An autonomous pipeline inspection system and method for subsea buried pipelines

Abstract

The application relates to the technical field of pipeline inspection, and discloses a seabed buried pipeline autonomous line inspection system and method, which comprises a waterborne platform including a control module, a horizontal propeller and a vertical propeller, a first magnetic detector and a second magnetic detector arranged on the waterborne platform and located on the same horizontal plane, the first magnetic detector being used for detecting a first distance between the first magnetic detector and a seabed pipeline, the second magnetic detector being used for detecting a second distance between the second magnetic detector and the seabed pipeline, and the control module being used for regulating and controlling the horizontal propeller and the vertical propeller so that the absolute value of the difference between the first distance and the second distance is not more than a preset value, thereby correcting the autonomous line inspection path of the waterborne platform. The magnetic detector can detect the pipeline under the conditions of low seawater visibility and pipeline burying, so that the autonomous line inspection path of the seabed pipeline can be corrected, and the precision of the autonomous line inspection is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of pipeline inspection, in particular to a submarine buried pipeline autonomous line inspection system and method. BACKGROUND

[0002] As an important carrier for transporting liquid, gas or loose solid, underwater pipeline is not limited by water depth, terrain and other conditions, and has the advantages of high conveying efficiency and low energy consumption. However, it is difficult to inspect and maintain because most of them are buried underwater.

[0003] Due to the influence of ocean power, the actual position of submarine pipeline deviates from the original route coordinates. If only the path planned by the original coordinates is used for line inspection, it will deviate from the actual pipeline. The existing marine pipeline inspection robot adjusts the horizontal and vertical thrusters through the main control board to correct the angle during the work process, so that the robot always moves along the oil pipeline. However, the camera is used for image recognition and automatic deviation correction of submarine pipeline during line inspection, so as to ensure that the robot always moves along the pipeline. The traditional visual image correction method cannot be applied to submarine pipeline inspection under the conditions of low seawater visibility and pipeline burial.

[0004] Therefore, how to correct the deviation of submarine pipeline inspection route under the conditions of low seawater visibility and pipeline burial is a problem to be solved by those skilled in the art. SUMMARY

[0005] The purpose of the present application is to provide a submarine buried pipeline autonomous line inspection system and method to solve the problem that the traditional visual image correction method cannot be applied to submarine pipeline inspection under the conditions of low seawater visibility and pipeline burial.

[0006] To solve the above technical problems, the present application provides a submarine buried pipeline autonomous line inspection system, comprising: a water-borne platform, a first magnetic detector and a second magnetic detector;

[0007] The water-borne platform comprises a control module, a horizontal thruster and a vertical thruster, the first magnetic detector and the second magnetic detector are arranged on the water-borne platform, and the first magnetic detector and the second magnetic detector are in the same horizontal plane, the first magnetic detector is used to detect the first distance between itself and the submarine pipeline, the second magnetic detector is used to detect the second distance between itself and the submarine pipeline, and the control module is in communication connection with the horizontal thruster, the vertical thruster, the first magnetic detector and the second magnetic detector respectively, and is used to regulate and control the horizontal thruster and the vertical thruster so that the absolute value of the difference between the first distance and the second distance is not more than a preset value, thereby correcting the autonomous line inspection path of the water-borne platform.

[0008] Optionally, a third magnetic detector and an altimeter are further included, the third magnetic detector is located between the first magnetic detector and the second magnetic detector, the third magnetic detector is used for detecting a first vertical distance between the third magnetic detector and the submarine pipeline, the altimeter is used for detecting a second vertical distance between the altimeter and the submarine mud surface, and the control module is used for determining the submarine pipeline burial depth according to the first vertical distance and the second vertical distance.

[0009] Optionally, a control unit, a GPS positioning module, a work ship, a hydroacoustic transducer and an underwater transponder beacon are further included, the control unit and the GPS positioning module are arranged on the work ship, the hydroacoustic transducer is arranged at the bottom of the work ship, the underwater transponder beacon is arranged at the top of the underwater platform, a transmitter of the hydroacoustic transducer is used for sending a first acoustic pulse to the underwater transponder beacon, the underwater transponder beacon is used for sending a second acoustic pulse after receiving the first acoustic pulse, the GPS positioning module is used for determining a first GPS coordinate of the work ship, the control unit is in communication connection with the GPS positioning module, the hydroacoustic transducer, the underwater transponder beacon and the control module respectively, is used for determining a relative position coordinate of the underwater platform and the work ship according to a time delay difference and a phase difference of the first acoustic pulse and the second acoustic pulse, and determining a second GPS coordinate of the underwater platform according to the first GPS coordinate and the relative position coordinate.

[0010] Optionally, a side scan sonar is further arranged at the bottom of the underwater platform, the side scan sonar is in communication connection with the control module, and is used for imaging the submarine pipeline burial condition and the exposed condition.

[0011] Optionally, the underwater platform includes a main frame and a pressure-resistant cabin body, the control module is arranged inside the pressure-resistant cabin body, and the horizontal thruster and the vertical thruster are installed on the main frame.

[0012] Optionally, the underwater platform further includes an inertial navigation system connected with the control module, the inertial navigation system is used for detecting the attitude and the position of the underwater platform.

[0013] The application further provides a submarine buried pipeline autonomous patrolling method, which is applied to the submarine buried pipeline autonomous patrolling system and includes the following steps.

[0014] When the underwater platform travels according to the autonomous patrolling path, a first distance between the underwater platform and the submarine pipeline detected by the first magnetic detector and a second distance between the underwater platform and the submarine pipeline detected by the second magnetic detector are acquired in real time.

[0015] The horizontal thruster and the vertical thruster are controlled according to the first distance and the second distance, so that the absolute value of the difference between the first distance and the second distance is not more than a preset value, and the autonomous inspection path is corrected.

[0016] Optionally, before the underwater vehicle platform travels according to the autonomous inspection path, the method further comprises:

[0017] The autonomous inspection path is formed according to the original GPS coordinates of the submarine pipeline.

[0018] The first GPS coordinates of the work ship detected by the GPS positioning module are acquired.

[0019] The time delay difference and the phase difference between the first sound pulse sent by the underwater acoustic transducer and the second sound pulse returned by the underwater response beacon after receiving the first sound pulse are determined, and the relative position coordinates of the underwater vehicle platform and the work ship are determined according to the time delay difference and the phase difference.

[0020] The second GPS coordinates of the underwater vehicle platform are determined according to the relative position coordinates and the first GPS coordinates.

[0021] The underwater vehicle platform is controlled to sail to the starting point coordinates of the path in the autonomous inspection path according to the second GPS coordinates, so that the underwater vehicle platform travels according to the autonomous inspection path.

[0022] Optionally, if the altimeter is located below the third magnetic detector, and the altimeter and the third magnetic detector have a preset distance in the horizontal direction, the method further comprises:

[0023] The first vertical distance between the third magnetic detector and the submarine pipeline and the second vertical distance between the altimeter and the submarine mud surface are acquired in real time.

[0024] The third vertical distance between the third magnetic detector and the altimeter is determined, and a target time interval is determined according to the preset distance and the inspection speed of the underwater vehicle platform.

[0025] The buried depth of the submarine pipeline is determined according to the first vertical distance, the second vertical distance and the third vertical distance.

[0026] The detection time interval of the first vertical distance and the second vertical distance is the target time interval.

[0027] Optionally, the buried depth of the submarine pipeline is determined according to the first vertical distance, the second vertical distance and the third vertical distance, comprising:

[0028] The buried depth of the submarine pipeline is calculated according to a preset formula.

[0029] The preset formula is H = H1-H2-h;

[0030] H is the buried depth of the submarine pipeline, H1 is the first vertical distance, H2 is the second vertical distance, and h is the third vertical distance.

[0031] The submarine buried pipeline autonomous line inspection system provided by the application comprises a waterborne platform, a first magnetic detector and a second magnetic detector. The waterborne platform comprises a control module, a horizontal propeller and a vertical propeller. The first magnetic detector and the second magnetic detector are arranged on the waterborne platform and are located on the same horizontal plane. The first magnetic detector is used for detecting a first distance between the first magnetic detector and the submarine pipeline, and the second magnetic detector is used for detecting a second distance between the second magnetic detector and the submarine pipeline. The control module is in communication connection with the horizontal propeller, the vertical propeller, the first magnetic detector and the second magnetic detector, and is used for regulating and controlling the horizontal propeller and the vertical propeller to make the absolute value of the difference between the first distance and the second distance not exceed a preset value, so as to correct the autonomous line inspection path of the waterborne platform. The magnetic detector can detect the pipeline under the conditions of low seawater visibility and pipeline burying, so that the autonomous line inspection path of the submarine pipeline can be corrected, and the precision of the autonomous line inspection is improved. In addition, the autonomous line inspection system provides basic data for subsequent inspection of the submarine pipeline, and improves the safety management level of the submarine pipeline.

[0032] The submarine buried pipeline autonomous line inspection method provided by the application has corresponding advantages and effects with the system, and the effects are as above. BRIEF DESCRIPTION OF DRAWINGS

[0033] In order to more clearly illustrate the embodiments of the application, the drawings needed in the embodiments will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the application, and other drawings can be obtained by those skilled in the art without creative labor.

[0034] Figure 1 A top view of the submarine buried pipeline autonomous line inspection system provided by the embodiments of the application;

[0035] Figure 2 A structural diagram of the submarine buried pipeline autonomous line inspection system provided by the embodiments of the application;

[0036] Figure 3 A schematic diagram of the submarine buried pipeline autonomous line inspection system provided by the embodiments of the application;

[0037] Figure 4 A flowchart of the submarine buried pipeline autonomous line inspection method provided by the embodiments of the application;

[0038] Figure 5 A schematic diagram of buried pipeline depth detection is provided for the embodiment of the present application;

[0039] The reference signs are as follows: 1 is a waterborne platform, 101 is a control module, 102 is a horizontal thruster, 103 is a vertical thruster, 2 is a first magnetic detector, 3 is a second magnetic detector, 4 is a third magnetic detector, 5 is an inertial navigation system, 6 is a control unit, 7 is a GPS positioning module, 8 is a hydroacoustic transducer, 9 is an underwater transponder beacon, 10 is an altimeter, 11 is a side-scan sonar, and 12 is a umbilical cable. DETAILED DESCRIPTION

[0040] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the present application.

[0041] The core of the present application is to provide an autonomous pipeline inspection system and method for buried pipelines under the sea, which is used for correcting the inspection route of the buried pipeline under the sea under the condition of low visibility of seawater and buried pipeline.

[0042] In order to enable those skilled in the art to better understand the present application, the present application will be further described in detail below with reference to the drawings and specific embodiments.

[0043] Figure 1 A top view of an autonomous pipeline inspection system for buried pipelines under the sea is provided for the embodiment of the present application, Figure 2 A structural diagram of an autonomous pipeline inspection system for buried pipelines under the sea is provided for the embodiment of the present application, Figure 3 A schematic diagram of an autonomous pipeline inspection system for buried pipelines under the sea is provided for the embodiment of the present application, Figures 1 to 3 As shown in the figure, an autonomous pipeline inspection system for buried pipelines under the sea comprises a waterborne platform 1, a first magnetic detector 2 and a second magnetic detector 3. The waterborne platform 1 comprises a control module 101, a horizontal thruster 102 and a vertical thruster 103. The first magnetic detector 2 and the second magnetic detector 3 are arranged on the waterborne platform 1 and are located in the same horizontal plane. The first magnetic detector 2 is used to detect the first distance between itself and the buried pipeline under the sea, and the second magnetic detector 3 is used to detect the second distance between itself and the buried pipeline under the sea. The control module 101 is in communication connection with the horizontal thruster 102, the vertical thruster 103, the first magnetic detector 2 and the second magnetic detector 3, and is used to control the horizontal thruster 102 and the vertical thruster 103 so that the absolute value of the difference between the first distance and the second distance is not more than a preset value, thereby correcting the autonomous inspection route of the waterborne platform 1.

[0044] The structure of the underwater vehicle platform 1 is not limited in the embodiments of the present application. The underwater vehicle platform 1 is located underwater and is an execution device of the autonomous line inspection system. Specifically, the underwater vehicle platform 1 includes a main frame and a pressure cabin. The control module 101 is arranged inside the pressure cabin. The horizontal propeller 102 and the vertical propeller 103 are installed on the main frame. The horizontal propeller 102 and the vertical propeller 103 mainly provide power for the underwater vehicle platform 1. The control module 101 is installed in the pressure cabin, which can effectively prevent the control module 101 from being damaged by the pressure of the seabed. The installation position and shape of the first magnetic detector 2 and the second magnetic detector 3 are not limited in the embodiments of the present application. As shown in FIG. 1, the first magnetic detector 2 and the second magnetic detector 3 can be installed on the head of the underwater vehicle platform 1 through a special support. The first magnetic detector 2 and the second magnetic detector 3 are parallel and located on the same horizontal plane. The underwater vehicle platform 1 travels according to the autonomous line inspection path. In this process, the control module 101 adjusts the horizontal propeller 102 and the vertical propeller 103 according to the first distance detected by the first magnetic detector 2 and the second distance detected by the second magnetic detector 3, so as to adjust the posture and position of the underwater vehicle platform 1, so that the absolute value of the first distance and the second distance is not more than a preset value, thereby ensuring that the underwater vehicle platform 1 always travels along the axial direction of the submarine pipeline and completes the deviation correction of the autonomous line inspection path. Figure 1

[0045] The autonomous line inspection system for the submarine buried pipeline provided in the embodiments of the present application includes an underwater vehicle platform, a first magnetic detector and a second magnetic detector. The underwater vehicle platform includes a control module, a horizontal propeller and a vertical propeller. The first magnetic detector and the second magnetic detector are arranged on the underwater vehicle platform and are located on the same horizontal plane. The first magnetic detector is used to detect the first distance between itself and the submarine pipeline. The second magnetic detector is used to detect the second distance between itself and the submarine pipeline. The control module is in communication connection with the horizontal propeller, the vertical propeller, the first magnetic detector and the second magnetic detector, and is used to adjust the horizontal propeller and the vertical propeller so that the absolute value of the difference between the first distance and the second distance is not more than a preset value, thereby correcting the autonomous line inspection path of the underwater vehicle platform. The magnetic detector can detect the pipeline under the conditions of low visibility of seawater and pipeline burying, thereby correcting the autonomous line inspection path of the submarine pipeline and improving the precision of the autonomous line inspection. In addition, the autonomous line inspection system provides basic data for the subsequent inspection of the submarine pipeline and improves the safety management level of the submarine pipeline.

[0046] ​Based on the above embodiment, the embodiment of the present application further comprises a third magnetic detector 4 and an altimeter 10 connected with the control module 101, the third magnetic detector 4 is located between the first magnetic detector 2 and the second magnetic detector 3, the third magnetic detector 4 is used to detect a first vertical distance between itself and the submarine pipeline, the altimeter 10 is used to detect a second vertical distance between itself and the submarine mud surface, and the control module 101 is used to determine the submarine pipeline burial depth according to the first vertical distance and the second vertical distance.

[0047] The embodiment of the present application does not make specific limitation on the communication connection mode between the control module 101 and the magnetic detectors (the first magnetic detector 2, the second magnetic detector 3 and the third magnetic detector 4), and the control module 101 can establish communication with the magnetic detectors by using underwater cables. As to how to determine the submarine pipeline burial depth according to the first vertical distance and the second vertical distance, it needs to be determined according to the relative positions of the third magnetic detector 4 and the altimeter 10. For example, when the third magnetic detector 4 and the altimeter 10 are arranged at the same height and the horizontal distance between them is small enough to be ignored, the difference between the first vertical distance and the second vertical distance can be taken as the submarine pipeline burial depth; if the altimeter 10 is located below the third magnetic detector 4 and the horizontal distance between them is small enough to be ignored, after the difference between the first vertical distance and the second vertical distance is obtained, the difference minus the vertical distance between the third magnetic detector 4 and the altimeter 10 is the submarine pipeline burial depth; if there is a distance between the altimeter 10 and the third magnetic detector 4 in the horizontal direction, the time interval for detecting the first vertical distance and the second vertical distance also needs to be considered to ensure that the altimeter 10 and the third magnetic detector 4 detect at the same position in the horizontal direction.

[0048] The embodiment of the present application can detect the submarine pipeline burial depth under turbid water by using the altimeter 10 and the third magnetic detector 4, which provides a theoretical basis for the safe management of submarine pipelines, and the self-route correction based on the above can also improve the accuracy of submarine pipeline burial depth detection.

[0049] Based on the above embodiment, the application further comprises a control unit 6, a GPS positioning module 7, a work ship, a hydroacoustic transducer 8 and an underwater answering beacon 9. The control unit 6 and the GPS positioning module 7 are arranged on the work ship. The hydroacoustic transducer 8 is arranged at the bottom of the work ship. The underwater answering beacon 9 is arranged at the top of the underwater vehicle platform 1. The transmitter of the hydroacoustic transducer 8 is used to send a first acoustic pulse to the underwater answering beacon 9. The underwater answering beacon 9 is used to send a second acoustic pulse back after receiving the first acoustic pulse. The GPS positioning module 7 is used to determine the first GPS coordinates of the work ship. The control unit 6 is in communication connection with the GPS positioning module 7, the hydroacoustic transducer 8, the underwater answering beacon 9 and the control module 101 respectively, and is used to determine the relative position coordinates of the underwater vehicle platform 1 and the work ship according to the time delay difference and the phase difference of the first acoustic pulse and the second acoustic pulse, and to determine the second GPS coordinates of the underwater vehicle platform 1 according to the first GPS coordinates and the relative position coordinates.

[0050] As shown in Figure 2 The control unit 6 of the application can be connected with the control module 101 of the underwater vehicle platform 1 through the umbilical cable 12. The control unit 6 transmits control instructions to the underwater vehicle platform 1 through the umbilical cable 12, for example, transmits the autonomous line patrol path to the control module 101 through the umbilical cable 12. The underwater vehicle platform 1 can travel according to the planned autonomous line patrol path. The underwater vehicle platform 1 feeds back the position and attitude information and the autonomous line patrol path information after correction to the control unit 6 on the water surface through the umbilical cable 12, and displays it in real time on the display screen of the control unit 6.

[0051] The relative position of the underwater vehicle platform 1 and the work ship is determined through the hydroacoustic transducer 8 and the underwater answering beacon 9, and the second GPS coordinates of the underwater vehicle platform 1 are determined by combining the first GPS coordinates of the work ship. The problem of inaccurate positioning of the underwater vehicle platform coordinates caused by serious attenuation of GPS electromagnetic wave signals in seawater when directly positioning the underwater vehicle platform coordinates by GPS is solved.

[0052] Based on the above embodiment, the bottom of the underwater vehicle platform 1 of the application further comprises a side-scan sonar 11, which is in communication connection with the control module 101 and is used for imaging the buried state and exposed state of the submarine pipeline.

[0053] The side-scan sonar 11 realizes imaging of the buried state and exposed state of the submarine pipeline, and feeds back the imaging to the control unit 6 on the water, so that the staff can understand the state of the submarine pipeline.

[0054] Based on the above embodiment, the underwater vehicle platform 1 of the application further comprises an inertial navigation system 5 connected with the control module 101. The inertial navigation system 5 is used to detect the attitude and position of the underwater vehicle platform 1.

[0055] The inertial navigation system 5 in the embodiment of the present application includes a gyroscope and an accelerometer, is installed in the pressure cabin of the underwater vehicle platform 1, and is used to detect the attitude and position of the underwater vehicle platform 1. The control module 101 of the underwater vehicle platform 1 feeds back the attitude and position of the underwater vehicle platform 1 to the control unit 6 on the work ship.

[0056] Figure 4 A flow chart of an autonomous line inspection method for a buried submarine pipeline provided by the embodiment of the present application is shown in Figure 4 The autonomous line inspection system for a buried submarine pipeline is applied to the autonomous line inspection system for a buried submarine pipeline, and includes the following steps.

[0057] S10: When the underwater vehicle platform travels according to the autonomous line inspection path, the first distance between the underwater vehicle platform and the buried submarine pipeline detected by the first magnetic detector and the second distance between the underwater vehicle platform and the buried submarine pipeline detected by the second magnetic detector are acquired in real time.

[0058] Before the underwater vehicle platform 1 travels according to the autonomous line inspection path, the original GPS coordinates of the buried submarine pipeline are transmitted to the control module 101 through the umbilical cable, the control module 101 forms the autonomous line inspection path according to the original GPS coordinates of the buried submarine pipeline, the first GPS coordinates of the work ship detected by the GPS positioning module 7 are acquired, the time delay difference and the phase difference between the first sound pulse sent by the underwater acoustic transducer 8 and the second sound pulse sent back after the first sound pulse is received by the underwater response beacon 9 are determined, and the relative position coordinates of the underwater vehicle platform 1 and the work ship are determined according to the time delay difference and the phase difference, the second GPS coordinates of the underwater vehicle platform 1 are determined according to the relative position coordinates and the first GPS coordinates, and the underwater vehicle platform 1 is controlled to sail to the path starting point coordinates in the autonomous line inspection path according to the second GPS coordinates, so that the underwater vehicle platform 1 travels according to the autonomous line inspection path.

[0059] S11: The horizontal thruster and the vertical thruster are adjusted according to the first distance and the second distance, so that the absolute value of the difference between the first distance and the second distance does not exceed a preset value, and the autonomous line inspection path is corrected.

[0060] After the autonomous line inspection path of the underwater vehicle platform 1 is corrected, the corrected path coordinates of the buried submarine pipeline can be fed back to the control unit 6 on the water surface in real time, and the update of the autonomous line inspection path is completed.

[0061] Further, the altimeter 10 and the third magnetic detector 4 can be used to detect the buried depth of the buried submarine pipeline. For the convenience of understanding, examples are given as follows. Figure 5 A schematic diagram of a buried submarine pipeline depth detection provided by the embodiment of the present application is shown in Figure 5As shown, the altimeter 10 is located below the third magnetic detector 4, and the altimeter 10 and the third magnetic detector 4 have a preset distance in the horizontal direction, and the method for calculating the buried depth of the submarine pipeline is: real-time acquisition of the first vertical distance between the third magnetic detector 4 and the submarine pipeline and the second vertical distance between the altimeter 10 and the submarine mud surface; determination of the third vertical distance between the third magnetic detector 4 and the altimeter 10, and determination of the target time interval according to the preset distance and the patrol speed of the water downloading platform 1; determination of the buried depth of the submarine pipeline according to the first vertical distance, the second vertical distance and the third vertical distance; wherein the detection time interval of the first vertical distance and the second vertical distance is the target time interval.

[0062] As shown in the figure, Figure 5 The horizontal distance between the third magnetic detector 4 and the altimeter 10 is L, the patrol speed of the water downloading platform 1 is v, and the target time interval is L / v; if the third magnetic detector 4 detects the first vertical distance H1 between itself and the submarine pipeline at t1, the second vertical distance H2 between the altimeter 10 and the submarine mud surface at t2 (t2=t1+L / v) is determined according to t1 and the target time interval, and the third vertical distance h between the third magnetic detector 4 and the altimeter 10 is determined; finally, the buried depth of the submarine pipeline is calculated according to the preset formula; the preset formula is H=H1-H2-h; wherein H is the buried depth of the submarine pipeline, H1 is the first vertical distance, H2 is the second vertical distance, and h is the third vertical distance.

[0063] The submarine buried pipeline autonomous patrol method provided by the embodiment of the application is applied to the above-mentioned submarine buried pipeline autonomous patrol system, and comprises: when the water downloading platform travels according to the autonomous patrol path, real-time acquisition of the first distance between the first magnetic detector and the submarine pipeline and the second distance between the second magnetic detector and the submarine pipeline; according to the first distance and the second distance, the horizontal propeller and the vertical propeller are controlled so that the absolute value of the difference between the first distance and the second distance does not exceed a preset value, so as to correct the autonomous patrol path. The magnetic detector can detect the pipeline under the conditions of low seawater visibility and pipeline burying, so as to correct the autonomous patrol path of the submarine pipeline and improve the accuracy of autonomous patrol. In addition, it also provides basic data for subsequent patrol of the submarine pipeline and improves the safety management level of the submarine pipeline.

[0064] The water sound transducer and the underwater response beacon determine the relative position of the water downloading platform and the work ship, and the first GPS coordinate of the work ship is combined to determine the second GPS coordinate of the water downloading platform, which solves the problem that the direct use of GPS to position the coordinate of the water downloading platform is not accurate due to the serious attenuation of GPS electromagnetic wave signals in seawater.

[0065] The combination of the magnetic detector and the altimeter solves the detection of the buried depth of the buried pipeline and provides a theoretical basis for the safety management of the submarine pipeline.

[0066] The above describes in detail the submarine buried pipeline autonomous line patrol system and method provided by the present application. The embodiments in the specification are described in a progressive manner, and each embodiment mainly describes the differences from other embodiments. The same or similar parts of each embodiment can be understood by referring to each other. For the device disclosed in the embodiments, since it corresponds to the method disclosed in the embodiments, the description is relatively simple, and the related parts can be understood by referring to the method part. It should be pointed out that for ordinary skilled in the art, without departing from the principles of the present application, the present application can be improved and modified, and these improvements and modifications also fall within the protection scope of the claims of the present application.

[0067] It should also be noted that in the present specification, the relationship terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between the entities or operations. Moreover, the terms "include", "contain" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or device. Without more limitations, the element defined by the statement "including a" does not exclude the presence of other identical elements in the process, method, article or device including the element.

Claims

1. An autonomous in-line inspection system for a subsea buried pipeline, characterized in that, The utility model relates to a kind of underwater vehicle platform, first magnetic detector (2) and second magnetic detector (3) comprising: The underwater vehicle platform (1) includes control module (101), horizontal propeller (102) and vertical propeller (103), the first magnetic detector (2) and the second magnetic detector (3) are arranged on the underwater vehicle platform (1), and the first magnetic detector (2) and the second magnetic detector (3) are in the same horizontal plane, the first magnetic detector (2) is used to detect the first distance between itself and submarine pipeline, the second magnetic detector (3) is used to detect the second distance between itself and the submarine pipeline, the control module (101) is respectively connected with the horizontal propeller (102), the vertical propeller (103), the first magnetic detector (2) and the second magnetic detector (3), for regulating the horizontal propeller (102) and the vertical propeller (103) to make the absolute value of the first distance and the second distance difference value not more than preset value, to correct the autonomous patrol path of the underwater vehicle platform (1); Further comprising third magnetic detector (4) and altimeter (10) connected with the control module (101), the third magnetic detector (4) is located between the first magnetic detector (2) and the second magnetic detector (3), the third magnetic detector (4) is used to detect the first vertical distance between itself and submarine pipeline, the altimeter (10) is used to detect the second vertical distance between itself and submarine mud surface, the control module (101) is used to determine submarine pipeline depth according to the first vertical distance and the second vertical distance; Further comprising control unit (6), GPS positioning module (7), work ship, underwater acoustic transducer (8) and underwater response beacon (9), the control unit (6) and the GPS positioning module (7) are arranged on the work ship, the underwater acoustic transducer (8) is arranged at the bottom of the work ship, the underwater response beacon (9) is arranged at the top of the underwater vehicle platform (1), the transmitter of the underwater acoustic transducer (8) is used to send first acoustic pulse to the underwater response beacon (9), the underwater response beacon (9) is used to send second acoustic pulse after receiving the first acoustic pulse, the GPS positioning module (7) is used to determine the first GPS coordinate of the work ship, the control unit (6) is respectively connected with the GPS positioning module (7), the underwater acoustic transducer (8), the underwater response beacon (9) and the control module (101), for determining the relative position coordinate of the underwater vehicle platform (1) and the work ship according to the time delay difference and phase difference of the first acoustic pulse and the second acoustic pulse, and determining the second GPS coordinate of the underwater vehicle platform (1) according to the first GPS coordinate and the relative position coordinate. The bottom of the underwater vehicle platform (1) is further provided with side-scan sonar (11), and the side-scan sonar (11) is connected with the control module (101) in communication, for imaging submarine pipeline burying condition and exposed condition.

2. The autonomous in-line inspection system for subsea buried pipelines according to claim 1, characterized in that, ​ 3. The autonomous in-line inspection system for subsea buried pipelines of claim 1, wherein, The underwater vehicle platform (1) comprises a main frame and a pressure cabin, the control module (101) is arranged inside the pressure cabin, and the horizontal propeller (102) and the vertical propeller (103) are installed on the main frame.

4. The autonomous in-line inspection system for subsea buried pipelines of claim 1, wherein, The underwater vehicle platform (1) further comprises an inertial navigation system (5) connected with the control module (101), and the inertial navigation system (5) is used for detecting the attitude and position of the underwater vehicle platform (1).

5. An autonomous method of inspecting a subsea buried pipeline, characterized in that, The autonomous pipeline inspection system for the submarine buried pipeline according to any one of claims 1 to 4 comprises: When the underwater vehicle platform (1) travels according to the autonomous pipeline inspection path, the first distance between the underwater vehicle platform (1) and the submarine pipeline detected by the first magnetic detector (2) and the second distance between the underwater vehicle platform (1) and the submarine pipeline detected by the second magnetic detector (3) are acquired in real time; The horizontal propeller (102) and the vertical propeller (103) are controlled according to the first distance and the second distance, so that the absolute value of the difference between the first distance and the second distance is not more than a preset value, and the autonomous pipeline inspection path is corrected. Before the underwater vehicle platform (1) travels according to the autonomous pipeline inspection path, the following steps are further included: The autonomous pipeline inspection path is formed according to the original GPS coordinates of the submarine pipeline; The first GPS coordinates of the work ship detected by the GPS positioning module (7) are acquired; The time delay difference and the phase difference between the first sound pulse sent by the underwater acoustic transducer (8) and the second sound pulse sent back by the underwater acoustic transducer (8) after receiving the first sound pulse are determined, and the relative position coordinates of the underwater vehicle platform (1) and the work ship are determined according to the time delay difference and the phase difference; The second GPS coordinates of the underwater vehicle platform (1) are determined according to the relative position coordinates and the first GPS coordinates; The underwater vehicle platform (1) is controlled to sail to the starting point coordinates of the path in the autonomous pipeline inspection path according to the second GPS coordinates, so that the underwater vehicle platform (1) travels according to the autonomous pipeline inspection path.

6. The method of claim 5, wherein, If the altimeter (10) is located below the third magnetic detector (4), and there is a preset distance between the altimeter (10) and the third magnetic detector (4) in the horizontal direction, the following steps are further included: The first vertical distance between the underwater vehicle platform (1) and the submarine pipeline detected by the third magnetic detector (4) and the second vertical distance between the underwater vehicle platform (1) and the submarine pipeline detected by the altimeter (10) are acquired in real time; The third vertical distance between the third magnetic detector (4) and the altimeter (10) is determined, and a target time interval is determined according to the preset distance and the pipeline inspection speed of the underwater vehicle platform (1); The submarine pipeline depth is determined according to the first vertical distance, the second vertical distance and the third vertical distance. The detection time interval of the first vertical distance and the second vertical distance is the target time interval.

7. The method of claim 6, wherein, The submarine pipeline depth is determined according to the first vertical distance, the second vertical distance and the third vertical distance, including: The submarine pipeline depth is calculated according to a preset formula; The preset formula is H=H1-H2-h. where H is the burial depth of the subsea pipeline, H1 is the first vertical distance, H2 is the second vertical distance, and h is the third vertical distance. where H is the burial depth of the subsea pipeline, H1 is the first vertical distance, H2 is the second vertical distance, and h is the third vertical distance.

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