Auxiliary device for butt joint of oil pipelines

Abstract

The invention relates to the technical field of oil pipeline butt joint, in particular to an oil pipeline butt joint auxiliary device which comprises a butt joint base. The fixed notch is formed in the middle position of the butt joint seat; the number of the pipeline clamping assemblies is two, one pipeline clamping assembly is fixedly arranged in the butt joint base, and the other pipeline clamping assembly is movably arranged in the butt joint base; and the linkage assembly is arranged on the movable pipeline clamping assembly. When the convex sliding seat drives the movably arranged pipeline clamping assembly to move, the linkage assembly synchronously drives the pipe orifice detection assembly to detect the pipe orifice of the oil conveying pipe clamped on the movable pipeline clamping assembly, so that a driving mechanism does not need to be arranged to drive the pipe orifice detection assembly to rotate; on one hand, the manufacturing cost and the operation complexity of the equipment are reduced, and on the other hand, the pipe orifice is automatically detected in the butt joint process, so that the butt joint efficiency of the oil pipeline is further improved.

Description

Technical Field

[0001] The invention relates to the technical field of oil pipeline docking, in particular to an oil pipeline docking auxiliary device. Background Art

[0002] In the field of oil transportation, the laying and maintenance of oil pipelines are crucial links. Oil pipeline docking refers to connecting the ends of two or more sections of pipelines in a specific way to form a complete oil transportation system. The quality of docking directly affects the sealing, pressure resistance and operational safety of the pipeline. Oil pipeline docking is widely used in various links of oil extraction, transportation, storage and refining. It is an important process in oil and gas transportation engineering. The traditional oil pipeline docking process mainly relies on manual measurement, marking and manual adjustment of pipeline position, supplemented by lifting equipment for docking.

[0003] The patent application with publication number CN116642057A discloses a pipe docking device. When using it to dock pipes, the two pipes are respectively inserted into the clamping cavity jointly formed by the upper clamping device and the lower clamping device of the two pipe clamping devices, and then the clamping cavity is reduced, so that the upper clamping device and the corresponding lower clamping device can clamp a pipe together. Since the distance between the two pipe clamping devices is adjustable, after the pipe clamping devices clamp the pipes, the two pipe clamping devices can be brought close to each other to dock the two pipes. Compared with the existing technology, the construction difficulty is low, the efficiency is high, the cost is low and the construction safety performance is high. After the docking is completed, the clamping cavity is enlarged, and the connection between the other end of the upper clamping device and the lower clamping device is disassembled, and then the upper clamping device is flipped over to facilitate the removal of the docked pipe.

[0004] As in the above application, the existing oil pipeline docking device generally includes a base and a pipeline clamping device arranged on the base. After the pipeline is clamped by the pipeline clamping device, the two pipeline clamping devices are brought close to each other to dock the two pipelines. Firstly, such a clamping method requires manual lifting of the pipeline and inserting the pipeline into the pipeline clamping device, which is laborious and troublesome. Secondly, it is impossible to automatically and adaptively adjust the height and spacing of the two pipelines, and manual adjustment is required, which is inefficient, and the manual operation error is uncontrollable, which affects the stability of the fixation after docking. Summary of the invention

[0005] In order to solve the above problems, the present invention provides an oil pipeline docking auxiliary device.

[0006] The present invention adopts the following technical solution, an oil pipeline docking auxiliary device, comprising:

[0007] The docking seat is composed of two L-shaped seats arranged in parallel and connecting blocks welded at both ends of the L-shaped seats;

[0008] A fixing notch, which is arranged at the middle position of the docking seat;

[0009] There are two pipe clamping assemblies, one of which is fixedly arranged in the docking seat, and the other is movably arranged in the docking seat, and the two pipe clamping assemblies are respectively located on both sides of the fixed notch;

[0010] A linkage assembly is arranged on a movable pipe clamping assembly;

[0011] The pipe orifice detection component is arranged on the movable pipe clamping component and is transmission-connected with the linkage component. When the pipe clamping component is driven to move back and forth in the docking seat, the linkage component synchronously drives the pipe orifice detection component to detect the pipe orifice of the oil pipeline clamped on the movable pipe clamping component.

[0012] As a further description of the above technical solution: the pipe clamping assembly includes an inverted U-shaped seat and a base, the base is welded at the center of one side wall of the inverted U-shaped seat, a hydraulic telescopic rod is installed at the top center of the base, the bottom end of the hydraulic telescopic rod passes through the base and extends to the bottom and is installed with a concave seat, and a clamping mechanism is installed on the concave seat, which is used for clamping and fixing the oil pipeline.

[0013] As a further description of the above technical solution: the clamping mechanism includes a clamping frame and two clamping claws, one end of the upper surface of the clamping claw is rotatably connected to the first connecting rod, and the other end of the first connecting rod is rotatably connected to the clamping frame, the other end of the upper surface of the clamping claw is rotatably connected to one end of an L-shaped connecting rod, a bar seat is arranged in the clamping frame, one end of the bar seat along the length direction is rotatably connected to the second connecting rod, and the bottom end of the second connecting rod is rotatably connected to the other end of the L-shaped connecting rod, and a rotating shaft is inserted at the bending part of the L-shaped connecting rod, and the rotating shaft is rotatably connected to the clamping frame, a servo motor is installed in the concave seat, and a second lead screw is fixed to the output shaft of the servo motor, and the second lead screw is threadedly connected to the bar seat.

[0014] As a further description of the above technical solution: the nozzle detection assembly includes an arc-shaped slide groove opened on an inverted U-shaped seat and an arc-shaped sliding seat slidably connected in the arc-shaped slide groove, an annular detection frame is welded on the arc-shaped sliding seat, a laser scanner is installed on the outer wall of the annular detection frame, and a gear ring is welded on the outer wall of the annular detection frame. It should be noted that the arc length of the arc-shaped sliding seat is greater than the arc length of the notch of the arc-shaped slide groove, so that the arc-shaped sliding seat will not be separated from the arc-shaped slide groove.

[0015] As a further description of the above technical solution: the linkage assembly includes a drive shaft, which is rotatably connected to the inverted U-shaped seat, and both ends of the drive shaft pass through the inverted U-shaped seat and extend to the outside, one end of the drive shaft is welded with a drive gear, and the drive gear is meshingly connected to the ring gear, the other end of the drive shaft is installed with a bearing seat, and the bearing seat is slidably connected to the docking seat, a spiral groove is opened on the outer wall of the drive shaft, a drive slider is welded on the inner wall of the docking seat, and the drive slider is slidably connected to the spiral groove.

[0016] As a further description of the above technical solution: an inverted U-shaped seat of one pipe clamping assembly is welded and fixed in the docking seat, and a convex sliding seat is welded on the outer wall of the inverted U-shaped seat of the other pipe clamping assembly, a strip slide groove is opened on the inner wall of the docking seat along the length direction, the convex sliding seat is rotatably connected to the strip slide groove, and a driving mechanism is provided on the docking seat, which is used to drive the convex sliding seat to slide in the strip slide groove to adjust the position of the pipe clamping assembly, the driving mechanism includes a driving motor and a first screw, the first screw is rotatably connected in the strip slide groove and is threadedly connected to the convex sliding seat, and the output shaft of the driving motor is fixedly connected to the first screw through a coupling.

[0017] As a further description of the above technical solution: it also includes a pipe mouth detection system, and the pipe mouth detection system includes:

[0018] The data collection module obtains the point cloud data collected by the laser scanner and uses a filtering method to remove background noise from the point cloud data;

[0019] A coordinate conversion module converts the data obtained by laser scanning from the laser coordinate system to the pipeline coordinate system;

[0020] The gap feature analysis module determines whether there is a gap by comparing the difference between the point cloud data and the ideal geometric shape. If there is a gap, the gap position is obtained and an alarm instruction is generated to issue an alarm.

[0021] The crack feature analysis module determines whether there is a crack through point cloud density analysis. If there is a crack, it obtains the crack location and generates an alarm instruction.

[0022] As a further description of the above technical solution: the method for determining whether there is a gap and generating an alarm instruction includes:

[0023] Usually, the point cloud data is fitted to a circular model by the least squares method to obtain the center and radius of the circle;

[0024] The distance from each point to the fitted circle is calculated to determine whether the point deviates from the ideal circle. If the degree of deviation exceeds the preset threshold ϵ, it is considered that there is a gap in the area, and the coordinates of the point are generated as an alarm instruction.

[0025] As a further description of the above technical solution: the least squares formula of the fitting circle is:

[0026] The point cloud data contains a set of ( , ), fit a circle ( , , );

[0027]

[0028] In the formula, ( , ) is the first points, ( , ) is the position of the fitting circle center, is the radius of the fitted circle, is the total number of points in the point cloud data, is the error function, which represents the sum of the distance errors from all points to the edge of the circle. Minimizing this function can obtain the best circle fitting parameters, and by minimizing it, the optimal values ​​of the center and radius of the circle can be obtained.

[0029] As a further description of the above technical solution: judging whether there is a crack, when there is a crack, obtaining the crack position and generating an alarm instruction includes:

[0030] For each point in the point cloud data, the local point cloud density is obtained by calculating the number of points in its neighborhood. The calculation formula is:

[0031] ;

[0032] in, For point The local density of point The number of points in the neighborhood, point The volume of the neighborhood;

[0033] Preset local density threshold, when point If the local density is lower than the preset threshold, it proves that cracks appear in the area, and the point The coordinates of the crack are used as the coordinates of the crack position to issue an alarm.

[0034] Beneficial effects:

[0035] The present invention provides an auxiliary device for connecting an oil pipeline. When the pipeline clamping assembly clamps the pipeline, the inverted U-shaped seat with a lower opening and the clamping mechanism are arranged, so that when clamping the oil pipeline, there is no need to manually lift the pipeline and insert it into the clamping mechanism, which overcomes the traditional method of manually lifting the pipeline and inserting the pipeline into the pipeline clamping device for fixing, making the clamping and fixing of the oil pipeline more convenient and labor-saving.

[0036] Furthermore, when the movable pipe clamping assembly is driven to move by the convex sliding seat, the linkage assembly synchronously drives the pipe opening detection assembly to detect the pipe opening of the oil pipeline clamped by the movable pipe clamping assembly, thereby eliminating the need to set a driving mechanism to drive the pipe opening detection assembly to rotate. On the one hand, this reduces the manufacturing cost and operation complexity of the equipment, and secondly, it realizes automatic detection of the pipe opening during the docking process, further improving the efficiency of the oil pipeline docking.

[0037] Finally, by converting the laser scanning data from the laser coordinate system to the pipeline coordinate system and analyzing the notch and crack characteristics of the pipe mouth based on the point cloud data, it can provide many advantages in pipeline docking and daily operation, including accurate defect identification and timely alarm processing, which can ensure the long-term safe operation of the pipeline, avoid excessive maintenance or neglect of important defects, and avoid situations where the human eye or manual inspection easily misses small defects or makes wrong judgments. Through automated point cloud analysis, defects can be discovered more comprehensively and accurately. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The present invention will be further explained below in conjunction with the accompanying drawings and embodiments:

[0039] Figure 1 A schematic diagram of the structure of an oil pipeline docking auxiliary device provided by an embodiment of the present invention;

[0040] Figure 2 The embodiment of the present invention provides Figure 1 A magnified view of area A in;

[0041] Figure 3 A top view of an oil pipeline docking auxiliary device provided by an embodiment of the present invention;

[0042] Figure 4 The embodiment of the present invention provides Figure 3 A magnified view of area B in FIG.

[0043] Figure 5 A schematic diagram of a clamping mechanism provided by an embodiment of the present invention;

[0044] Figure 6 A schematic diagram of the connection structure between the L-shaped connecting rod and the clamping claw provided in an embodiment of the present invention;

[0045] Figure 7 A schematic diagram of the structure of a pipe clamping assembly provided in an embodiment of the present invention;

[0046] Figure 8 A schematic diagram of the disassembled structure of a nozzle detection assembly provided in an embodiment of the present invention;

[0047] Fig. 9 A module connection diagram of a control system provided by an embodiment of the present invention;

[0048] Fig.10 A module connection diagram of a pipe orifice detection system provided in an embodiment of the present invention.

[0049] Reference numerals: 1, docking seat; 11, L-shaped seat; 12, connecting block; 2, fixing notch; 3, pipe clamping assembly; 301, convex sliding seat; 302, strip slide; 303, driving motor; 304, first lead screw; 31, inverted U-shaped seat; 32, base; 33, hydraulic telescopic rod; 34, clamping mechanism; 341, clamping frame; 342, clamping claw; 343, first connecting rod; 344, L-shaped connecting rod; 345. Second lead screw; 346. Bar seat; 347. Second connecting rod; 348. Rotating shaft; 349. Servo motor; 35. Concave seat; 4. Linkage assembly; 41. Drive shaft; 42. Drive gear; 43. Bearing seat; 44. Spiral groove; 45. Drive slider; 5. Nozzle detection assembly; 51. Arc slide groove; 52. Arc slide seat; 53. Ring detection frame; 54. Laser scanner; 55. Gear ring. DETAILED DESCRIPTION

[0050] In order to make the technical means, creative features, objectives and effects of the present invention easy to understand, the present invention is further described below with reference to specific diagrams. It should be noted that the embodiments and features in the embodiments of the present application can be combined with each other without conflict.

[0051] See also Figure 1-Figure 8 The embodiment of the present invention provides a technical solution: an oil pipeline docking auxiliary device, comprising:

[0052] The docking seat 1 is composed of two L-shaped seats 11 arranged in parallel and connecting blocks 12 welded at both ends of the L-shaped seats 11;

[0053] A fixing notch 2, which is arranged at the middle position of the docking seat 1;

[0054] There are two pipe clamping assemblies 3, one of which is fixedly arranged in the docking seat 1, and the other pipe clamping assembly 3 is movably arranged in the docking seat 1, and the two pipe clamping assemblies 3 are respectively located on both sides of the fixed notch 2. The pipe clamping assembly 3 includes an inverted U-shaped seat 31 and a base 32. The base 32 is welded at the center of one side wall of the inverted U-shaped seat 31, and a hydraulic telescopic rod 33 is installed at the top center of the base 32. The bottom end of the hydraulic telescopic rod 33 passes through the base 32 and extends to the bottom and is installed with a concave seat 35. A clamping mechanism 34 is installed on the concave seat 35, which is used for clamping and fixing the oil pipeline.

[0055] The linkage assembly 4 is arranged on the movable pipe clamping assembly 3, and the linkage assembly 4 includes a driving shaft 41, which is rotatably connected to the inverted U-shaped seat 31, and both ends of the driving shaft 41 pass through the inverted U-shaped seat 31 and extend to the outside. A driving gear 42 is welded to one end of the driving shaft 41, and the driving gear 42 is meshed with the gear ring 55. A bearing seat 43 is installed at the other end of the driving shaft 41, and the bearing seat 43 is slidably connected to the docking seat 1. A spiral groove 44 is opened on the outer wall of the driving shaft 41, and a driving slider 45 is welded on the inner wall of the docking seat 1, and the driving slider 45 is slidably connected to the spiral groove 44.

[0056] The inverted U-shaped seat 31 of one pipe clamping assembly 3 is welded and fixed in the docking seat 1, and a convex sliding seat 301 is welded on the outer wall of the inverted U-shaped seat 31 of the other pipe clamping assembly 3. A strip slide groove 302 is opened on the inner wall of the docking seat 1 along the length direction. The convex sliding seat 301 is rotatably connected with the strip slide groove 302. A driving mechanism is provided on the docking seat 1, which is used to drive the convex sliding seat 301 to slide in the strip slide groove 302 to adjust the position of the pipe clamping assembly 3. The driving mechanism includes a driving motor 303 and a first screw 304. The first screw 304 is rotatably connected in the strip slide groove 302 and is threadedly connected to the convex sliding seat 301. The output shaft of the driving motor 303 is fixedly connected to the first screw 304 through a coupling.

[0057] The pipe orifice detection assembly 5 is arranged on the movable pipe clamping assembly 3 and is in transmission connection with the linkage assembly 4. When the pipe clamping assembly 3 is driven to move forward and backward in the docking seat 1, the linkage assembly 4 synchronously drives the pipe orifice detection assembly 5 to detect the pipe orifice of the oil pipeline clamped on the movable pipe clamping assembly 3. The pipe orifice detection assembly 5 includes an arcuate slide 51 provided on the inverted U-shaped seat 31 and an arcuate sliding seat 52 slidably connected in the arcuate slide 51. An annular detection frame 53 is welded on the arcuate sliding seat 52. A laser scanner 54 is installed on the outer wall of the annular detection frame 53. A gear ring 55 is welded on the outer wall of the annular detection frame 53. It should be noted that the arc length of the arcuate sliding seat 52 is greater than the arc length of the notch of the arcuate slide 51, so that the arcuate sliding seat 52 will not separate from the arcuate slide 51.

[0058] Specifically, in the present embodiment, when the oil pipeline docking auxiliary device is used, the installed and fixed oil pipeline is clamped by the fixed pipeline clamping assembly 3, and the pipeline to be docked with the fixed oil pipeline is clamped by the movable pipeline clamping assembly 3. When clamping the fixed oil pipeline, the position of the docking seat 1 is moved so that the oil pipeline to be clamped is located in the docking seat 1, and then the hydraulic telescopic rod 33 is controlled to extend, driving the clamping mechanism 34 to move down and clamp and fix it on the oil pipeline, and then the hydraulic telescopic rod 33 is controlled to contract so that the length of the hydraulic telescopic rod 33 is the same as the length of the hydraulic telescopic rod 33 on the fixed pipeline clamping assembly 3. Therefore, when the pipeline clamping assembly 3 clamps the pipeline, the inverted U-shaped seat 31 with a lower opening and the clamping mechanism 34 are set, so that when clamping the oil pipeline, there is no need to manually lift the pipeline and insert it into the clamping mechanism 34, which overcomes the traditional method of manually lifting the pipeline and inserting the pipeline into the pipeline clamping device for fixing, making the clamping and fixing of the oil pipeline more convenient and labor-saving.

[0059] Secondly, when the oil pipeline is clamped and fixed, when docking, the movable pipe clamping assembly 3 is controlled to move toward the fixed pipe clamping assembly 3, so that the two pipe clamping assemblies 3 are close to each other, and the oil pipelines clamped and fixed on the two pipe clamping assemblies 3 are docked. The specific method of controlling the movable pipe clamping assembly 3 is to turn on the driving motor 303, drive the first screw 304 to rotate through the driving motor 303, and the first screw 304 drives the convex sliding seat 301 to move, and the convex sliding seat 301 drives the movable pipe clamping assembly 3 to move to achieve the docking of the pipelines;

[0060] Furthermore, when the movable pipe clamping assembly 3 is driven to move by the convex sliding seat 301, the linkage assembly 4 synchronously drives the pipe mouth detection assembly 5 to detect the pipe mouth of the oil pipeline clamped on the movable pipe clamping assembly 3, thereby eliminating the need to set a driving mechanism to drive the pipe mouth detection assembly 5 to rotate. On the one hand, this reduces the manufacturing cost and operational complexity of the equipment, and secondly, it realizes automatic detection of the pipe mouth during the docking process, further improving the efficiency of the oil pipeline docking.

[0061] The specific method in which the linkage component 4 synchronously drives the pipe mouth detection component 5 to detect the pipe mouth of the oil pipeline clamped on the movable pipe clamping component 3 is as follows: when the convex sliding seat 301 drives the movable pipe clamping component 3 to move to achieve the docking of the pipeline, the movable pipe clamping component 3 synchronously drives the driving shaft 41 to move. When the driving shaft 41 moves, the driving slider 45 fixed on the inner wall of the docking seat 1 moves in the spiral groove 44 opened in the driving shaft 41, thereby driving the driving shaft 41 to rotate, and the rotation of the driving shaft 41 drives the driving gear 42 to rotate, and the rotation of the driving gear 42 drives the ring gear 55 to rotate, and the ring gear 55 drives the annular detection frame 53 to rotate, thereby driving the laser scanner 54 set on the annular detection frame 53 to rotate one circle, scan the detection of the pipe mouth, and wirelessly transmit the scanning result to the terminal PC.

[0062] Example 2

[0063] See also Figure 2 , Figure 5-Figure 6 The present embodiment further discloses the structural composition of the clamping mechanism 34 on the basis of the above embodiment. The clamping mechanism 34 includes a clamping frame 341 and two clamping claws 342. One end of the upper surface of the clamping claw 342 is rotatably connected to a first connecting rod 343, and the other end of the first connecting rod 343 is rotatably connected to the clamping frame 341. The other end of the upper surface of the clamping claw 342 is rotatably connected to one end of an L-shaped connecting rod 344. A strip seat 346 is provided in the clamping frame 341. The strip seat One end of 346 along the length direction is rotatably connected to the second connecting rod 347, and the bottom end of the second connecting rod 347 is rotatably connected to the other end of the L-shaped connecting rod 344, and a rotating shaft 348 is inserted at the bending part of the L-shaped connecting rod 344, and the rotating shaft 348 is rotatably connected to the clamping frame 341, a servo motor 349 is installed in the concave seat 35, and a second lead screw 345 is fixedly connected to the output shaft of the servo motor 349, and the second lead screw 345 is threadedly connected to the strip seat 346.

[0064] In this embodiment, the specific method of clamping and fixing the pipeline by the clamping mechanism 34 includes: in the initial state, the two clamping claws 342 are in an open structure, the hydraulic telescopic rod 33 is controlled to extend, and the clamping mechanism 34 is driven to move downward, so that the two clamping claws 342 are sleeved on the outer wall of the oil pipeline, and then the servo motor 349 is controlled to work to drive the second screw 345 to rotate, and the rotation of the second screw 345 drives the bar seat 346 to move upward, and the bar seat 346 pulls the L-shaped connecting rod 344 to rotate through the second connecting rod 347, thereby driving the two clamping claws 342 to close each other, thereby clamping and fixing the oil pipeline.

[0065] Example 3

[0066] See also Figure 1-Figure 9This embodiment adds a control system on the basis of the above embodiment. The oil pipeline docking auxiliary device also includes a control system, and the control system includes:

[0067] A data acquisition module, used to collect historical docking training data of the docking auxiliary device, the historical docking training data is collected when the oil pipeline docking meets the standards, and the historical docking training data includes pipeline docking characteristic parameters and movement control parameters of the pipeline clamping component 3 set in the activity;

[0068] The model training module trains a mobile control parameter recommendation model of the pipeline clamping component 3 set in the prediction activity based on the historical docking training parameters, collects docking feature parameters of the oil pipeline that needs to be docked in real time, and inputs them into the trained mobile control parameter recommendation model of the pipeline clamping component 3 set in the prediction activity to obtain a mobile control parameter recommendation set label, and then obtains a mobile control parameter recommendation set corresponding to the mobile control parameter recommendation set label;

[0069] The analysis control module controls the movement data of the pipeline clamping component 3 according to the control parameters in the recommended set of movement control parameters, so as to realize the automatic docking of the oil pipeline.

[0070] The docking characteristic parameters include the outer diameter and thickness of the oil pipeline, the distance between the two pipeline clamping assemblies 3, and the height of the clamping mechanism 34 on the fixedly arranged pipeline clamping assembly 3;

[0071] The movement control parameters of the movable pipe clamping assembly 3 include movement data in the horizontal direction and movement data in the vertical direction of the clamping mechanism 34 provided on the movable pipe clamping assembly 3 .

[0072] The recommended set of mobile control parameters is , The collection label is The horizontal movement data corresponding to The collection label is The vertical movement data corresponding to the time.

[0073] The training method of the recommended model for the movement control parameters of the pipe clamping assembly 3 for predicting the activity setting includes:

[0074] Pre-setting corresponding labels for the recommended set of mobile control parameters;

[0075] The pipeline docking feature parameters are converted into a corresponding set of feature vectors, and each set of feature vectors is used as the input of the machine learning model. The machine learning model uses a set of recommended mobile control parameter labels corresponding to each set of pipeline docking feature parameters as output, and a set of recommended mobile control parameter labels actually corresponding to each set of pipeline docking feature parameters as prediction targets. Minimizing the loss function value of the machine learning model is used as the training target; training is stopped when the loss function value of the machine learning model is less than or equal to the preset target loss value.

[0076] The machine learning model may be one of support vector machine regression, random forest regression or neural network regression models.

[0077] The loss function value of the machine learning model is the mean square error.

[0078] By transforming the loss function The model is trained with minimization as the goal, so that the machine learning model can better fit the data, thereby improving the performance and accuracy of the model.

[0079] In the loss function is the loss function value of the machine learning model, is the feature vector group number; is the number of eigenvector groups; For the The recommended set label of the mobile control parameters corresponding to the group feature vector, For the The mobile control parameter recommendation set label corresponding to the group feature vector in real time.

[0080] Other model parameters of the machine learning model, target loss value, optimization algorithm, training set test set validation set ratio, and loss function optimization are all achieved through actual engineering implementation and continuous experimental tuning.

[0081] In this embodiment, by collecting historical docking training data of the docking auxiliary device, a mobile control parameter recommendation model of the pipe clamping component 3 set in the prediction activity is trained based on the historical docking training parameters, and the docking feature parameters of the oil pipeline that needs to be docked in real time are collected and input into the trained mobile control parameter recommendation model of the pipe clamping component 3 set in the prediction activity to obtain a mobile control parameter recommendation set label, and the mobile data of the pipe clamping component 3 set in the activity is controlled based on the control parameters in the mobile control parameter recommendation set to realize automatic docking of the oil pipeline. According to the control parameters in the recommendation set, the movement of the pipe clamping component 3 set in the activity is accurately controlled to realize automatic docking of the oil pipeline. By automatically controlling the movement of the pipe clamping component 3 set in the activity, instability and errors caused by human operation are avoided, and the efficiency and accuracy of docking are greatly improved. At the same time, through intelligent docking control, the dependence on manual operation is reduced, the labor intensity and operation risk of the docking process are reduced, and an efficient and stable solution is provided for the construction and maintenance of complex oil pipeline projects, which significantly improves the overall project quality and economic benefits.

[0082] Example 4

[0083] Please refer to Fig.10 This embodiment adds a pipe orifice detection system on the basis of the above embodiment. The oil pipeline docking auxiliary device also includes a pipe orifice detection system, and the pipe orifice detection system includes:

[0084] A data collection module, which obtains point cloud data collected by the laser scanner 54, and uses a filtering method (such as Gaussian filtering, median filtering, etc.) to remove background noise from the point cloud data;

[0085] Coordinate conversion module, and converts the data obtained by laser scanning from the laser coordinate system to the pipeline coordinate system;

[0086] It should be noted that the pipeline coordinate system refers to a coordinate system related to the pipeline itself, which is usually defined based on the actual geometric structure of the pipeline (for example, the axis of the pipeline and the position of the pipe mouth). In this embodiment, the center point of the pipe mouth is preferably used as the coordinate origin, and the length, width and height of the pipeline are used as the X, Y, and Z axes of the coordinate system. Secondly, the coordinate system of the laser scanner 54 refers to the coordinate system used by the laser scanner 54 itself, which is usually a three-dimensional coordinate system defined with the position of the laser scanner 54 as the origin.

[0087] When the relative position and direction between the laser scanner 54 and the pipeline coordinate system are known, the transformation between the coordinate systems can be achieved through a rotation matrix and a translation vector.

[0088] The gap feature analysis module determines whether there is a gap by comparing the difference between the point cloud data and the ideal geometric shape. If there is a gap, the gap position is obtained and an alarm instruction is generated to issue an alarm.

[0089] The method for determining whether there is a gap and generating an alarm instruction includes:

[0090] Usually, the point cloud data is fitted to a circular model by the least squares method to obtain the center and radius of the circle;

[0091] The least squares formula for fitting a circle is:

[0092] The point cloud data contains a set of ( , ), fit a circle ( , , );

[0093]

[0094] In the formula, ( , ) is the first points, ( , ) is the position of the fitting circle center, is the radius of the fitted circle, is the total number of points in the point cloud data, is the error function, which represents the sum of the distance errors from all points to the edge of the circle. Minimizing this function can obtain the best circle fitting parameters, and by minimizing it, the optimal values ​​of the center and radius of the circle can be obtained.

[0095] The distance from each point to the fitted circle is calculated to determine whether the point deviates from the ideal circle. If the degree of deviation exceeds the preset threshold ϵ, it is considered that there is a gap in the area, and the coordinates of the point are generated as an alarm instruction.

[0096] The crack feature analysis module determines whether there is a crack through point cloud density analysis. If there is a crack, it obtains the crack location and generates an alarm instruction.

[0097] The method of determining whether there is a crack and obtaining the crack position and generating an alarm instruction when a crack exists includes:

[0098] For each point in the point cloud data, the local point cloud density is obtained by calculating the number of points in its neighborhood. The calculation formula is:

[0099] ;

[0100] in, For point The local density of point The number of points in the neighborhood, point The volume of the neighborhood;

[0101] It should be noted that the scope of the neighborhood can be defined in two ways:

[0102] k nearest neighbor method: choose a point , and then find the M points with the smallest distance from it. These points constitute the point 's neighborhood.

[0103] Radius Neighborhood Method: Select a Point , then select all Points whose distance does not exceed the specified radius r, these points constitute the point 's neighborhood.

[0104] Preset local density threshold, when point If the local density is lower than the preset local density threshold, it proves that cracks appear in the area, and the point The coordinates of the crack are used as the coordinates of the crack position to issue an alarm.

[0105] It should be noted that cracks usually mean a sudden interruption or rupture of the surface structure. The scanning equipment cannot fully capture the point cloud of the crack area. The point clouds on both sides of the crack are relatively sparse, forming a low-density area.

[0106] In this embodiment, the point cloud data collected by the laser scanner 54 is obtained, and the data obtained by the laser scanning is converted from the laser coordinate system to the pipeline coordinate system, and then the notch feature and crack feature analysis of the pipe mouth are performed based on the point cloud data. When the notch feature and crack feature appear, the corresponding coordinates can be obtained in time and an alarm instruction can be issued. In summary, by converting the laser scanning data from the laser coordinate system to the pipeline coordinate system and analyzing the notch feature and crack feature of the pipe mouth based on the point cloud data, it can provide many advantages in pipeline docking and daily operation, including ensuring the long-term safe operation of the pipeline through accurate defect identification and timely alarm processing, avoiding excessive maintenance or neglect of important defects, and avoiding the situation where the human eye or manual detection easily misses small defects or makes wrong judgments, and through automated point cloud analysis, defects can be found more comprehensively and accurately.

[0107] The basic principles, main features and advantages of the present invention are shown and described above. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and the description in the specification are only to illustrate the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. An oil pipeline docking auxiliary device, characterized in that: include: A docking seat (1), the docking seat (1) comprising two L-shaped seats (11) arranged in parallel and connecting blocks (12) welded to the head and tail ends of the L-shaped seats (11); A fixing notch (2) arranged at a middle position of the docking seat (1); A pipe clamping assembly (3), wherein two pipe clamping assemblies (3) are provided, wherein one pipe clamping assembly (3) is fixedly arranged in the docking seat (1), and the other pipe clamping assembly (3) is movably arranged in the docking seat (1), and the two pipe clamping assemblies (3) are respectively located on both sides of the fixed notch (2); A linkage assembly (4), which is arranged on the movable pipe clamping assembly (3); A pipe orifice detection component (5) is arranged on the movable pipe clamping component (3) and is drivingly connected to the linkage component (4); when the pipe clamping component (3) is driven to move forward and backward in the docking seat (1), the linkage component (4) synchronously drives the pipe orifice detection component (5) to detect the pipe orifice of the oil pipeline clamped by the movable pipe clamping component (3).

2. The oil pipeline docking auxiliary device according to claim 1, characterized in that: The pipe clamping assembly (3) comprises an inverted U-shaped seat (31) and a base (32); the base (32) is welded at the center of one side wall of the inverted U-shaped seat (31); a hydraulic telescopic rod (33) is installed at the center of the top of the base (32); the bottom end of the hydraulic telescopic rod (33) passes through the base (32) and extends to the bottom and is installed with a concave seat (35); a clamping mechanism (34) is installed on the concave seat (35) for clamping and fixing the oil pipeline.

3. The oil pipeline docking auxiliary device according to claim 2, characterized in that: The clamping mechanism (34) comprises a clamping frame (341) and two clamping claws (342), one end of the upper surface of the clamping claw (342) is rotatably connected to a first connecting rod (343), and the other end of the first connecting rod (343) is rotatably connected to the clamping frame (341), the other end of the upper surface of the clamping claw (342) is rotatably connected to one end of an L-shaped connecting rod (344), and a strip seat (346) is arranged in the clamping frame (341), and one end of the strip seat (346) along the length direction is rotatably connected to the clamping frame (341). A second connecting rod (347) is connected, and the bottom end of the second connecting rod (347) is rotatably connected to the other end of the L-shaped connecting rod (344), and a rotating shaft (348) is inserted into the bending part of the L-shaped connecting rod (344), and the rotating shaft (348) is rotatably connected to the clamping frame (341), a servo motor (349) is installed in the concave seat (35), and a second lead screw (345) is fixedly connected to the output shaft of the servo motor (349), and the second lead screw (345) is threadedly connected to the strip seat (346).

4. The oil pipeline docking auxiliary device according to claim 2, characterized in that: The pipe mouth detection assembly (5) comprises an arc-shaped slide groove (51) provided on the inverted U-shaped seat (31) and an arc-shaped sliding seat (52) slidably connected in the arc-shaped slide groove (51); an annular detection frame (53) is welded to the arc-shaped sliding seat (52); a laser scanner (54) is mounted on the outer wall of the annular detection frame (53); and a gear ring (55) is welded to the outer wall of the annular detection frame (53).

5. The oil pipeline docking auxiliary device according to claim 4, characterized in that: The linkage assembly (4) comprises a drive shaft (41), the drive shaft (41) being rotatably connected to the inverted U-shaped seat (31), and both ends of the drive shaft (41) passing through the inverted U-shaped seat (31) and extending to the outside, a drive gear (42) being welded to one end of the drive shaft (41), and the drive gear (42) being meshingly connected to a gear ring (55), a bearing seat (43) being mounted to the other end of the drive shaft (41), and the bearing seat (43) being slidably connected to the docking seat (1), a spiral groove (44) being provided on the outer wall of the drive shaft (41), a drive slider (45) being welded to the inner wall of the docking seat (1), and the drive slider (45) being slidably connected to the spiral groove (44).

6. The oil pipeline docking auxiliary device according to claim 2, characterized in that: The inverted U-shaped seat (31) of one pipe clamping assembly (3) is welded and fixed in the docking seat (1); a convex sliding seat (301) is welded on the outer wall of the inverted U-shaped seat (31) of the other pipe clamping assembly (3); a strip-shaped slide groove (302) is provided on the inner wall of the docking seat (1) along the length direction; the convex sliding seat (301) is rotatably connected to the strip-shaped slide groove (302); a driving mechanism is provided on the docking seat (1) for driving the convex sliding seat (301) to slide in the strip-shaped slide groove (302) to adjust the position of the pipe clamping assembly (3); the driving mechanism comprises a driving motor (303) and a first screw (304); the first screw (304) is rotatably connected in the strip-shaped slide groove (302) and is threadedly connected to the convex sliding seat (301); and an output shaft of the driving motor (303) is fixedly connected to the first screw (304) via a coupling.

7. The oil pipeline docking auxiliary device according to claim 1, characterized in that: It also includes a pipe mouth detection system, the pipe mouth detection system includes: A data collection module, which obtains point cloud data collected by a laser scanner (54) and uses a filtering method to remove background noise from the point cloud data; A coordinate conversion module converts the data obtained by laser scanning from the laser coordinate system to the pipeline coordinate system; The gap feature analysis module determines whether there is a gap by comparing the difference between the point cloud data and the ideal geometric shape. If there is a gap, the gap position is obtained and an alarm instruction is generated to issue an alarm. The crack feature analysis module determines whether there is a crack through point cloud density analysis. If there is a crack, it obtains the crack location and generates an alarm instruction.

8. The oil pipeline docking auxiliary device according to claim 7, characterized in that: The method for determining whether there is a gap and generating an alarm instruction includes: By using the least squares method, the point cloud data is fitted into a circular model to obtain the center and radius of the circle; The distance from each point to the fitted circle is calculated to determine whether the point deviates from the ideal circle. If the degree of deviation exceeds the preset threshold ϵ, it is considered that there is a gap in the area, and the coordinates of the point are generated as an alarm instruction.

9. The oil pipeline docking auxiliary device according to claim 8, characterized in that: The least squares formula for the fitted circle is: The point cloud data contains a set of ( , ), fit a circle ( , , ); ； In the formula, ( , ) is the first points, ( , ) is the position of the fitting circle center, is the radius of the fitted circle, is the total number of points in the point cloud data, is the error function, which represents the sum of the distance errors from all points to the edge of the circle. Minimizing this function can obtain the best circle fitting parameters, and the optimal values ​​of the center and radius can be obtained by minimizing it.

10. The oil pipeline docking auxiliary device according to claim 9, characterized in that: The method of determining whether there is a crack and obtaining the crack position and generating an alarm instruction when a crack exists includes: For each point in the point cloud data, the local point cloud density is obtained by calculating the number of points in its neighborhood. The calculation formula is: ； in, For point The local density of point The number of points in the neighborhood, point The volume of the neighborhood; Preset local density threshold, when point If the local density is lower than the preset threshold, it proves that cracks appear in the area, and the point The coordinates of the crack are used as the coordinates of the crack position to issue an alarm.

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