate and a time difference between the sound wave signals received by each of the sound wave receiving units, combined with the position information of each of the sound wave receiving units.

4. The oil and gas pipeline safety inspection vehicle according to claim 1, characterized in that: The acoustic wave signal includes: a defect reflection wave and a reflection callback signal.

5. The oil and gas pipeline safety inspection vehicle according to claim 4 is characterized in that: The detection module comprises: The detection unit is used to detect whether a defect occurs in the oil and gas pipeline based on the received defect reflection wave. When a defect occurs in the oil and gas pipeline, the defect type is obtained based on the reflected callback signal, and the defect position is obtained through the current oil and gas pipeline position; when no defect occurs in the oil and gas pipeline, no processing is performed.

6. The oil and gas pipeline safety inspection vehicle according to claim 5 is characterized in that: Obtaining the defect type includes: Processing the reflected callback signal, performing pulse window selection on the processed reflected callback signal, and obtaining an SH0 pulse and an AH1 pulse; wherein the selection window widths of the SH0 pulse and the AH1 pulse are the same; Acquire the RMS values ​​of the SH0 pulse and the AH1 pulse in the window, add the RMS value of the SH0 pulse and the RMS value of the AH1 pulse, thereby calculating the RMS value ratio of the SH0 pulse and the AH1 pulse, and acquiring a calculation result; The defect type is distinguished according to the calculation result.

7. The oil and gas pipeline safety inspection vehicle according to claim 6 is characterized in that: The defect types include: crack defects and metal loss defects.

8. The oil and gas pipeline safety inspection vehicle according to claim 1, characterized in that: The detection module also includes: a marking unit, which is used to mark the defect position on a preset oil and gas pipeline map.

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