Method and system for measuring deformation of damaged and bent submarine pipeline in use and medium

Abstract

The invention provides a deformation measurement method and system for an in-use damaged and bent submarine pipeline and a medium. The method comprises the following steps: erecting a circular ring rotating frame on a to-be-tested subsea pipeline section of a to-be-tested in-use subsea pipeline; n axial measuring points are arranged on the subsea pipe section to be measured along the axis of the circular ring rotating frame, outer surface points, corresponding to the axial measuring points, of the subsea pipe section to be measured are measured one by one, and measuring pipe section three-dimensional model data based on the measuring datum cylindrical surface are obtained; and analyzing and converting the three-dimensional model data of the measurement pipe section based on the measurement reference cylindrical surface, and calculating the shape characteristic value and the outer surface shape and position deviation of the pipe section to complete the deformation measurement of the submarine pipeline. According to the invention, unmanned full-automatic accurate and efficient external detection of the damaged three-dimensional bending deformation in-use submarine pipe section in a high-turbidity low-visibility underwater environment can be realized, an accurate three-dimensional digital model of the outer surface of the measured pipe section is generated, the form characteristic value and the form and position deviation of the pipe section are calculated, and the measurement deviation can be controlled at a millimeter level.

Description

Technical Field

[0001] The present invention relates to the technical field of pipeline maintenance and repair, and in particular to a deformation measurement method, system and medium for a damaged and bent submarine pipeline in use. Background Art

[0002] A large-diameter submarine crude oil pipeline (φ762, or 762mm in diameter) in service was damaged and buckled. To ensure its safe operation, a permanent repair plan for a special-shaped fixed pipe clamp was developed. This required precise mapping of the damaged pipe section's bending state, curvature, and external surface form and position deviations to provide a basis and guarantee for the design, manufacture, and installation of the clamp. This mapping operation was characterized by the large pipe diameter, long curved and deformed sections, high accuracy requirements, and high underwater turbidity and low visibility.

[0003] Existing external detection technologies for submarine pipeline defects and deformation primarily include sonar scanning, diver observation and exploration, visual videography using underwater cameras or lasers carried by ROVs / AUVs, and caliper measurement. These methods are not suitable for underwater turbidity and low visibility environments, are unsuitable for measuring large-diameter, long, curved, deformed, or high-surface distortion pipelines, and suffer from low measurement accuracy (centimeter-level) and inefficiency. Consequently, they cannot meet the requirements for submarine pipeline surveying and mapping, as well as for the manufacturing and construction of pipe clamps. Summary of the Invention

[0004] In view of this, the present invention proposes a deformation measurement system and medium for damaged and curved submarine pipelines in use, aiming to solve the problem of inaccurate and low efficiency of existing deformation measurement of damaged and curved submarine pipelines in use.

[0005] On the one hand, the present invention proposes a deformation measurement method for a damaged bent submarine pipeline in use, the method comprising the following steps: a frame installation step, using a light-assisted manual alignment or an acoustic / optical semi-automatic alignment method, in conjunction with a mechanical guidance positioning method, to set up a ring rotating frame on the submarine pipeline section to be measured of the submarine pipeline in use, so that the ring rotating frame surrounds the outer circumference of the submarine pipeline in use, and the ring rotating frame serves as a virtual measurement reference cylindrical surface surrounding the outer circumference of the submarine pipeline in use; a pipe section scanning step, arranging N axial measurement points on the submarine pipeline section to be measured along the axis of the ring rotating frame, and performing a one-by-one measurement on the outer surface points of the submarine pipeline section to be measured corresponding to each axial measurement point. A measurement is performed to obtain three-dimensional model data of the measuring pipe section based on the measurement reference cylindrical surface; wherein the three-dimensional model data of the measuring pipe section based on the measurement reference cylindrical surface includes: the axial displacement of each axial measurement point, and the relative radial deviation and circumferential rotation angle of multiple outer surface points on the circumference of the subsea pipeline section to be measured corresponding to each axial measurement point; wherein N is a positive integer greater than or equal to 3; a data analysis step is performed to analyze and transform the three-dimensional model data of the measuring pipe section based on the measurement reference cylindrical surface, reconstruct a three-dimensional digital model of the measuring pipe section with a preset point on the subsea pipeline section to be measured as the three-dimensional coordinate origin, and calculate the morphological characteristic value of the pipe section and the outer surface form and position deviation, thereby completing the submarine pipeline deformation measurement.

[0006] Furthermore, in the deformation measurement method for a damaged bent submarine pipeline in use, when measuring the outer surface points of the submarine pipeline section to be measured corresponding to each axial measurement point one by one, the outer surface point of the submarine pipeline section to be measured corresponding to the current axial measurement point is measured, specifically comprising: setting M radial measurement positions on the measurement reference circle where the current axial measurement point is located, recording the rotation angle of each radial measurement position as the circumferential rotation angle of the outer surface point of the submarine pipeline section to be measured corresponding to the current radial measurement position; wherein M is a positive integer greater than or equal to 3; wherein, on the transverse axis of the measurement reference cylinder where the current axial measurement point is located, On the cross section, the cross section of the measurement reference cylindrical surface is used as the measurement reference circle where the current axial measurement point is located; each radial measurement position is measured one by one to obtain the relative radial deviation of the outer surface point of the subsea pipeline section to be measured corresponding to each radial measurement position; wherein, on the cross section of the measurement reference cylindrical surface where the current axial measurement point is located, the outer surface point of the subsea pipeline section to be measured in the radial direction of the measurement reference circle passing through the current radial measurement position is the outer surface point of the subsea pipeline section to be measured corresponding to the current radial measurement position, and the relative radial deviation is the distance from the outer surface point of the subsea pipeline section to be measured corresponding to the current radial measurement position to the measurement reference circle.

[0007] Furthermore, in the deformation measurement method for a damaged curved submarine pipeline in use, the method measures each radial measurement position one by one to obtain the relative radial deviation of the outer surface point of the subsea pipeline section to be measured corresponding to each radial measurement position. Specifically, a radial telescopic member, whose initial telescopic position is at the current radial measurement position, is telescoped along the radial direction of the measurement reference circle until the telescopic end of the radial telescopic member presses against the outer wall of the subsea pipeline section to be measured, and the telescopic displacement of the radial telescopic member is obtained as the relative radial deviation of the outer surface point of the subsea pipeline section to be measured corresponding to the current radial measurement position.

[0008] Furthermore, in the deformation measurement method of the damaged bent submarine pipeline in use, the measurement of each radial measurement position is performed one by one, specifically by rotating along the circumference of the measurement reference cylindrical surface and measuring each radial measurement position one by one.

[0009] Furthermore, in the above-mentioned deformation measurement method for a damaged bent submarine pipeline in use, the outer surface points of the submarine pipeline section to be measured corresponding to each axial measurement point are measured one by one. Specifically, along the axial direction of the measurement reference cylindrical surface, from one end to the other end of the submarine pipeline section to be measured, the outer surface points of the submarine pipeline section to be measured corresponding to each axial measurement point are measured one by one.

[0010] Furthermore, in the above-mentioned deformation measurement method for a damaged curved submarine pipeline in use, the three-dimensional model data of the measured pipe section based on the measurement reference cylindrical surface also includes: the axial pitch inclination and lateral roll inclination of the circular rotating frame; wherein, based on the inclination measurement of the circular rotating frame, the axial pitch inclination and lateral roll inclination of the circular rotating frame are obtained.

[0011] Furthermore, in the above-mentioned deformation measurement method for a damaged curved submarine pipeline in use, the pipe section morphological characteristic values ​​include: the bending direction, bending angle and layout position of the submarine pipeline section to be measured, and the outer surface shape and position deviation includes: diameter deviation and ovality.

[0012] Furthermore, in the above-mentioned deformation measurement method for a damaged curved submarine pipeline in use, the preset point on the submarine pipeline section to be measured is the center point of the cross-section pipe at the measurement center position, and the measurement center position is the bending apex position of the submarine pipeline section to be measured.

[0013] On the other hand, the present invention also proposes a deformation measurement system for a damaged bent submarine pipeline in use, which includes: a frame installation module for adopting light-assisted manual alignment or acoustic / optical semi-automatic alignment in combination with a mechanical guidance positioning method to set up a circular rotating frame on the submarine pipeline section to be measured of the submarine pipeline in use, so that the circular rotating frame surrounds the outer circumference of the submarine pipeline in use to be measured, and the circular rotating frame serves as a virtual measurement reference cylindrical surface surrounding the outer circumference of the submarine pipeline in use to be measured; a pipe section scanning module for arranging N axial measurement points on the submarine pipeline section to be measured along the axis of the circular rotating frame, and performing one-by-one measurement on the outer surface points of the submarine pipeline section to be measured corresponding to each axial measurement point. A measurement is performed to obtain three-dimensional model data of the measuring pipe section based on the measurement reference cylindrical surface; wherein the three-dimensional model data of the measuring pipe section based on the measurement reference cylindrical surface includes: the axial displacement of each axial measurement point, and the relative radial deviation and circumferential rotation angle of multiple circumferential outer surface points of the subsea pipeline section to be measured corresponding to each axial measurement point; wherein N is a positive integer greater than or equal to 3; a data analysis module is used to analyze and transform the three-dimensional model data of the measuring pipe section based on the measurement reference cylindrical surface, reconstruct a three-dimensional digital model of the measuring pipe section with a preset point on the subsea pipeline section to be measured as the three-dimensional coordinate origin, and calculate the pipe section morphological characteristic value and outer surface form and position deviation, thereby completing the submarine pipeline deformation measurement.

[0014] Furthermore, in the deformation measurement system for a damaged bent submarine pipeline in use, when measuring the outer surface points of the submarine pipeline section to be measured corresponding to each axial measurement point one by one, the outer surface point of the submarine pipeline section to be measured corresponding to the current axial measurement point is measured, specifically comprising: setting M radial measurement positions on the measurement reference circle where the current axial measurement point is located, recording the rotation angle of each radial measurement position as the circumferential rotation angle of the outer surface point of the submarine pipeline section to be measured corresponding to the current radial measurement position; wherein M is a positive integer greater than or equal to 3; wherein, on the transverse axis of the measurement reference cylinder where the current axial measurement point is located, On the cross section, the cross section of the measurement reference cylindrical surface is used as the measurement reference circle where the current axial measurement point is located; each radial measurement position is measured one by one to obtain the relative radial deviation of the outer surface point of the subsea pipeline section to be measured corresponding to each radial measurement position; wherein, on the cross section of the measurement reference cylindrical surface where the current axial measurement point is located, the outer surface point of the subsea pipeline section to be measured in the radial direction of the measurement reference circle passing through the current radial measurement position is the outer surface point of the subsea pipeline section to be measured corresponding to the current radial measurement position, and the relative radial deviation is the distance from the outer surface point of the subsea pipeline section to be measured corresponding to the current radial measurement position to the measurement reference circle.

[0015] Furthermore, in the above-mentioned deformation measurement system for a damaged curved submarine pipeline in use, the method of measuring each radial measurement position one by one to obtain the relative radial deviation of the outer surface point of the subsea pipeline section to be measured corresponding to each radial measurement position is specifically as follows: a radial telescopic member whose initial telescopic position is located at the current radial measurement position is telescoped along the radial direction of the measurement reference circle until the telescopic end of the radial telescopic member presses against the outer wall of the subsea pipeline section to be measured, and the telescopic displacement of the radial telescopic member is obtained as the relative radial deviation of the outer surface point of the subsea pipeline section to be measured corresponding to the current radial measurement position.

[0016] Furthermore, in the deformation measurement system for the damaged bent submarine pipeline in use, the measurement of each radial measurement position is performed one by one, specifically by rotating along the circumference of the measurement reference cylindrical surface and measuring each radial measurement position one by one.

[0017] Furthermore, in the above-mentioned deformation measurement system for a damaged curved submarine pipeline in use, the outer surface points of the submarine pipeline section to be measured corresponding to each axial measurement point are measured one by one. Specifically, along the axial direction of the measurement reference cylindrical surface, from one end to the other end of the submarine pipeline section to be measured, the outer surface points of the submarine pipeline section to be measured corresponding to each axial measurement point are measured one by one.

[0018] Furthermore, in the above-mentioned deformation measurement system for a damaged curved submarine pipeline in use, the three-dimensional model data of the measured pipe section based on the measurement reference cylindrical surface also includes: the axial pitch inclination and the lateral roll inclination of the circular rotating frame; wherein, based on the inclination measurement of the circular rotating frame, the axial pitch inclination and the lateral roll inclination of the circular rotating frame are obtained.

[0019] Furthermore, in the above-mentioned deformation measurement system for damaged curved submarine pipelines in use, the pipe section morphological characteristic values ​​include: the bending direction, bending angle and layout position of the submarine pipeline section to be measured, and the outer surface shape and position deviation includes: diameter deviation and ovality.

[0020] Furthermore, in the above-mentioned deformation measurement system for damaged curved submarine pipelines in use, the preset point on the submarine pipeline section to be measured is the center point of the cross-section pipe at the measurement center position, and the measurement center position is the bending apex position of the submarine pipeline section to be measured.

[0021] In yet another aspect, the present invention further provides a computer-readable storage medium, wherein the storage medium stores a computer program, and the computer program is used to execute the method described in any one of the above aspects of the present invention.

[0022] On the other hand, the present invention further proposes an electronic device, which includes: a processor; a memory for storing executable instructions of the processor; the processor is used to read the executable instructions from the memory and execute the instructions to implement the method described in any one of the above aspects of the present invention.

[0023] The present invention provides a deformation measurement system and medium for a damaged bent submarine pipeline in use. By installing a circular rotating frame on the periphery of the submarine pipeline section to be measured, the circular rotating frame can be used as a virtual measurement reference cylindrical surface surrounding the periphery of the submarine pipeline to be measured, forming a physical measurement reference cylindrical surface to realize measurement as a reference; when measuring different axial measurement points, the circular rotating frame can be moved axially to serve as a physical reference for each axial measurement point; by arranging N axial measurement points on the submarine pipeline section to be measured along the axis of the circular rotating frame, and The method uses a circular rotating frame to measure the outer surface points of the subsea pipeline section to be measured one by one, corresponding to each axial measurement point, to achieve three-dimensional scanning and obtain three-dimensional model data of the measured pipeline section based on the measurement reference cylindrical surface. The three-dimensional model data of the measured pipeline section based on the measurement reference cylindrical surface is then analyzed and converted to reconstruct a three-dimensional digital model of the measured pipeline section with a preset point on the subsea pipeline section to be measured as the three-dimensional coordinate origin. The morphological characteristic values ​​of the pipeline section and the shape and position deviations of the outer surface are calculated to complete the deformation measurement of the submarine pipeline, thus solving the problem of inaccurate and inefficient deformation measurement of damaged and curved submarine pipelines in use. In particular, this method can achieve unmanned, fully automatic, accurate and efficient external inspection of damaged and curved submarine pipeline sections in high turbidity and low visibility underwater environments, generate a precise three-dimensional digital model of the outer surface of the measured pipeline section, calculate its morphological characteristic values ​​and shape and position deviations, and control the measurement deviation to the millimeter level. This provides a favorable basis and guarantee for the design, manufacture and installation of subsequent maintenance and repair pipe clamps, and solves the problems of measurement difficulty, low accuracy and low efficiency of existing measurement equipment and methods. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Various other advantages and benefits will become apparent to those skilled in the art upon reading the detailed description of the preferred embodiment below. The accompanying drawings are for illustration purposes only and are not to be considered as limiting the present invention. The same reference symbols are used throughout the drawings to represent the same components. In the drawings: Figure 1 A flowchart of a deformation measurement method for a damaged and curved submarine pipeline in use provided by an embodiment of the present invention; Figure 2 A front view of the deformation measurement of a damaged curved submarine pipeline in use provided by an embodiment of the present invention; Figure 3 A schematic diagram illustrating the principle of measuring the outer surface point of a subsea pipeline section to be measured using a cross section of a measurement reference cylindrical surface where a current axial measurement point is located, according to an embodiment of the present invention; Figure 4 A flowchart of measuring the outer surface point of the subsea pipeline section to be measured corresponding to the current axial measurement point provided by an embodiment of the present invention; Figure 5A structural block diagram of a deformation measurement system for a damaged and curved submarine pipeline in use provided by an embodiment of the present invention; Figure 6 This is a structural block diagram of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0025] Below, the exemplary embodiments according to the present invention will be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments of the present invention, and it should be understood that the present invention is not limited to the exemplary embodiments described herein.

[0026] It should be noted that the relative arrangement of components and steps, the numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise.

[0027] Those skilled in the art will understand that the terms "first" and "second" in the embodiments of the present invention are only used to distinguish different steps, devices or modules, and neither represent any specific technical meaning nor indicate the necessary logical order between them.

[0028] It should also be understood that, in the embodiments of the present invention, “a plurality of” may refer to two or more than two, and “at least one” may refer to one, two or more than two.

[0029] It should also be understood that any component, data or structure mentioned in the embodiments of the present invention can generally be understood as one or more, unless explicitly limited or otherwise indicated in the context.

[0030] In addition, the term "and / or" in this invention merely describes an association relationship between related objects, indicating that three possible relationships exist. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone. Furthermore, the character " / " in this invention generally indicates that the related objects are in an "or" relationship.

[0031] It should also be understood that the description of the various embodiments of the present invention focuses on the differences between the various embodiments, and the same or similar aspects thereof can be referenced with each other. For the sake of brevity, they will not be described one by one.

[0032] At the same time, it should be understood that for the convenience of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship.

[0033] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses.

[0034] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered part of the specification.

[0035] It should be noted that like reference numerals and letters refer to like items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0036] Embodiments of the present invention can be applied to electronic devices such as terminal devices, computer systems, and servers, and can operate in conjunction with numerous other general-purpose or specialized computing system environments or configurations. Examples of well-known terminal devices, computing systems, environments, and / or configurations suitable for use with terminal devices, computer systems, servers, and other electronic devices include, but are not limited to, personal computer systems, server computer systems, thin clients, thick clients, handheld or laptop devices, microprocessor-based systems, set-top boxes, programmable consumer electronics, network personal computers, minicomputer systems, mainframe computer systems, and distributed cloud computing technology environments including any of the above.

[0037] Electronic devices such as terminal devices, computer systems, and servers can be described in the general context of computer system-executable instructions (such as program modules) executed by a computer system. Generally, program modules can include routines, programs, object programs, components, logic, data structures, etc., which perform specific tasks or implement specific abstract data types. Computer systems / servers can be implemented in a distributed cloud computing environment, where tasks are performed by remote processing devices linked via a communication network. In a distributed cloud computing environment, program modules can be located on local or remote computing system storage media, including storage devices.

[0038] Method Example: See also Figure 1 , which is a flowchart of a deformation measurement method for a damaged curved submarine pipeline in use provided by an embodiment of the present invention. As shown in the figure, the method 100 includes the following steps: In the frame installation step S110, a circular rotating frame is installed on the subsea pipeline section to be tested, using light-assisted manual alignment or acoustic / optical semi-automatic alignment in conjunction with mechanical guidance and positioning. The circular rotating frame surrounds the circumference of the subsea pipeline to be tested, and the circular rotating frame serves as a virtual measurement reference cylindrical surface surrounding the circumference of the subsea pipeline to be tested.

[0039] Specifically, if Figure 2As shown, the in-service subsea pipeline 1 to be tested is described as an example of a pipeline 1 in high turbidity waters at a depth of 30m, with a diameter of 762mm and an axial deviation angle of less than 15°. Of course, other curved pipes can also be used, and this embodiment does not impose any restrictions on this. A circular rotating frame 2 is installed on the outer periphery of the subsea pipeline section to be tested of the in-service subsea pipeline 1 to be tested. The circular rotating frame 2 surrounds the outer periphery of the in-service subsea pipeline 1 to be tested. In this embodiment, the circular rotating frame 2 can be provided with an opening so that it can be moved from the opening to the outer periphery of the in-service subsea pipeline 1 to be tested. The inner wall of the circular rotating frame 2 serves as a virtual measurement reference cylindrical surface 3 surrounding the outer periphery of the in-service subsea pipeline to be tested. Of course, other wall surfaces can also be used as physical references, making it easy to scan the in-service subsea pipeline 1 to be tested based on the measurement reference cylindrical surface 3. The circular rotating frame 2 and the measurement reference cylindrical surface 3 are coaxially arranged.

[0040] In the pipe section scanning step S120, N axial measurement points are arranged on the subsea pipeline section to be measured along the axis of the circular turret, and the outer surface points of the subsea pipeline section to be measured corresponding to each axial measurement point are measured one by one to obtain three-dimensional model data of the measured pipe section based on the measurement reference cylindrical surface. The three-dimensional model data of the measured pipe section based on the measurement reference cylindrical surface includes the axial displacement of each axial measurement point, and the relative radial deviation and circumferential rotation angle of multiple circumferential outer surface points of the subsea pipeline section to be measured corresponding to each axial measurement point. N is a positive integer greater than or equal to 3.

[0041] Specifically, first, along the axial direction of the annular rotating frame 2, that is, the axial direction of the measurement reference cylindrical surface 3, N axial measurement points are arranged on the subsea pipeline section to be measured. The N axial measurement points can be arranged at equal intervals along the axial direction of the measurement reference cylindrical surface 3, where N can be a positive integer determined according to actual conditions, in particular, N ≥ 3. In this embodiment, there is no limitation on the specific value of N. Then, the outer surface points of the subsea pipeline section to be measured corresponding to each axial measurement point are measured one by one to complete the three-dimensional scanning of the subsea pipeline section to be measured, and the circumferential rotation angle and radial displacement of the outer surface points of the subsea pipeline section to be measured corresponding to each axial measurement point based on the measurement reference cylindrical surface are obtained, and the three-dimensional model data of the measured pipe section based on the measurement reference cylindrical surface is obtained. In this embodiment, when measuring the outer surface points of the subsea pipeline section to be measured corresponding to each axial measurement point one by one, the outer surface points of the subsea pipeline section to be measured corresponding to each axial measurement point can be measured one by one along the axial direction of the measurement reference cylindrical surface from one end to the other end of the subsea pipeline section to be measured, so as to improve the measurement speed and the determination of the axial displacement of each axial measurement point. The three-dimensional model data of the measured pipe section based on the measurement reference cylindrical surface includes: the axial displacement of each axial measurement point, and the relative radial deviation and circumferential rotation angle of multiple outer surface points of the subsea pipeline section to be measured corresponding to each axial measurement point. Of course, in this embodiment, the three-dimensional model data of the measuring pipe section based on the measurement reference cylindrical surface may also include: the axial pitch inclination and lateral roll inclination of the circular rotating frame; in this step, the axial pitch inclination and lateral roll inclination of the circular rotating frame may be obtained based on the inclination measurement of the circular rotating frame, that is, the axial pitch inclination and lateral roll inclination of the measurement reference cylindrical surface. Among them, the axial pitch inclination of the circular rotating frame is the roll inclination of the measurement reference cylindrical surface in the horizontal direction, that is, Figure 2 As shown, the axis of the measuring reference cylindrical surface is arranged horizontally. Of course, in actual application, the axis of the measuring reference cylindrical surface can also be tilted, wherein, along the main viewing direction of the measuring reference cylindrical surface, that is, Figure 2 In the direction shown, the angle between the axis of the measurement reference cylindrical surface and the horizontal direction is the axial pitch angle of the circular rotating frame; along the side view direction of the measurement reference cylindrical surface, the angle between the axis of the measurement reference cylindrical surface and the vertical direction is the lateral flip angle.

[0042] In this embodiment, if Figure 3 As shown, on the cross section of the measurement reference cylindrical surface where the current axial measurement point is located, the cross section of the measurement reference cylindrical surface is used as the measurement reference circle 31 where the current axial measurement point is located, and the cross section of the subsea pipeline section to be measured on the cross section of the measurement reference cylindrical surface where the current axial measurement point is located is the cross section circle 11 to be measured, which is a circle or an ellipse; Figure 3In the figure, the dotted circle represents the measurement reference circle 31, and the solid circle represents the cross-sectional structure of the subsea pipe section to be measured on the cross-sectional surface of the measurement reference cylindrical surface at the current axial measurement point. Among them, O can be the center position of the measurement reference circle, and the radius of the measurement reference circle is the inner diameter of the measurement reference cylindrical surface. In other words, the inner diameter of the annular rotating frame can be determined according to actual conditions. In this embodiment, there is no limitation on it. It only needs to ensure that the measurement reference cylindrical surface can surround the outer circumference of the subsea pipe section to be measured and there is a gap between it and the outer wall of the subsea pipe section to be measured. Figure 3 As shown, the intersection A' of the cross-sectional structure of the current radial measurement position A, the straight line containing the center of the measurement reference circle, and the subsea pipeline section to be measured on the cross-sectional surface of the measurement reference cylindrical surface at the current axial measurement point is the outer surface point of the subsea pipeline section to be measured corresponding to the current radial measurement position. That is, on the cross-sectional surface of the measurement reference cylindrical surface at the current axial measurement point, the outer surface point of the subsea pipeline section to be measured in the radial direction of the measurement reference circle passing through the current radial measurement position is the outer surface point of the subsea pipeline section to be measured corresponding to the current radial measurement position. The distance L of AA' is the relative radial deviation of the outer surface point A' of the subsea pipeline section to be measured corresponding to the current radial measurement position A. That is, the relative radial deviation is the distance between the outer surface point of the subsea pipeline section to be measured corresponding to the current radial measurement position and the measurement reference circle.

[0043] In the data analysis step S130, the three-dimensional model data of the measuring pipe section based on the measurement reference cylindrical surface is analyzed and converted, and a three-dimensional digital model of the measuring pipe section is reconstructed with a preset point on the subsea pipeline section to be measured as the three-dimensional coordinate origin. The morphological characteristic values ​​of the pipe section and the shape and position deviation of the outer surface are calculated to complete the deformation measurement of the submarine pipeline.

[0044] Specifically, first, during the scanning process, the three-dimensional model data of the measuring pipe section based on the measurement reference cylindrical surface is analyzed and converted, and the data is analyzed and converted in real time into the three-dimensional coordinates of the outer surface points of the sea pipe section to be measured relative to the measurement reference cylindrical surface, and the three-dimensional model of the pipe section formed by the measured points and the scanning process are displayed in real time. Then, after the scanning is completed, the system control and data analysis software can be used to analyze and convert the three-dimensional model data of the measuring pipe section based on the measurement reference cylindrical surface formed during the scanning process, and reconstruct it into a three-dimensional digital model of the measuring pipe section with the preset point on the sea pipe section to be measured as the three-dimensional coordinate origin, wherein the preset point on the sea pipe section to be measured can be the center point of the cross-section pipe at the measurement center position, and the measurement center position is the position of the bending vertex of the sea pipe section to be measured, that is, reconstructed into a three-dimensional model of the measuring pipe section with the center point of the cross-section pipe at the measurement center position as the three-dimensional coordinate origin, and the model is analyzed and calculated to obtain the morphological characteristic values ​​and appearance of the pipe section. Surface shape and position deviation; wherein, the pipe segment morphological characteristic value may include: the bending direction, bending angle and layout position of the subsea pipeline segment to be measured; the outer surface shape and position deviation may include: diameter deviation and ovality. In other words, the pipe segment bending angle, deformation range, maximum deformation and position, outer diameter deviation, ovality and other data required for the design and installation of maintenance and emergency pipe clamps can be obtained. A measurement result report can also be generated. According to the design requirements of subsequent pipe clamps and their construction tooling and plans, an independent and copyable 3D model file of the measured pipe segment in standard formats such as Step, IGES or DWG is generated to complete the precise deformation measurement of the subsea pipeline.

[0045] See also Figure 4 , which is a flowchart of measuring the outer surface points of the subsea pipeline section to be measured corresponding to the current axial measurement point, provided by an embodiment of the present invention. As shown in the figure, in the pipe section scanning step S120, the outer surface points of the subsea pipeline section to be measured corresponding to each axial measurement point are measured one by one, and the outer surface point of the subsea pipeline section to be measured corresponding to the current axial measurement point is measured, specifically including: Sub-step S121: Set M radial measurement positions on the measurement reference circle where the current axial measurement point is located, and record the rotation angle of each radial measurement position as the circumferential rotation angle of the outer surface point of the subsea pipeline section to be measured corresponding to the current radial measurement position; wherein M is a positive integer greater than or equal to 3; wherein, on the cross section of the measurement reference cylindrical surface where the current axial measurement point is located, the cross section of the measurement reference cylindrical surface serves as the measurement reference circle where the current axial measurement point is located.

[0046] Specifically, first, M radial measurement points can be arranged on the measurement reference circle where the current axial measurement point is located. These M radial measurement points can be equally spaced along the circumference of the measurement reference circle where the previous axial measurement point is located. That is, the angle α between two adjacent radial measurement points is α = 360° / M. M can be a positive integer determined based on practical circumstances, particularly M ≥ 3. This embodiment does not impose any restrictions on the specific value of M. This embodiment uses an α of 1° as an example, meaning M is 360. Other values ​​are also possible and are not limited in this embodiment. Then, based on the position of each radial measurement position, the rotation angle of each radial measurement position can be recorded as the circumferential rotation angle of the outer surface point of the subsea pipeline section to be measured corresponding to the current radial measurement position. For example, with the 12 o'clock position as the reference, the first radial measurement position can be located at the 12 o'clock position, and its rotation angle is 0°. Then, the circumferential rotation angle of the outer surface point of the subsea pipeline section to be measured corresponding to the current radial measurement position is 0°. Similarly, the rotation angle of each radial measurement position relative to the 12 o'clock position is recorded in sequence in a clockwise or counterclockwise direction. For example, the circumferential rotation angle of the outer surface point of the subsea pipeline section to be measured corresponding to the i-th radial measurement position is (i-1)°, where i is a positive integer less than or equal to M. The cross section of the measurement reference cylindrical surface is a cross section perpendicular to the axial direction of the measurement reference cylindrical surface.

[0047] Sub-step S122, measuring each radial measurement position one by one, and obtaining the relative radial deviation of the outer surface point of the subsea pipeline section to be measured corresponding to each radial measurement position; wherein, on the cross-section of the measurement reference cylindrical surface at the current axial measurement point, the outer surface point of the subsea pipeline section to be measured in the radial direction of the measurement reference circle passing through the current radial measurement position is the outer surface point of the subsea pipeline section to be measured corresponding to the current radial measurement position, and the relative radial deviation is the distance from the outer surface point of the subsea pipeline section to be measured corresponding to the current radial measurement position to the measurement reference circle.

[0048] Specifically, each radial measurement position can be measured one by one to obtain the relative radial deviation of the outer surface point of the subsea pipeline section to be measured corresponding to each radial measurement position; to facilitate recording and improve measurement efficiency, preferably, the measurement reference cylindrical surface can be rotated along the circumference and each radial measurement position can be measured one by one. For example, each radial measurement position can be measured one by one in a clockwise or counterclockwise direction to obtain the relative radial deviation of the outer surface point of the subsea pipeline section to be measured corresponding to each radial measurement position, that is, the radial distance Li from the outer surface point of the subsea pipeline section to be measured corresponding to the i-th radial measurement position on the measurement reference circle to the measurement reference cylindrical surface, that is, the radial distance Li from the i-th radial measurement position Ai on the measurement reference circle to the outer surface point Ai' of the subsea pipeline section to be measured corresponding to the i-th radial measurement position.

[0049] In this embodiment, each radial measurement position is measured one by one to obtain the relative radial deviation of the outer surface point of the subsea pipeline section to be measured corresponding to each radial measurement position. Specifically, a radially extendable member, initially located at the current radial measurement position, is extended and retracted along the radial direction of the measurement reference circle until the retractable end of the radially extendable member presses against the outer wall of the subsea pipeline section to be measured. The retractable displacement of the radially extendable member is then obtained as the relative radial deviation of the outer surface point of the subsea pipeline section to be measured corresponding to the current radial measurement position. Specifically, in this embodiment, the radially extendable member can be arranged radially along the annular turret 2 at the cross section where the current axial measurement point is located. First, the radially extendable member is placed at the current radial measurement position, e.g., the i-th radial measurement position. That is, the retractable end of the radially extendable member is placed at the initial retractable position. When the retractable end of the radially extendable member is at the initial retractable position, the distance between the retractable end of the radially extendable member and the center position O of the measurement reference circle is the radius of the measurement reference circle. In other words, the initial retractable position of the retractable end of the radially extendable member is at the current radial measurement position on the measurement reference circle, i.e., the i-th radial measurement position. Then, the telescopic end of the radial telescopic member is driven to extend radially toward the center position O of the measurement reference circle of the circular rotating frame 2 until the telescopic end of the radial telescopic member presses against the outer surface point of the subsea pipeline section to be measured, that is, the outer surface point Ai' of the subsea pipeline section to be measured corresponding to the i-th radial measurement position Ai on the measurement reference circle; finally, the extension displacement of the telescopic end of the radial telescopic member is obtained, that is, the radial distance Li from the i-th radial measurement position Ai on the measurement reference circle to the outer surface point Ai' of the subsea pipeline section to be measured corresponding to the i-th radial measurement position, that is, the relative radial deviation of the outer surface point of the subsea pipeline section to be measured corresponding to the i-th radial measurement position. In this way, each radial measurement position is measured.

[0050] In summary, the deformation measurement method of a damaged bent submarine pipeline in service provided by this embodiment is as follows: by installing a circular rotating frame on the outer periphery of the submarine pipeline section to be measured, the circular rotating frame can be used as a virtual measurement reference cylindrical surface surrounding the outer periphery of the submarine pipeline to be measured, forming a physical measurement reference cylindrical surface to realize measurement as a reference; when measuring different axial measurement points, the axial movement of the circular rotating frame can be used as a physical reference for each axial measurement point; by arranging N axial measurement points on the submarine pipeline section to be measured along the axis of the circular rotating frame, and The method uses a circular rotating frame to measure the outer surface points of the subsea pipeline section to be measured one by one, corresponding to each axial measurement point, to achieve three-dimensional scanning and obtain three-dimensional model data of the measured pipeline section based on the measurement reference cylindrical surface. The three-dimensional model data of the measured pipeline section based on the measurement reference cylindrical surface is then analyzed and converted to reconstruct a three-dimensional digital model of the measured pipeline section with a preset point on the subsea pipeline section to be measured as the three-dimensional coordinate origin. The morphological characteristic values ​​of the pipeline section and the shape and position deviations of the outer surface are calculated to complete the deformation measurement of the submarine pipeline, thus solving the problem of inaccurate and inefficient deformation measurement of damaged and curved submarine pipelines in use. In particular, this method can achieve unmanned, fully automatic, accurate and efficient external inspection of damaged and curved submarine pipeline sections in high turbidity and low visibility underwater environments, generate a precise three-dimensional digital model of the outer surface of the measured pipeline section, calculate its morphological characteristic values ​​and shape and position deviations, and control the measurement deviation to the millimeter level. This provides a favorable basis and guarantee for the design, manufacture and installation of subsequent maintenance and repair pipe clamps, and solves the problems of measurement difficulty, low accuracy and low efficiency of existing measurement equipment and methods.

[0051] System Example: See also Figure 5 , which is a structural block diagram of a deformation measurement system for a damaged curved submarine pipeline in use provided by an embodiment of the present invention. As shown in the figure, the system 200 includes: The frame installation module 210 is used to install a circular rotating frame on the subsea pipeline section to be tested, using light-assisted manual alignment or acoustic / optical semi-automatic alignment in conjunction with mechanical guidance and positioning, so that the circular rotating frame surrounds the outer circumference of the subsea pipeline to be tested. The circular rotating frame serves as a virtual measurement reference cylindrical surface surrounding the outer circumference of the subsea pipeline to be tested.

[0052] The pipe section scanning module 220 is configured to arrange N axial measurement points on the subsea pipeline section to be measured along the axis of the circular turret, and to measure each outer surface point of the subsea pipeline section to be measured corresponding to each axial measurement point, thereby obtaining three-dimensional model data of the measured pipe section based on the measurement reference cylindrical surface. The three-dimensional model data of the measured pipe section based on the measurement reference cylindrical surface includes the axial displacement of each axial measurement point, and the relative radial deviation and circumferential rotation angle of multiple circumferential outer surface points of the subsea pipeline section to be measured corresponding to each axial measurement point. N is a positive integer greater than or equal to 3. The data analysis module 230 is used to analyze and convert the three-dimensional model data of the measuring pipe section based on the measurement reference cylindrical surface, reconstruct the three-dimensional digital model of the measuring pipe section with a preset point on the subsea pipeline section to be measured as the three-dimensional coordinate origin, and calculate the morphological characteristic values ​​and external surface shape and position deviations of the pipe section to complete the deformation measurement of the submarine pipeline.

[0053] Preferably, when measuring the outer surface points of the subsea pipeline section to be measured corresponding to each axial measurement point one by one, measuring the outer surface point of the subsea pipeline section to be measured corresponding to the current axial measurement point specifically includes: M radial measurement positions are set on the measurement reference circle where the current axial measurement point is located, and the rotation angle of each radial measurement position is recorded as the circumferential rotation angle of the outer surface point of the subsea pipeline section to be measured corresponding to the current radial measurement position; wherein M is a positive integer greater than or equal to 3; wherein, on the cross section of the measurement reference cylindrical surface where the current axial measurement point is located, the cross section of the measurement reference cylindrical surface is used as the measurement reference circle where the current axial measurement point is located; Each radial measurement position is measured one by one to obtain the relative radial deviation of the outer surface point of the subsea pipeline section to be measured corresponding to each radial measurement position; wherein, on the cross section of the measurement reference cylindrical surface where the current axial measurement point is located, the outer surface point of the subsea pipeline section to be measured in the radial direction of the measurement reference circle passing through the current radial measurement position is the outer surface point of the subsea pipeline section to be measured corresponding to the current radial measurement position, and the relative radial deviation is the distance from the outer surface point of the subsea pipeline section to be measured corresponding to the current radial measurement position to the measurement reference circle.

[0054] Further preferably, each radial measurement position is measured one by one to obtain the relative radial deviation of the outer surface point of the subsea pipeline section to be measured corresponding to each radial measurement position, specifically: the radial telescopic member whose initial telescopic position is located at the current radial measurement position is telescoped along the radial direction of the measurement reference circle until the telescopic end of the radial telescopic member presses against the outer wall of the subsea pipeline section to be measured, and the telescopic displacement of the radial telescopic member is obtained as the relative radial deviation of the outer surface point of the subsea pipeline section to be measured corresponding to the current radial measurement position.

[0055] Further preferably, the measuring of each radial measurement position one by one is specifically: rotating along the circumference of the measurement reference cylindrical surface, and measuring each radial measurement position one by one.

[0056] Preferably, the outer surface points of the subsea pipeline section to be measured corresponding to each axial measurement point are measured one by one, specifically: along the axial direction of the measurement reference cylindrical surface, from one end to the other end of the subsea pipeline section to be measured, the outer surface points of the subsea pipeline section to be measured corresponding to each axial measurement point are measured one by one.

[0057] Preferably, the three-dimensional model data of the measuring pipe section based on the measurement reference cylindrical surface also includes: the axial pitch inclination and lateral roll inclination of the circular rotating frame; wherein, based on the inclination measurement of the circular rotating frame, the axial pitch inclination and lateral roll inclination of the circular rotating frame are obtained.

[0058] Preferably, the pipe segment morphological characteristic values ​​include: the bending direction, bending angle and arrangement position of the subsea pipeline segment to be measured, and the outer surface shape and position deviation includes: diameter deviation and ovality.

[0059] Preferably, the preset point on the subsea pipeline section to be measured is the center point of the cross-section pipe at the measurement center position, and the measurement center position is the bending apex position of the subsea pipeline section to be measured.

[0060] Electronic device embodiment See also Figure 6 , which is a schematic diagram of the structure of an electronic device provided by an exemplary embodiment of the present invention. As shown in the figure, the electronic device 300 includes one or more processors 310 and a memory 320.

[0061] The processor 310 may be a central processing unit (CPU) or other forms of processing units having data processing capabilities and / or instruction execution capabilities, and may control other components in the electronic device to perform desired functions.

[0062] The memory 320 may include one or more computer program products, which may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may, for example, include random access memory (RAM) and / or cache memory (cache), etc. The non-volatile memory may, for example, include read-only memory (ROM), a hard disk, a flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 310 may execute the program instructions to implement the methods of the software programs of the various embodiments of the present invention described above and / or other desired functions. In one example, the electronic device may further include: an input device 330 and an output device 340, and these components are interconnected via a bus system and / or other forms of connection mechanisms (not shown).

[0063] In addition, the input device 330 may also include, for example, a keyboard, a mouse, and the like.

[0064] The output device 340 can output various information to the outside. The output device 340 can include, for example, a display, a speaker, a printer, a communication network and a remote output device connected thereto.

[0065] Of course, to simplify, Figure 6Only some of the components related to the present invention in the electronic device are shown, and components such as a bus, an input / output interface, etc. are omitted. In addition, the electronic device may further include any other appropriate components according to specific application conditions.

[0066] Computer program product and computer-readable storage medium embodiments In addition to the above-mentioned methods and devices, an embodiment of the present invention may also be a computer program product, which includes computer program instructions, which, when executed by a processor, enable the processor to perform the steps of the method according to various embodiments of the present invention described in the above "Exemplary Method" section of this specification.

[0067] The computer program product may be written in any combination of one or more programming languages ​​to implement the operations of embodiments of the present invention, including object-oriented programming languages ​​such as Java, C++, and conventional procedural programming languages ​​such as C or similar programming languages. The program code may be executed entirely on the user's computing device, partially on the user's computing device, as a stand-alone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0068] In addition, an embodiment of the present invention may also be a computer-readable storage medium having computer program instructions stored thereon, which, when executed by a processor, enable the processor to execute the steps of the method according to various embodiments of the present invention described in the above "Exemplary Method" section of this specification.

[0069] The computer-readable storage medium can adopt any combination of one or more readable media. The readable medium can be a readable signal medium or a readable storage medium. The readable storage medium can, for example, include but is not limited to a system, system or device of electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination thereof. More specific examples (non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof.

[0070] The basic principles of the present invention have been described above in conjunction with specific embodiments. However, it should be noted that the advantages, strengths, and effects mentioned in the present invention are merely illustrative and non-limiting, and should not be construed as necessarily possessed by each embodiment of the present invention. Furthermore, the specific details disclosed above are provided for illustrative purposes and to facilitate understanding, and are not intended to be limiting. These details do not necessarily limit the present invention to being implemented using these specific details.

[0071] Each embodiment in this specification is described in a progressive manner, with each embodiment focusing on its differences from the other embodiments. References to the same or similar parts between the various embodiments are sufficient. For system embodiments, since they largely correspond to method embodiments, their description is relatively simple. For relevant parts, references to the description of the method embodiments are sufficient.

[0072] The block diagrams of the devices, systems, equipment, and systems involved in the present invention are merely illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. As will be appreciated by those skilled in the art, these devices, systems, equipment, and systems can be connected, arranged, or configured in any manner. Words such as "including," "comprising," "having," and the like are open-ended words, meaning "including but not limited to," and can be used interchangeably therewith. The words "or" and "and" used herein refer to the words "and / or" and can be used interchangeably therewith, unless the context clearly indicates otherwise. The word "such as" used herein refers to the phrase "such as but not limited to," and can be used interchangeably therewith.

[0073] The method and system of the present invention may be implemented in many ways. For example, the method and system of the present invention may be implemented by software, hardware, firmware, or any combination of software, hardware, and firmware. The above sequence of steps for the method is for illustration only, and the steps of the method of the present invention are not limited to the sequence specifically described above, unless otherwise specified. In addition, in some embodiments, the present invention may also be implemented as a program recorded in a recording medium, which includes machine-readable instructions for implementing the method according to the present invention. Thus, the present invention also covers recording media that store programs for executing the method according to the present invention.

[0074] It should also be noted that, in the system, device and method of the present invention, each component or each step can be decomposed and / or recombined. These decompositions and / or recombinations should be regarded as equivalent schemes of the present invention. The above description of the disclosed aspects is provided to enable any technician in this field to make or use the present invention. Various modifications to these aspects will be very obvious to those skilled in the art, and the general principles defined here can be applied to other aspects without departing from the scope of the present invention. Therefore, the present invention is not intended to be limited to the aspects shown here, but according to the widest scope consistent with the principles disclosed here and novel features.

[0075] The above description has been provided for the purpose of illustration and description. Furthermore, this description is not intended to limit the embodiments of the present invention to the forms disclosed herein. Although a number of example aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, alterations, additions, and sub-combinations thereof.

Claims

1. A method for measuring deformation of a damaged bent submarine pipeline in use, characterized in that: The steps include: The frame installation step adopts a light-assisted manual alignment or an acoustic / optical semi-automatic alignment method, in conjunction with a mechanical guidance positioning method, to set up a circular rotating frame on the subsea pipeline section to be tested, so that the circular rotating frame surrounds the outer circumference of the subsea pipeline to be tested, and the circular rotating frame serves as a virtual measurement reference cylindrical surface surrounding the outer circumference of the subsea pipeline to be tested; The pipe section scanning step comprises arranging N axial measurement points on the subsea pipe section to be measured along the axis of the circular rotating frame, and measuring the outer surface points of the subsea pipe section to be measured corresponding to each axial measurement point one by one, and obtaining the three-dimensional model data of the measured pipe section based on the measurement reference cylindrical surface; wherein the three-dimensional model data of the measured pipe section based on the measurement reference cylindrical surface includes: the axial displacement of each axial measurement point, and the relative radial deviation and circumferential rotation angle of multiple circumferential outer surface points of the subsea pipe section to be measured corresponding to each axial measurement point; wherein N is a positive integer greater than or equal to 3; The data analysis step is to analyze and convert the three-dimensional model data of the measuring pipe section based on the measurement reference cylindrical surface, reconstruct the three-dimensional digital model of the measuring pipe section with the preset point on the sea pipe section to be measured as the three-dimensional coordinate origin, and calculate the morphological characteristic values ​​of the pipe section and the shape and position deviation of the outer surface to complete the deformation measurement of the submarine pipeline.

2. The deformation measurement method of a damaged bent submarine pipeline in use according to claim 1, characterized in that: When measuring the outer surface points of the subsea pipeline section to be measured corresponding to each axial measurement point one by one, measuring the outer surface point of the subsea pipeline section to be measured corresponding to the current axial measurement point specifically includes: M radial measurement positions are set on the measurement reference circle where the current axial measurement point is located, and the rotation angle of each radial measurement position is recorded as the circumferential rotation angle of the outer surface point of the subsea pipeline section to be measured corresponding to the current radial measurement position; wherein M is a positive integer greater than or equal to 3; wherein, on the cross section of the measurement reference cylindrical surface where the current axial measurement point is located, the cross section of the measurement reference cylindrical surface is used as the measurement reference circle where the current axial measurement point is located; Each radial measurement position is measured one by one to obtain the relative radial deviation of the outer surface point of the subsea pipeline section to be measured corresponding to each radial measurement position; wherein, on the cross section of the measurement reference cylindrical surface where the current axial measurement point is located, the outer surface point of the subsea pipeline section to be measured in the radial direction of the measurement reference circle passing through the current radial measurement position is the outer surface point of the subsea pipeline section to be measured corresponding to the current radial measurement position, and the relative radial deviation is the distance from the outer surface point of the subsea pipeline section to be measured corresponding to the current radial measurement position to the measurement reference circle.

3. The deformation measurement method of a damaged bent submarine pipeline in use according to claim 2, characterized in that: The method of measuring each radial measurement position one by one to obtain the relative radial deviation of the outer surface point of the subsea pipeline section to be measured corresponding to each radial measurement position is specifically as follows: The radial telescopic member, whose initial telescopic position is located at the current radial measurement position, is telescoped radially along the measurement reference circle until the telescopic end of the radial telescopic member presses against the outer wall of the subsea pipeline section to be measured, and the telescopic displacement of the radial telescopic member is obtained as the relative radial deviation of the outer surface point of the subsea pipeline section to be measured corresponding to the current radial measurement position.

4. The deformation measurement method of a damaged bent submarine pipeline in use according to claim 2, characterized in that: The step of measuring each radial measurement position one by one specifically includes: rotating along the circumferential direction of the measuring reference cylindrical surface, and measuring each radial measurement position one by one.

5. The deformation measurement method of a damaged bent submarine pipeline in use according to any one of claims 1 to 4, characterized in that: The outer surface points of the subsea pipeline section to be measured corresponding to each axial measurement point are measured one by one, specifically: Along the axial direction of the measuring reference cylindrical surface, from one end to the other end of the subsea pipeline section to be measured, the outer surface points of the subsea pipeline section to be measured corresponding to each axial measuring point are measured one by one.

6. The deformation measurement method of a damaged bent submarine pipeline in use according to any one of claims 1 to 4, characterized in that: The measurement pipe section three-dimensional model data based on the measurement reference cylindrical surface also includes: the axial pitch inclination angle and the lateral roll inclination angle of the circular ring rotating frame; wherein, based on the inclination measurement of the circular ring rotating frame, the axial pitch inclination angle and the lateral roll inclination angle of the circular ring rotating frame are obtained.

7. The deformation measurement method of a damaged bent submarine pipeline in use according to any one of claims 1 to 4, characterized in that: The pipe segment morphological characteristic values ​​include: the bending direction, bending angle and layout position of the subsea pipe segment to be measured, and the outer surface shape and position deviation includes: diameter deviation and ovality.

8. The deformation measurement method of a damaged bent submarine pipeline in use according to any one of claims 1 to 4, characterized in that: The preset point on the subsea pipeline section to be measured is the center point of the cross-section pipe at the measurement center position, and the measurement center position is the bending apex position of the subsea pipeline section to be measured.

9. A deformation measurement system for a damaged bent submarine pipeline in use, characterized in that: include: The frame installation module is used to set up a circular rotating frame on the subsea pipeline section to be tested of the subsea pipeline to be tested by adopting a light-assisted manual alignment or an acoustic / optical semi-automatic alignment method in combination with a mechanical guidance positioning method, so that the circular rotating frame surrounds the outer circumference of the subsea pipeline to be tested, and the circular rotating frame serves as a virtual measurement reference cylindrical surface surrounding the outer circumference of the subsea pipeline to be tested; The pipe section scanning module is used to arrange N axial measurement points on the subsea pipe section to be measured along the axis of the circular rotating frame, and measure the outer surface points of the subsea pipe section to be measured corresponding to each axial measurement point one by one, and obtain the three-dimensional model data of the measured pipe section based on the measurement reference cylindrical surface; wherein the three-dimensional model data of the measured pipe section based on the measurement reference cylindrical surface includes: the axial displacement of each axial measurement point, and the relative radial deviation and circumferential rotation angle of multiple circumferential outer surface points of the subsea pipe section to be measured corresponding to each axial measurement point; wherein N is a positive integer greater than or equal to 3; The data analysis module is used to analyze and convert the three-dimensional model data of the measuring pipe section based on the measurement reference cylindrical surface, reconstruct the three-dimensional digital model of the measuring pipe section with the preset point on the sea pipe section to be measured as the three-dimensional coordinate origin, and calculate the morphological characteristic value of the pipe section and the shape and position deviation of the outer surface to complete the deformation measurement of the submarine pipeline.

10. The deformation measurement method of a damaged bent submarine pipeline in use according to claim 9, characterized in that: When measuring the outer surface points of the subsea pipeline section to be measured corresponding to each axial measurement point one by one, measuring the outer surface point of the subsea pipeline section to be measured corresponding to the current axial measurement point specifically includes: M radial measurement positions are set on the measurement reference circle where the current axial measurement point is located, and the rotation angle of each radial measurement position is recorded as the circumferential rotation angle of the outer surface point of the subsea pipeline section to be measured corresponding to the current radial measurement position; wherein M is a positive integer greater than or equal to 3; wherein, on the cross section of the measurement reference cylindrical surface where the current axial measurement point is located, the cross section of the measurement reference cylindrical surface is used as the measurement reference circle where the current axial measurement point is located; Each radial measurement position is measured one by one to obtain the relative radial deviation of the outer surface point of the subsea pipeline section to be measured corresponding to each radial measurement position; wherein, on the cross section of the measurement reference cylindrical surface where the current axial measurement point is located, the outer surface point of the subsea pipeline section to be measured in the radial direction of the measurement reference circle passing through the current radial measurement position is the outer surface point of the subsea pipeline section to be measured corresponding to the current radial measurement position, and the relative radial deviation is the distance from the outer surface point of the subsea pipeline section to be measured corresponding to the current radial measurement position to the measurement reference circle.

11. The deformation measurement method of a damaged bent submarine pipeline in use according to claim 10, characterized in that: The method of measuring each radial measurement position one by one to obtain the relative radial deviation of the outer surface point of the subsea pipeline section to be measured corresponding to each radial measurement position is specifically as follows: The radial telescopic member, whose initial telescopic position is located at the current radial measurement position, is telescoped radially along the measurement reference circle until the telescopic end of the radial telescopic member presses against the outer wall of the subsea pipeline section to be measured, and the telescopic displacement of the radial telescopic member is obtained as the relative radial deviation of the outer surface point of the subsea pipeline section to be measured corresponding to the current radial measurement position.

12. The deformation measurement method of a damaged bent submarine pipeline in use according to claim 10, characterized in that: The step of measuring each radial measurement position one by one specifically includes: rotating along the circumferential direction of the measuring reference cylindrical surface, and measuring each radial measurement position one by one.

13. The deformation measurement method of a damaged bent submarine pipeline in use according to any one of claims 9 to 12, characterized in that: The outer surface points of the subsea pipeline section to be measured corresponding to each axial measurement point are measured one by one, specifically: Along the axial direction of the measuring reference cylindrical surface, from one end to the other end of the subsea pipeline section to be measured, the outer surface points of the subsea pipeline section to be measured corresponding to each axial measuring point are measured one by one.

14. The deformation measurement method of a damaged bent submarine pipeline in use according to any one of claims 9 to 12, characterized in that: The measurement pipe section three-dimensional model data based on the measurement reference cylindrical surface also includes: the axial pitch inclination angle and the lateral roll inclination angle of the circular ring rotating frame; wherein, based on the inclination measurement of the circular ring rotating frame, the axial pitch inclination angle and the lateral roll inclination angle of the circular ring rotating frame are obtained.

15. The deformation measurement method of a damaged bent submarine pipeline in use according to any one of claims 9 to 12, characterized in that: The pipe segment morphological characteristic values ​​include: the bending direction, bending angle and layout position of the subsea pipe segment to be measured, and the outer surface shape and position deviation includes: diameter deviation and ovality.

16. The deformation measurement method of a damaged bent submarine pipeline in use according to any one of claims 9 to 12, characterized in that: The preset point on the subsea pipeline section to be measured is the center point of the cross-section pipe at the measurement center position, and the measurement center position is the bending apex position of the subsea pipeline section to be measured.

17. A computer-readable storage medium, characterized in that: The storage medium stores a computer program, and the computer program is used to execute the method according to any one of claims 1 to 8.

18. An electronic device, characterized in that: The electronic device comprises: processor; a memory for storing instructions executable by the processor; The processor is used to read the executable instructions from the memory and execute the instructions to implement the method according to any one of claims 1 to 8.

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