Method and device for monitoring three-dimensional displacement of oil and gas pipeline

Abstract

The invention discloses a three-dimensional displacement monitoring method and device for an oil and gas pipeline, and relates to the field of oil and gas pipeline displacement monitoring, the method is applied to a data processing module in the three-dimensional displacement monitoring device for the oil and gas pipeline, and the three-dimensional displacement monitoring device for the oil and gas pipeline comprises a mainframe box which is provided with a wire outlet; the data acquisition module, the data processing module, the power supply module and the three stay wire type sensors are located in the mainframe box, and the stay wire free ends of the three stay wire type sensors penetrate through the wire outlet and are connected with different measuring points on the surface of the pipeline respectively; the method comprises the following steps: acquiring an initial coordinate value of each measuring point in a pipeline in a preset local coordinate system; receiving the initial lengths of the three stay wires and the length variation of the three stay wires sent by the data acquisition module; according to the initial coordinate value, the initial length and the length variable quantity, displacement change components of the pipeline displacement in the X axis, the Y axis and the Z axis are obtained. The monitoring precision can be improved.

Description

Technical Field

[0001] The present application relates to the field of oil and gas pipeline displacement monitoring, and particularly to a three-dimensional displacement monitoring method and device for oil and gas pipelines. Background Art

[0002] Currently, by installing a Global Navigation Satellite System (GNSS) receiver on the pipeline body and performing differential resolution in combination with a GNSS reference station, the measurement of pipeline displacement can be achieved. The pipeline displacement monitoring based on GNSS technology theoretically has an accuracy of up to the millimeter level. However, for buried pipelines, the soil above the pipe crown will generate a strong non-linear resistance to the metal rod connecting the pipeline body and the GNSS receiver. This resistance seriously interferes with the monitoring process, resulting in a large deviation between the displacement situation reflected by the monitoring data and the actual displacement of the pipeline, and ultimately greatly reducing the monitoring accuracy. Summary of the Invention

[0003] The purpose of the present application is to provide a three-dimensional displacement monitoring method and device for oil and gas pipelines, which can improve the monitoring accuracy.

[0004] To achieve the above purpose, the present application provides the following solutions: In the first aspect, the present application provides a three-dimensional displacement monitoring method for oil and gas pipelines. The method is applied to a data processing module in a three-dimensional displacement monitoring device for oil and gas pipelines. The three-dimensional displacement monitoring device for oil and gas pipelines includes: a main chassis, on which an outlet is provided; a data acquisition module, a data processing module, a power supply module, and three wire-pulling sensors located inside the main chassis. The free ends of the wires of the three wire-pulling sensors pass through the outlet and are respectively connected to different measuring points on the pipeline surface. The method includes: Obtaining the initial coordinate values of each measuring point in the pipeline in a preset local coordinate system; wherein, the origin of the preset local coordinate system is the outlet, the X-axis of the preset local coordinate system is the horizontal direction, the Z-axis of the preset local coordinate system is the gravity direction, and the Y-axis of the preset local coordinate system is the normal direction of the plane where the X-axis and the Z-axis are located; Receiving the initial lengths of the three wires and the length changes of the three wires sent by the data acquisition module; Obtaining the displacement change components of the pipeline displacement in the X-axis, the Y-axis, and the Z-axis according to the initial coordinate values, the initial lengths, and the length changes.

[0005] In the second aspect, the present application provides a three-dimensional displacement monitoring device for oil and gas pipelines. The three-dimensional displacement monitoring device for oil and gas pipelines includes: A main chassis, on which an outlet is provided; A data acquisition module, a data processing module, a power supply module and three wire-pulling sensors located inside the main chassis. The free ends of the wires of the three wire-pulling sensors pass through the wire outlet and are respectively connected to different measuring points on the surface of the pipeline. The power supply module is respectively connected to the data acquisition module, the data processing module and the three wire-pulling sensors. The data acquisition module is respectively connected to the data processing module and the three wire-pulling sensors. The data acquisition module is used to acquire the initial lengths of the wires in the three wire-pulling sensors, and after detecting a change in the wire length, obtain the amount of change in the lengths of the three wires, and send the initial length and the amount of change in length to the data processing module. The data processing module is used to obtain the initial coordinate values of each of the measuring points in a preset local coordinate system. The origin of the preset local coordinate system is the wire outlet. The X-axis of the preset local coordinate system is the horizontal direction, the Z-axis of the preset local coordinate system is the gravity direction, and the Y-axis of the preset local coordinate system is the normal direction of the plane where the X-axis and the Z-axis are located. Obtain the displacement change components of the pipeline displacement in the X-axis, the Y-axis and the Z-axis according to the initial coordinate values, the received initial length and the amount of change in length.

[0006] According to the specific embodiments provided by the present application, the following technical effects are disclosed in the present application: The present application provides a three-dimensional displacement monitoring method and device for an oil and gas pipeline. This method is applied to the data processing module in the three-dimensional displacement monitoring device for an oil and gas pipeline. The three-dimensional displacement monitoring device for an oil and gas pipeline includes: a main chassis with a wire outlet provided thereon; a data acquisition module, a data processing module, a power supply module and three wire-pulling sensors located inside the main chassis. The free ends of the wires of the three wire-pulling sensors pass through the wire outlet and are respectively connected to different measuring points on the surface of the pipeline. The method includes: obtaining the initial coordinate values of each measuring point in the pipeline in a preset local coordinate system; wherein, the origin of the preset local coordinate system is the wire outlet, the X-axis of the preset local coordinate system is the horizontal direction, the Z-axis of the preset local coordinate system is the gravity direction, and the Y-axis of the preset local coordinate system is the normal direction of the plane where the X-axis and the Z-axis are located; receiving the initial lengths of the three wires and the amount of change in the lengths of the three wires sent by the data acquisition module; obtaining the displacement change components of the pipeline displacement in the X-axis, the Y-axis and the Z-axis according to the initial coordinate values, the initial length and the amount of change in length. Among them, since the on-site installation mainly includes fixing the main chassis and fixing the wires led out from the main chassis to the corresponding measuring points on the surface of the pipeline, the portability of the installation of the monitoring equipment is improved. Since the wire-pulling sensor has a high resolution and measurement accuracy, and since when obtaining the displacement change components, the established coordinate system can accurately describe the three-dimensional motion law of the pipeline displacement, the monitoring accuracy is improved. Description of the Drawings

[0007] To more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0008] Figure 1 It is a schematic diagram of the functional modules of a three-dimensional displacement monitoring device for oil and gas pipelines shown according to an exemplary embodiment; Figure 2 It is a schematic diagram of the main chassis in a three-dimensional displacement monitoring device for oil and gas pipelines shown according to an exemplary embodiment Figure 1 ; Figure 3 It is a schematic diagram of the main chassis in a three-dimensional displacement monitoring device for oil and gas pipelines shown according to an exemplary embodiment Figure 2 ; Figure 4 It is a schematic diagram of the main chassis in a three-dimensional displacement monitoring device for oil and gas pipelines shown according to an exemplary embodiment Figure 3 ; Figure 5 It is a schematic diagram of the main chassis in a three-dimensional displacement monitoring device for oil and gas pipelines shown according to an exemplary embodiment Figure 4 ; Figure 6 It is a schematic diagram of an oil and gas pipeline shown according to an exemplary embodiment; Figure 7 It is a schematic diagram of the spatial position relationship of a single outlet monitoring configuration shown according to an exemplary embodiment; Figure 8 It is a schematic diagram of the spatial position relationship of a three-outlet monitoring configuration shown according to an exemplary embodiment; Figure 9 It is a schematic diagram of the functional modules of a three-dimensional displacement monitoring device for oil and gas pipelines shown according to an exemplary embodiment; Figure 10 It is a schematic diagram of the accuracy verification simulation of a solution algorithm shown according to an exemplary embodiment; Figure 11 It is a schematic diagram of the process of a three-dimensional displacement monitoring method for oil and gas pipelines shown according to an exemplary embodiment. Detailed implementation manners

[0009] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without creative efforts shall fall within the protection scope of the present application.

[0010] To make the above objects, features, and advantages of the present application more obvious and understandable, the present application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0011] The laying distance of long-distance oil and gas pipelines is long, and the geological environment along the line is complex. The soil load and disturbance around the pipeline will cause the pipeline to undergo forced displacement and damage. In addition, the operating conditions (temperature and pressure) of the pipeline and their changes will cause the pipeline to generate axial and radial displacements to varying degrees, increase additional stress, and reduce the safety level of the pipeline. Therefore, monitoring the three-dimensional displacement of the pipeline, dynamically grasping the in-situ state of the pipeline body, and early warning of the displacement critical point of the pipeline have important practical significance for ensuring the safe operation of oil and gas pipelines.

[0012] The three-dimensional displacement monitoring of oil and gas pipelines is still in its infancy, and the main monitoring technologies include: I. Pipeline displacement monitoring based on distributed optical fiber sensing technology.

[0013] By laying a single optical cable on the outer surface of the pipeline PE layer or the soil around the pipeline, the measurement of pipeline deformation or soil displacement along the pipeline can be realized. The pipeline displacement monitoring based on distributed optical fiber sensing can achieve distributed continuous measurement in space, but it cannot achieve three-dimensional displacement monitoring of the pipeline, and is limited by the optical fiber range, and the displacement range that can be monitored is small. Once the displacement exceeds the range, the optical fiber is extremely easy to be broken.

[0014] II. Pipeline displacement monitoring based on GNSS technology.

[0015] By installing a GNSS receiver on the pipeline body and performing differential solution of the GNSS reference station and the receiver, the pipeline displacement measurement can be realized. The theoretical accuracy of the pipeline displacement monitoring based on GNSS technology can reach the millimeter level, but for buried pipelines, limited by the strong non-linear resistance of the soil above the pipeline to the metal rod connecting the pipeline body and the receiver, the monitored displacement shown in the monitoring data is very different from the actual displacement of the pipeline; and for crossing pipelines such as tunnel crossings, limited by the lack of GNSS signals, this type of technology is not applicable.

[0016] III. Pipeline displacement monitoring based on crack gauges.

[0017] Three crack gauges perpendicular to each other are arranged in the space around the pipeline and connected to the pipeline through pipe clamps to achieve three-dimensional displacement measurement of the pipeline. The cost of pipeline displacement monitoring based on crack gauges is relatively low, but the installation is complex, and the rigid connection makes it easy to damage the crack gauges and connection devices due to large pipeline displacements.

[0018] In summary, the existing pipeline displacement monitoring technologies have the disadvantages of small monitoring range, low monitoring accuracy, and complex installation.

[0019] To solve the above technical problems, the present disclosure proposes a three-dimensional displacement monitoring method and device for oil and gas pipelines.

[0020] Figure 1 It is a schematic diagram of the functional modules of a three-dimensional displacement monitoring device for oil and gas pipelines shown according to an exemplary embodiment. As Figure 1 shown, the three-dimensional displacement monitoring device for oil and gas pipelines includes: A main chassis 1, on which an outlet ( Figure 1 not shown in the figure) is provided; inside the main chassis 1, three wire-pulling sensors 2, a data acquisition module 3, a data processing module 4, and a power supply module 5 are provided. The free ends of the wires of the three wire-pulling sensors 2 pass through the outlet and are respectively connected to different measuring points on the pipeline surface; as Figure 2 shown, the number of outlets 11 can be one. As Figure 3 shown, in this case, the free ends of the wires of the three wire-pulling sensors 2 pass through this one outlet 11 and are respectively connected to different measuring points in the pipeline, as Figure 4 shown, the number of outlets 11 can be 3. When the number of outlets 11 is 3, as Figure 5 shown, each wire-pulling sensor 2 corresponds to one outlet 11. That is, each wire-pulling sensor 2 passes through one outlet 11 and is connected to the corresponding measuring point on the pipeline surface.

[0021] As Figure 6 shown, fixing rings can be set at the measuring point positions on the pipeline, and then the hooks at the free ends of the wires can be hooked to the fixing rings corresponding to the measuring points. For example, the fixing rings can be welded or pasted on the pipeline surface.

[0022] The power supply module 5 is respectively connected to the three wire-pulling sensors 2, the data acquisition module 3, and the data processing module 4. The power supply module 5 is the power supply part in the whole system, and its function is to process the externally input electric energy, stably output the voltage and current suitable for the operation of each module, and provide power support for the wire-pulling sensors 2, the data acquisition module 3, and the data processing module 4 to ensure their normal operation.

[0023] The data acquisition module 3 is respectively connected to three wire-pulling sensors 2 and the data processing module 4. The data acquisition module 3 is used to collect the initial lengths of the wires in the three wire-pulling sensors 2, and after detecting the change in the wire length, obtain the amount of change in the lengths of the three wires, and send the initial length and the amount of change in length to the data processing module 4.

[0024] The data processing module 4 is used to obtain the initial coordinate values of each measuring point in the pipeline in the preset local coordinate system, and obtain the displacement change components of the pipeline displacement in the X-axis, Y-axis, and Z-axis according to the initial coordinate values, the received initial length, and the amount of change in length. Among them, the origin of the preset local coordinate system is the wire outlet 11, the X-axis of the preset local coordinate system is the horizontal direction, the Z-axis of the preset local coordinate system is the gravity direction, and the Y-axis of the preset local coordinate system is the normal direction of the plane where the X-axis and the Z-axis are located.

[0025] The present application has the following advantages: (1) Wide range: Introducing the characteristic that the wire-pulling sensor is not limited by the range, the pipeline displacement monitoring range can reach the meter level.

[0026] (2) High precision: On the one hand, the wire-pulling sensor has a high resolution and high measurement accuracy; secondly, the established monitoring data calculation algorithm has a high accuracy, and the calculation accuracy is approximately 99.9%.

[0027] (3) High sensitivity: On the one hand, the wire-pulling sensor has a high sensitivity, and secondly, the established monitoring data calculation algorithm has good robustness, fast convergence, and high efficiency, and only 0.1 s is required for a single calculation.

[0028] (4) Easy to deploy: The on-site installation mainly includes fixing the main chassis and fixing the wires led out from the main chassis to the corresponding positions on the pipeline surface, which is very convenient and easy to use.

[0029] The following introduces the specific implementation steps for obtaining the displacement change components of the pipeline displacement in the X-axis, Y-axis, and Z-axis when there is one wire outlet 11 in the main chassis: As Figure 7 shown, in the single wire outlet 11 monitoring configuration, the data acquisition module 3 is used to collect the initial lengths of the wires in the three wire-pulling sensors 2. After calibration measurement, the initial lengths of the three wires are respectively L1, L2, and L3. The coordinates of the three wires and the measuring points on the pipeline surface are respectively (x1, y1, z1), (x2, y2, z2), and (x3, y3, z3). The amounts of change in the lengths of the three wires caused by the pipeline displacement are respectively recorded as dL1, dL2, and dL3. These are the observed values. From this, the lengths of the three wires can be obtained as L1 + dL1, L2 + dL2, and L3 + dL3 respectively.

[0030] Taking the displacement change components of the X-axis, Y-axis, and Z-axis as independent variables, and the initial lengths and length change amounts of the guy wires corresponding to each measuring point, as well as the initial coordinate values corresponding to each measuring point as constant terms, a non-linear equation for each guy wire is established based on the Pythagorean theorem.

[0031] After the oil and gas pipeline undergoes displacement, the displacement change components of the pipeline displacement along the X-axis, Y-axis, and Z-axis of the local coordinate system are respectively denoted as Δx, Δy, and Δz. These are the values to be determined. Thus, the coordinates of the three guy wires and the measuring points on the pipeline surface become (x1 + Δx, y1 + Δy, z1 + Δz), (x2 + Δx, y2 + Δy, z2 + Δz), and (x3 + Δx, y3 + Δy, z3 + Δz); In the Euler space of the preset local coordinate system, based on the Pythagorean theorem, uniqueness equations are established for the three guy wires respectively, and a non-linear equation system (1) is obtained:

[0032] Among them, L1 is the initial length of the first guy wire; L2 is the initial length of the second guy wire; L3 is the initial length of the third guy wire; dL1 is the length change amount of the first guy wire after pipeline displacement; dL2 is the length change amount of the second guy wire after pipeline displacement; dL3 is the length change amount of the third guy wire after pipeline displacement; (x1, y1, z1) is the initial coordinate value of the measuring point in the pipeline corresponding to the first guy wire relative to the outlet 11; (x2, y2, z2) is the initial coordinate value of the measuring point in the pipeline corresponding to the second guy wire relative to the outlet 11; (x3, y3, z3) is the initial coordinate value of the measuring point in the pipeline corresponding to the third guy wire relative to the outlet 11; Δx, Δy, and Δz respectively represent the displacement change components of the pipeline displacement along the X-axis, Y-axis, and Z-axis.

[0033] The non-linear equation system (1) is sorted out to obtain the non-linear equation system (2): ; (2) Solve the non-linear equation system composed of non-linear equations to obtain the displacement change components of the X-axis, Y-axis, and Z-axis.

[0034] Specifically, the Jacobi matrix of the non-linear equation system can be obtained; From the non-linear equation (2), the corresponding Jacobi matrix (3) can be obtained:

[0035] Among them, 、 and are the displacement change components of the pipeline displacement along the X-axis, Y-axis, and Z-axis obtained by the k-th solution.

[0036] Construct a Newton iteration formula based on the independent variable, the Jacobian matrix of the nonlinear equations, and the nonlinear equations.

[0037] The above nonlinear equations (2) are general spherical nonlinear equations and can be solved using the Newton iteration algorithm.

[0038] In the Newton iteration algorithm, the above nonlinear equations (2) are expressed as , that is, in this disclosure,

[0039] For the nonlinear equations , let be a numerical solution of, then The Taylor expansion at is: ; ; where represents the higher-order small quantity of the Taylor expansion; Ignoring the higher-order small quantity in the above equation, we can obtain: ; Further transformation gives: ; From this, we can obtain the Newton iteration formula (4) in numerical iterative calculation: ; (4) where can be understood as the solution of the previous step obtained last time, can be understood as the latest solution.

[0040] In the above formula is the Jacobi matrix of: .

[0041] where is obtained by substituting into , , ……, respectively represent each equation in, .

[0042] Obtain the displacement change components of the X-axis, Y-axis, and Z-axis through the Newton iteration formula with the preset initial solution of the independent variable.

[0043] Specifically, by giving any initial solution , for example, (0, 0, 0), combining the comprehensive non-linear equation system (2), the Newton iteration formula (3), and the Jacobian matrix (4), the numerical solutions of Δx, Δy, and Δz can be iteratively calculated and solved. Specifically: Given the preset initial solution of the independent variable, at the initial stage, the preset initial solution here can represent the previous solution; According to the previous solution, obtain the results of each non-linear equation; According to the previous solution, obtain the result of the Jacobian matrix; According to the previous solution, the result of the non-linear equation, and the result of the Jacobian matrix, use the Newton iteration formula to obtain the latest solution; Detect whether the difference between the latest solution and the previous solution is less than the preset accuracy; If the difference between the latest solution and the previous solution is less than the preset accuracy, determine that the latest solution is the displacement change components of the pipeline displacement on the X-axis, Y-axis, and Z-axis; If the difference between the latest solution and the previous solution is greater than or equal to the preset accuracy, use the latest solution as the previous solution, replace the previous solution, and recalculate the latest solution until the difference between the calculated latest solution and the previous solution is less than the preset accuracy.

[0044] Specifically: with the preset initial solution of the independent variable , obtain the results of each non-linear equation , as well as the result of the Jacobian matrix ; According to the preset initial solution of the independent variable , the result of the non-linear equation , and the result of the Jacobian matrix , use the Newton iteration formula to obtain the latest solution ; Detect whether the difference between the latest solution and the preset initial solution is less than the preset accuracy; If the latest solution and the preset initial solution have a difference less than the preset accuracy, determine that the latest solution is the displacement change components on the X-axis, Y-axis, and Z-axis; If the difference between the latest solution and the preset initial solution is greater than or equal to the preset accuracy, use the latest solution as the previous solution and recalculate the latest solution , until the difference between the calculated latest solution and the previous solution is less than the preset accuracy.

[0045] The following are the specific implementation steps for obtaining the displacement change components of the pipeline in the X-axis, Y-axis, and Z-axis when there are three wire outlets 11 in the main chassis 1: As Figure 8 shown, Figure 8 the figure shows the monitoring configuration of the three wire outlets 11. Among the Figure 8 three points, they correspond to the three wire outlets 11. The leftmost point is the leftmost wire outlet 11, the middle point is the middle wire outlet 11, and the rightmost point is the rightmost wire outlet 11. The origin of the preset local coordinate system can be any one of these three wire outlets 11. In the following embodiments, Figure 8 the leftmost wire outlet 11 in the figure is used as the origin of the preset local coordinate system.

[0046] From left to right, they are the wire outlet 11 corresponding to the first wire rope, the wire outlet 11 corresponding to the second wire rope, and the wire outlet 11 corresponding to the third wire rope. The data acquisition module 3 is used to collect the initial lengths of the wire ropes in the three wire rope type sensors 2. After calibration measurement, the coordinates of the wire outlet 11 corresponding to the second wire rope are (cx2, cy2, cz2), and the coordinates of the wire outlet 11 corresponding to the third wire rope are (cx3, cy3, cz3). The initial lengths of the three wire ropes obtained by calibration measurement are L1, L2, and L3 respectively; the coordinates of the measurement points on the pipeline surface of the three wire ropes are (x1, y1, z1), (x2, y2, z2), and (x3, y3, z3) respectively.

[0047] Taking the displacement change components in the X-axis, Y-axis, and Z-axis as independent variables, and taking the initial lengths and length changes of the wire ropes corresponding to each measurement point, as well as the initial coordinate values corresponding to each measurement point as constant terms, a non-linear equation for each wire rope is established based on the Pythagorean theorem.

[0048] After the oil and gas pipeline undergoes displacement, the displacement change components of the pipeline along the X-axis, Y-axis, and Z-axis in the local coordinate system are respectively denoted as Δx, Δy, and Δz. These are the values to be obtained. It can be obtained that the coordinates of the measurement points on the pipeline surface of the three wire ropes become (x1 + Δx, y1 + Δy, z1 + Δz), (x2 + Δx, y2 + Δy, z2 + Δz), and (x3 + Δx, y3 + Δy, z3 + Δz) respectively. The length changes of the three wire ropes caused by the pipeline displacement are respectively denoted as dL1, dL2, and dL3. These are the observed values. It can be obtained that the lengths of the three wire ropes become L1 + dL1, L2 + dL2, and L3 + dL3 respectively.

[0049] In the Euler space of the preset local coordinate system, based on the Pythagorean theorem, uniqueness equations are established for the three wire ropes respectively, and a non-linear equation system (5) is obtained:

[0050] Wherein, L1 is the initial length of the first stay wire; L2 is the initial length of the second stay wire; L3 is the initial length of the third stay wire; dL1 is the length change of the first stay wire after the pipeline displacement; dL2 is the length change of the second stay wire after the pipeline displacement; dL3 is the length change of the third stay wire after the pipeline displacement; (x1, y1, z1) is the initial coordinate value of the measuring point in the pipeline corresponding to the first stay wire relative to the left outlet 11; (x2, y2, z2) is the initial coordinate value of the measuring point in the pipeline corresponding to the second stay wire relative to the left outlet 11; (x3, y3, z3) is the initial coordinate value of the measuring point in the pipeline corresponding to the third stay wire relative to the left outlet 11; (cx2, cy2, cz2) is the initial coordinate value of the outlet 11 of the second stay wire relative to the left outlet 11; (cx3, cy3, cz3) is the initial coordinate value of the outlet 11 of the third stay wire relative to the left outlet 11; Δx, Δy, and Δz respectively represent the displacement change components of the pipeline displacement along the X-axis, Y-axis, and Z-axis.

[0051] The nonlinear equation set (5) is sorted out to obtain the nonlinear equation set (6):

[0052] Solve the nonlinear equation set (6) to obtain the displacement change components of the X-axis, Y-axis, and Z-axis.

[0053] Specifically, the Jacobi matrix of the nonlinear equation set can be obtained; From the nonlinear equation (6), the corresponding Jacobi matrix (7) can be obtained:

[0054] Wherein, 、 and are the displacement change components of the pipeline displacement in the X-axis, Y-axis, and Z-axis obtained by the k-th solution.

[0055] Construct a Newton iteration formula according to the independent variable, the Jacobi matrix of the nonlinear equation set, and the nonlinear equation set.

[0056] The above nonlinear equation set (6) is a general spherical nonlinear equation set, and the Newton iteration algorithm can be used for solving. The specific solving method is similar to that in the above embodiments, and will not be elaborated here.

[0057] The relevant control equations derived and established in the present disclosure can accurately describe the three-dimensional motion law of the pipeline displacement, thereby improving the monitoring accuracy.

[0058] In the present disclosure, in order to ensure the measurement accuracy, the angle between every two stay wires is greater than 20 degrees.

[0059] If the measurement distance is relatively far and the wire-drawing length of the wire-drawing type sensor itself is not enough, the present disclosure also provides two implementation structures: The first one: Each wire-drawing type sensor also corresponds to a return force structure, and the return force structure includes: a return force rope and a return force adjustment structure; the return force adjustment structure is located inside the main chassis, one end of the return force rope is connected to the return force adjustment structure, the other end of the return force rope passes through the corresponding wire outlet and is connected to the corresponding measurement point, and a wire-drawing fixing part is also arranged at a position close to the other end in the return force rope, and the wire-drawing fixing part is connected to the free end of the wire-drawing of the corresponding wire-drawing type sensor.

[0060] When the measurement distance exceeds the wire-drawing length of the wire-drawing type sensor itself, the return force structure is used to indirectly realize the measurement of the measurement point at a farther distance, and at the same time, the return force adjustment structure is used to ensure the stability and accuracy of the measurement.

[0061] The return force rope is a key component connecting the return force adjustment structure and the measurement point. One end of the return force rope is connected to the return force adjustment structure located inside the main chassis, and the other end passes through the corresponding wire outlet of the main chassis and is connected to the corresponding measurement point. The function of the return force rope is to transmit the displacement change of the measurement point to the wire-drawing type sensor. The return force adjustment structure is located inside the main chassis, and its main function is to adjust the tension of the return force rope. By reasonably adjusting the tension of the return force rope, it can be ensured that the return force rope will not be slack or overly taut when transmitting the displacement of the measurement point, thereby ensuring the accuracy of the measurement. The wire-drawing fixing part is arranged at a position of the return force rope close to the measurement point, and its function is to connect the return force rope and the free end of the wire-drawing of the corresponding wire-drawing type sensor. In this way, when the measurement point has a displacement, the movement of the return force rope will drive the movement of the wire-drawing of the wire-drawing type sensor, and then the wire-drawing type sensor can measure the displacement change.

[0062] When the measurement point has a displacement, the return force rope connected to the measurement point will move accordingly. Since the wire-drawing fixing part connects the return force rope and the free end of the wire-drawing of the wire-drawing type sensor together, the movement of the return force rope will pull the wire-drawing of the wire-drawing type sensor. The wire-drawing type sensor measures the displacement change of the measurement point according to the telescopic amount of the wire-drawing. At the same time, the return force adjustment structure can adjust the tension of the return force rope according to the actual situation to adapt to different measurement environments and requirements.

[0063] The second one, a corresponding extension rope can be set for each wire-drawing type sensor, one end of the extension rope is connected to the free end of the wire-drawing of the corresponding wire-drawing type sensor, and the other end of the extension rope is connected to the corresponding measurement point. Exemplarily, the extension rope can be a steel wire rope.

[0064] When the measurement point has a displacement, the extension rope connected to the measurement point will transmit the displacement to the wire-drawing of the wire-drawing type sensor. Since the extension rope is directly connected to the wire-drawing of the wire-drawing type sensor, the displacement change of the measurement point will be directly reflected as the telescopic of the wire-drawing of the wire-drawing type sensor.

[0065] In one embodiment, as Figure 9 shown, it further includes: a communication module 6; The data processing module is connected to the communication module; The communication module is used to send the displacement change components of the pipeline displacement calculated by the data processing module in the X-axis, Y-axis, and Z-axis to a remote terminal device.

[0066] The communication module can pack and send the displacement change components of the pipeline displacement in the X-axis, Y-axis, and Z-axis through a specific communication protocol and transmission method (such as wireless communication technologies such as 4G, 5G, Wi-Fi, etc., or wired communication methods such as Ethernet, etc.). The remote terminal device can be a computer, a server, a mobile terminal, etc., located far from the data acquisition and processing site. In this way, relevant personnel can view and analyze the data of these displacement change components in real time on the remote terminal device, understand the status of the monitored object of the system, so as to discover problems in time and take corresponding measures.

[0067] In an implementable manner, the communication module can also be connected to the data acquisition module. At this time, the steps of determining the displacement change components of the pipeline displacement in the X-axis, Y-axis, and Z-axis are calculated by a remote server. Then, the communication module can send the relevant data required for the calculation to the server.

[0068] The present disclosure also analyzes the calculation accuracy and calculation efficiency of the monitoring data calculation algorithm proposed in the present disclosure, and the results are as Figure 10 shown. In terms of calculation accuracy, the coincidence degree between the calculated value and the measured value reaches 99.9%, indicating that the calculation algorithm has extremely high calculation accuracy. Among them, the calculated value is the result calculated based on the solution of the present disclosure, the measured value is the result measured by using other devices (such as a three-dimensional laser scanner), the Δx calculated value is the displacement change component of the pipeline displacement along the X-axis calculated based on the solution of the present disclosure, the Δy calculated value is the displacement change component of the pipeline displacement along the Y-axis calculated based on the solution of the present disclosure, the Δz calculated value is the displacement change component of the pipeline displacement along the Z-axis calculated based on the solution of the present disclosure, the Δx measured value is the displacement change component of the pipeline displacement along the X-axis measured by using other devices (such as a three-dimensional laser scanner), the Δy measured value is the displacement change component of the pipeline displacement along the Y-axis measured by using other devices (such as a three-dimensional laser scanner), and the Δz measured value is the displacement change component of the pipeline displacement along the Z-axis measured by using other devices (such as a three-dimensional laser scanner). In terms of calculation efficiency, only 5 iterations are required to reach 99.9% accuracy, and the calculation time is only 0.1 s, indicating that the surface calculation algorithm has extremely high calculation efficiency and can meet the requirements of dynamic monitoring.

[0069] Figure 11is a flowchart of a three-dimensional displacement monitoring method for an oil and gas pipeline shown according to an exemplary embodiment. As Figure 11 shown, this method is applied to the data processing module in the three-dimensional displacement monitoring device for an oil and gas pipeline in any of the above embodiments. This method includes the following steps S101 - S103: In step S101, obtain the initial coordinate values of each measuring point in the pipeline in a preset local coordinate system; wherein, the origin of the preset local coordinate system is the outlet, the X-axis of the preset local coordinate system is the horizontal direction, the Z-axis of the preset local coordinate system is the gravity direction, and the Y-axis of the preset local coordinate system is the normal direction of the plane where the X-axis and the Z-axis are located; In step S102, receive the initial lengths of the three stay wires and the length changes of the three stay wires; In step S103, obtain the displacement change components of the pipeline displacement in the X-axis, Y-axis, and Z-axis according to the initial coordinate values, the initial lengths, and the length changes.

[0070] In one embodiment, the obtaining the displacement change components of the pipeline displacement in the X-axis, the Y-axis, and the Z-axis according to the initial coordinate values, the received initial lengths, and the length changes includes: Taking the displacement change components in the X-axis, the Y-axis, and the Z-axis as independent variables, and taking the initial lengths and the length changes of the stay wires corresponding to each measuring point, and the initial coordinate values corresponding to each measuring point as constant terms, establish a non-linear equation for each stay wire based on the Pythagorean theorem; Solve the non-linear equation system composed of the non-linear equations to obtain the displacement change components in the X-axis, the Y-axis, and the Z-axis.

[0071] In one embodiment, the solving the non-linear equation system composed of the non-linear equations to obtain the displacement change components in the X-axis, the Y-axis, and the Z-axis includes: Obtain the Jacobian matrix of the non-linear equation system; Construct a Newton iteration formula according to the independent variables, the Jacobian matrix, and the non-linear equation system; Using the preset initial solution of the independent variables, obtain the displacement change components in the X-axis, the Y-axis, and the Z-axis through the Newton iteration formula.

[0072] In one embodiment, the using the preset initial solution of the independent variables to obtain the displacement change components in the X-axis, the Y-axis, and the Z-axis through the Newton iteration formula includes: According to the solution of the previous step, obtain the result of each non-linear equation and the result of the Jacobian matrix; in the initial stage, the solution of the previous step is the preset initial solution; Obtain the latest solution using the Newton iteration formula based on the result of the previous step solution, the result of the non-linear equation, and the result of the Jacobian matrix; Detect whether the difference between the latest solution and the previous step solution is less than a preset accuracy; If the difference between the latest solution and the previous step solution is less than the preset accuracy, determine that the latest solution is the displacement change components of the X-axis, Y-axis, and Z-axis; If the difference between the latest solution and the previous step solution is greater than or equal to the preset accuracy, replace the previous step solution with the latest solution and recalculate the latest solution until the difference between the calculated latest solution and the previous step solution is less than the preset accuracy.

[0073] In one embodiment, the angle between every two of the stay wires is greater than 20 degrees.

[0074] In one embodiment, the wire outlet is one or three; When the wire outlet is three, each of the wire-type sensors corresponds to one of the wire outlets, and the origin of the preset local coordinate system is any one of the wire outlets.

[0075] In one embodiment, each of the wire-type sensors further corresponds to a return force structure, and the return force structure includes: a return force rope and a return force adjustment structure; The return force adjustment structure is located inside the main chassis. One end of the return force rope is connected to the return force adjustment structure, and the other end of the return force rope passes through the corresponding wire outlet and is connected to the corresponding measurement point. A wire fixing part is further provided at a position close to the other end of the return force rope, and the wire fixing part is connected to the free end of the wire of the corresponding wire-type sensor.

[0076] In one embodiment, each of the wire-type sensors further corresponds to an extension rope. One end of the extension rope is connected to the free end of the wire of the corresponding wire-type sensor, and the other end of the extension rope is connected to the corresponding measurement point.

[0077] In one embodiment, it further includes: a communication module; The data processing module is connected to the communication module; The power supply module is connected to the communication module; The communication module is used to send the displacement change components of each measurement point in the X-axis, Y-axis, and Z-axis calculated by the data processing module to a remote terminal device.

[0078] The specific limitations in the embodiments of the three-dimensional displacement monitoring method for oil and gas pipelines provided in this embodiment can be referred to the limitations of the three-dimensional displacement monitoring device for oil and gas pipelines in the above text, and will not be elaborated here.

[0079] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope recorded in this specification.

[0080] Specific examples are used in this article to elaborate on the principles and implementation manners of the present application. The description of the above embodiments is only used to help understand the method and its core idea of the present application; at the same time, for those of ordinary skill in the art, according to the idea of the present application, there will be changes in the specific implementation manners and application scopes. In summary, the content of this specification should not be construed as a limitation to the present application.

Claims

1. A three-dimensional displacement monitoring method for oil and gas pipelines, characterized in that, The method is applied to a data processing module in a three-dimensional displacement monitoring device for an oil and gas pipeline. The three-dimensional displacement monitoring device for the oil and gas pipeline includes: a main chassis, with an outlet provided on the main chassis; a data acquisition module, the data processing module, a power supply module, and three wire-pulling sensors located inside the main chassis. The free ends of the wires of the three wire-pulling sensors pass through the outlet and are respectively connected to different measuring points on the pipeline surface. The method includes: Obtaining the initial coordinate values of each measuring point in the pipeline in a preset local coordinate system. Wherein, the origin of the preset local coordinate system is the outlet, the X-axis of the preset local coordinate system is the horizontal direction, the Z-axis of the preset local coordinate system is the gravity direction, and the Y-axis of the preset local coordinate system is the normal direction of the plane where the X-axis and the Z-axis are located; Receiving the initial lengths of the three wires and the length changes of the three wires sent by the data acquisition module; Obtaining the displacement change components of the pipeline displacement in the X-axis, the Y-axis, and the Z-axis according to the initial coordinate values, the initial lengths, and the length changes; 2. The three-dimensional displacement monitoring method for oil and gas pipelines according to claim 1, characterized in that The obtaining the displacement change components of the pipeline displacement in the X-axis, the Y-axis, and the Z-axis according to the initial coordinate values, the received initial lengths, and the length changes includes: Taking the displacement change components in the X-axis, the Y-axis, and the Z-axis as independent variables, and taking the initial lengths and the length changes of the wires corresponding to each measuring point, and the initial coordinate values corresponding to each measuring point as constant terms, to establish a non-linear equation for each wire; Solving the non-linear equation system composed of the non-linear equations to obtain the displacement change components in the X-axis, the Y-axis, and the Z-axis; 3. The three-dimensional displacement monitoring method for oil and gas pipelines according to claim 2, wherein The solving the non-linear equation system composed of the non-linear equations to obtain the displacement change components in the X-axis, the Y-axis, and the Z-axis includes: Obtaining the Jacobian matrix of the non-linear equation system; Constructing a Newton iteration formula according to the independent variables, the Jacobian matrix, and the non-linear equation system; Taking the preset initial solution of the independent variables, and obtaining the displacement change components in the X-axis, the Y-axis, and the Z-axis through the Newton iteration formula; 4. The three-dimensional displacement monitoring method for oil and gas pipelines according to claim 3, characterized in that, The taking the preset initial solution of the independent variables, and obtaining the displacement change components in the X-axis, the Y-axis, and the Z-axis through the Newton iteration formula includes: According to the solution of the previous step, obtaining the results of each non-linear equation and the results of the Jacobian matrix; in the initial stage, the solution of the previous step is the preset initial solution; According to the solution of the previous step, the results of the non-linear equation, and the results of the Jacobian matrix, obtaining the latest solution by using the Newton iteration formula; Detecting whether the difference between the latest solution and the solution of the previous step is less than a preset precision; If the difference between the latest solution and the solution of the previous step is less than the preset precision, determining the latest solution as the displacement change components in the X-axis, the Y-axis, and the Z-axis; If the difference between the latest solution and the previous solution is greater than or equal to the preset accuracy, replace the previous solution with the latest solution and recalculate the latest solution until the difference between the calculated latest solution and the previous solution is less than the preset accuracy.

5. The three-dimensional displacement monitoring method for oil and gas pipelines according to claim 1, wherein The wire outlet is one or three; When the wire outlet is three, each of the wire-pulling sensors corresponds to one of the wire outlets, and the origin of the preset local coordinate system is any one of the wire outlets.

6. A three-dimensional displacement monitoring device for oil and gas pipelines, characterized in that, The three-dimensional displacement monitoring device for the oil and gas pipeline includes: A main chassis, on which a wire outlet is provided; A data acquisition module, a data processing module, a power supply module and three wire-pulling sensors located in the main chassis. The free ends of the wires of the three wire-pulling sensors pass through the wire outlet and are respectively connected to different measuring points on the pipeline surface; The data acquisition module is used to acquire the initial lengths of the wires in the three wire-pulling sensors, and after detecting the change in the wire length, obtain the length changes of the three wires, and send the initial lengths and the length changes to the data processing module; The data processing module is used to obtain the initial coordinate values of each measuring point in the preset local coordinate system. The origin of the preset local coordinate system is the wire outlet. The X-axis of the preset local coordinate system is the horizontal direction, the Z-axis of the preset local coordinate system is the gravity direction, and the Y-axis of the preset local coordinate system is the normal direction of the plane where the X-axis and the Z-axis are located; obtain the displacement change components of the pipeline displacement in the X-axis, the Y-axis and the Z-axis according to the initial coordinate values, the received initial lengths and the length changes.

7. The three-dimensional displacement monitoring device for oil and gas pipelines according to claim 6, characterized in that, In terms of obtaining the displacement change components of the pipeline displacement in the X-axis, the Y-axis and the Z-axis according to the initial coordinate values, the received initial lengths and the length changes, the data processing module specifically is used for: Taking the displacement change components of the X-axis, the Y-axis and the Z-axis as independent variables, and taking the initial lengths and the length changes of the wires corresponding to each measuring point, and the initial coordinate values corresponding to each measuring point as constant terms, establish a non-linear equation for each wire; Solve the non-linear equation system composed of the non-linear equations to obtain the displacement change components of the X-axis, the Y-axis and the Z-axis.

8. The three-dimensional displacement monitoring device for oil and gas pipelines according to claim 7, characterized in that, In terms of solving the non-linear equation system composed of the non-linear equations to obtain the displacement change components of the X-axis, the Y-axis and the Z-axis, the data processing module specifically is used for: Obtain the Jacobian matrix of the non-linear equation system; Construct a Newton iteration formula according to the independent variables, the Jacobian matrix and the non-linear equation system; Using the preset initial solution of the independent variables, obtain the displacement change components of the X-axis, the Y-axis and the Z-axis through the Newton iteration formula.

9. The three-dimensional displacement monitoring device for oil and gas pipelines according to claim 8, wherein, In terms of using the preset initial solution of the independent variables to obtain the displacement change components of the X-axis, the Y-axis and the Z-axis through the Newton iteration formula, the data processing module specifically is used for: According to the solution of the previous step, obtain the result of each of the non-linear equations and the result of the Jacobian matrix; in the initial stage, the solution of the previous step is the preset initial solution. According to the solution of the previous step, the result of the non-linear equation, and the result of the Jacobian matrix, use the Newton iteration formula to obtain the latest solution. Detect whether the difference between the latest solution and the solution of the previous step is less than the preset accuracy. If the difference between the latest solution and the solution of the previous step is less than the preset accuracy, determine that the latest solution is the displacement change components of the X-axis, the Y-axis, and the Z-axis. If the difference between the latest solution and the solution of the previous step is greater than or equal to the preset accuracy, use the latest solution to replace the solution of the previous step and recalculate the latest solution until the difference between the calculated latest solution and the solution of the previous step is less than the preset accuracy.

10. The three-dimensional displacement monitoring device for oil and gas pipelines according to claim 6, wherein, The angle between every two of the stay wires is greater than 20 degrees.

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