Submarine pipeline suspended span state simulation detection device and method

Abstract

The invention provides a submarine pipeline suspended span state simulation detection device and method, and the device comprises a spherical inner detector which comprises a housing, an acceleration sensor and an acceleration detection unit, and the acceleration sensor and the acceleration detection unit are disposed in the housing. The acceleration detection unit comprises a plurality of accelerometers which are distributed in different directions in the shell and a timing signal source which is synchronously and electrically connected with the plurality of accelerometers; the simulation detection system comprises a second power supply, an air pump, a buffer pipeline, a bending experiment pipeline and a vibration experiment pipeline, the second power supply is electrically connected with the air pump, and the vibration experiment pipeline is provided with a vibration exciter used for exciting the vibration experiment pipeline to simulate vortex-induced vibration of the suspended-span submarine pipeline. The buffer pipeline, the bending experiment pipeline and the vibration experiment pipeline form an open loop; and the data acquisition and analysis system is used for performing data analysis based on the motion data acquired by the spherical inner detector.

Description

Technical Field

[0001] The present invention relates to a simulation detection device and method, and particularly to a simulation detection device and method for the suspended span state of a subsea pipeline, belonging to the technical field of pipeline state simulation detection. Background Technique

[0002] As an important infrastructure for the development and transportation of marine oil and gas resources, the safe operation of subsea pipelines is of great significance for marine resource development and national energy security. Due to the complex and variable seabed topography, combined with the influence of factors such as seabed water flow scouring and seabed landslides, subsea pipelines are prone to the suspended span state. The subsea pipeline in the suspended span state will generate vortex-induced vibration under the action of water flow. Long-term vibration will lead to fatigue damage of the pipeline, and in severe cases, it may even cause pipeline rupture and leakage, resulting in significant economic losses and environmental pollution.

[0003] At present, the detection of the suspended span state of subsea pipelines mainly relies on two methods: external detection by submersibles and internal detection by intelligent pigging tools. Although the external detection by submersibles is intuitive, it is limited by the complexity of the marine environment, with high operation costs, low efficiency, and unable to achieve large-scale continuous detection. Although the internal detection technology can achieve full-line detection of pipelines, the existing intelligent pigging tools are mainly designed for the detection of pipeline corrosion, deformation and other defects, and there are still deficiencies in the detection accuracy and reliability of the suspended span state. In addition, due to the complexity and unpredictability of the actual seabed environment, it is extremely difficult to develop and verify the suspended span detection method directly in the seabed environment. And the existing laboratory simulation devices are mostly designed for specific working conditions, difficult to comprehensively simulate various states such as pipeline bending and vibration, and lack of consideration of the dynamic response characteristics of internal detectors, resulting in the laboratory research results being difficult to effectively guide practical applications.

[0004] Therefore, there is an urgent need for an experimental device and method that can effectively simulate the suspended span state of subsea pipelines and achieve accurate detection of the suspended span state, providing a reliable means for the development and verification of subsea pipeline suspended span state detection technology. Summary of the Invention

[0005] Based on the above background, the purpose of the present invention is to provide a simulation detection device and method for the suspended span state of a subsea pipeline to solve the problems described in the background technique.

[0006] To achieve the above-mentioned invention purpose, the present invention provides the following technical solutions:

[0007] A simulation detection device for the suspended span state of a subsea pipeline, comprising:

[0008] A spherical internal detector, the spherical internal detector includes a housing and an acceleration sensor and an acceleration detection unit disposed within the housing, the acceleration detection unit includes a plurality of accelerometers distributed in different directions inside the housing and a timing signal source synchronously and electrically connected to the plurality of accelerometers;

[0009] An analog detection system, the analog detection system includes a second power source, an air pump, a buffer pipeline, a bending test pipeline, and a vibration test pipeline, the second power source is electrically connected to the air pump, the vibration test pipeline is provided with an exciter for exciting the vibration test pipeline to simulate the vortex-induced vibration of a suspended submarine pipeline, the buffer pipeline, the bending test pipeline, and the vibration test pipeline form an open-loop circuit, the starting end of the open-loop circuit is a ball sending port, the ending end of the open-loop circuit is a ball receiving port, and the air pump is communicated with the ball sending port;

[0010] A data acquisition and analysis system, the data acquisition and analysis system is used for performing data analysis based on the motion data obtained by the spherical internal detector.

[0011] Preferably, the spherical internal detector further includes a first power source, a data storage unit, and a control unit, the first power source is electrically connected to the acceleration sensor, the acceleration detection unit, the data storage unit, and the control unit.

[0012] Preferably, the bending test pipeline is used for simulating the suspended state of a submarine pipeline, the bending test pipeline has a concave arc section and a convex arc section, and both the concave arc section and the convex arc section are formed by a three-point support structure located at different positions of the bending test pipeline.

[0013] Preferably, the vibration test pipeline is further provided with a laser displacement sensor for real-time monitoring of the displacement change of the vibration test pipeline, and a processor for controlling the excitation frequency and excitation amplitude of the exciter, the processor is electrically connected to the exciter and the laser displacement sensor respectively.

[0014] Preferably, the data acquisition and analysis system includes a data preprocessing module, a fault diagnosis module, and a predictive maintenance module, the data preprocessing module is used for performing data cleaning and standardization processing on the motion data transmitted by the spherical internal detector, the fault diagnosis module is used for performing feature extraction on the data after being standardized by the data preprocessing module, so as to perform fault mode recognition and fault location on the simulated suspended submarine pipeline, and the predictive maintenance module is used for predicting the maintenance requirements and generating a maintenance plan for the simulated suspended submarine pipeline according to the data after being standardized by the data preprocessing module.

[0015] A method for simulating and detecting the suspended state of a submarine pipeline by using the above-mentioned submarine pipeline suspended state simulation detection device, including the following steps:

[0016] After filling the spherical internal detector with liquid, deploy it to the starting end of the open-loop circuit of the simulation detection system;

[0017] Start the air pump to enable the spherical internal detector to enter the bending test pipeline and the vibration test pipeline through the buffer pipeline, and collect motion data during the movement. The spherical internal detector transmits the motion data to the data acquisition and analysis system;

[0018] Perform bending detection and vibration detection based on the motion data through the data acquisition and analysis system.

[0019] Preferably, the bending detection includes:

[0020] Establish a pipeline coordinate system, a sensor coordinate system, and an internal detector coordinate system;

[0021] Determine the transformation relationships between the coordinate systems, including the transformation matrix from the internal detector coordinate system to the pipeline coordinate system and the transformation matrix from the internal detector coordinate system to the sensor coordinate system; wherein, the transformation matrix is related to the rotational angular frequency of the internal detector and the sensor installation angle;

[0022] When the spherical internal detector passes through the bending test pipeline, its moving speed changes, resulting in a change in the angular frequency, and further causing changes in the frequency and amplitude of the acceleration signal. Evaluate the pipeline bending state by analyzing the frequency of the AC component or the amplitude of the DC component of the acceleration signal.

[0023] Preferably, the vibration detection includes:

[0024] Use the exciter to control the frequency range of the vibration of the vibration test pipeline for vibration characteristic detection;

[0025] The acceleration signal of the spherical internal detector presents a characteristic pattern related to the gravitational acceleration, the excitation frequency, and the vibration amplitude;

[0026] Determine the vibration parameters by analyzing the characteristic pattern of the acceleration signal.

[0027] Compared with the prior art, the present invention has the following advantages:

[0028] A simulation detection device and method for the suspended span state of a subsea pipeline according to the present invention have both bending detection and vibration detection functions, and can comprehensively simulate two main characteristics in the suspended span state of a subsea pipeline; the spherical internal detector is designed with accelerometers distributed in multiple directions, and a single timing signal source is used to ensure synchronous data acquisition. The simulation detection system can flexibly simulate various bending forms and vibration frequencies through an innovative three-point support structure and a controllable excitation device, achieving precise simulation of complex subsea environmental conditions; at the same time, the data acquisition and analysis system establishes an accurate correspondence between the detector movement and the pipeline state, and through the analysis of the alternating component frequency and the direct current component amplitude, realizes the quantitative evaluation of the pipeline suspended span state, improving the detection accuracy and reliability. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only the embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on the provided drawings.

[0030] Figure 1 is a schematic structural diagram of the spherical internal detector in a simulation detection device for the suspended span state of a subsea pipeline according to the present invention;

[0031] Figure 2 is a schematic structural diagram of the simulation detection system in a simulation detection device for the suspended span state of a subsea pipeline according to the present invention;

[0032] Figure 3 is a schematic structural diagram of the bending test pipeline in a simulation detection device for the suspended span state of a subsea pipeline according to the present invention;

[0033] Figure 4 is a flowchart of the bending detection in the present invention;

[0034] Figure 5 is a schematic structural diagram of the vibration test pipeline in a simulation detection device for the suspended span state of a subsea pipeline according to the present invention;

[0035] Figure 6 is a flowchart of the vibration detection in the present invention;

[0036] Figure 7 is a schematic diagram of the data acquisition and analysis system in a simulation detection device for the suspended span state of a subsea pipeline according to the present invention;

[0037] In the figure: 1. Outer shell; 2. Acceleration sensor; 3. Acceleration detection unit; 4. 380V power supply; 5. Frequency converter; 7. Air pump; 8. Ball serving port; 9. Ball receiving port; 10. Bending test pipeline; 11. Vibration test pipeline; 12. Clamp; 13. Support; 14. Bracket; 15. Aluminum block; 16. Reducing joint; 17. Buffer pipeline; 18. Computer; 19. NI acquisition card; 20. Power amplifier; 21. Vibrator; 22. Laser displacement sensor; 201. Accelerometer; 202. Clock; 203. First power supply; 204. Data storage unit; 205. Control unit. Specific implementation mode

[0038] The technical solution of the present invention will be further specifically described below through specific embodiments in conjunction with the accompanying drawings. It should be understood that the implementation of the present invention is not limited to the following embodiments, and any formal modification and / or change made to the present invention will fall within the protection scope of the present invention.

[0039] In the present invention, unless otherwise specified, all parts and percentages are in weight units, and the equipment and raw materials used can be purchased from the market or are commonly used in the art. The methods in the following embodiments are conventional methods in the art unless otherwise specified. The components or equipment in the following embodiments are all general standard parts or components known to those skilled in the art, and their structures and principles can all be known to those skilled in the art through technical manuals or through conventional experimental methods.

[0040] The following will make a detailed description of the embodiments of the present invention in conjunction with the accompanying drawings. In the following detailed description, for the convenience of explanation, many specific details are set forth to provide a comprehensive understanding of the embodiments of the present invention. However, one or more embodiments can also be implemented by those skilled in the art without these specific details.

[0041] A submarine pipeline suspension state simulation detection device includes a spherical internal detector, a simulation detection system, and a data acquisition and analysis system.

[0042] The spherical internal detector includes an outer shell and an acceleration sensor and an acceleration detection unit provided inside the outer shell. The acceleration detection unit includes a plurality of accelerometers distributed in different directions inside the outer shell and a timing signal source synchronously electrically connected to the plurality of accelerometers. The spherical internal detector further includes a first power supply, a data storage unit, and a control unit. The first power supply is electrically connected to the acceleration sensor, the acceleration detection unit, the data storage unit, and the control unit.

[0043] The simulation detection system includes a second power supply, an air pump, a buffer pipeline, a bending test pipeline, and a vibration test pipeline. The second power supply is electrically connected to the air pump. The vibration test pipeline is provided with an exciter for exciting the vibration test pipeline to simulate the vortex-induced vibration of a suspended submarine pipeline. The buffer pipeline, the bending test pipeline, and the vibration test pipeline form an open-loop circuit. The starting end of the open-loop circuit is the ball sending port, and the ending end of the open-loop circuit is the ball receiving port. The air pump is communicated with the ball sending port. Among them, the bending test pipeline is used to simulate the suspended state of the submarine pipeline. The bending test pipeline has a concave arc section and a convex arc section, and both the concave arc section and the convex arc section are formed by a three-point support structure located at different positions of the bending test pipeline. The vibration test pipeline is also provided with a laser displacement sensor for real-time monitoring of the displacement change of the vibration test pipeline, and a processor for controlling the excitation frequency and excitation amplitude of the exciter. The processor is electrically connected to the exciter and the laser displacement sensor respectively.

[0044] The data acquisition and analysis system is used to perform data analysis based on the motion data obtained by the spherical internal detector. The data acquisition and analysis system includes a data preprocessing module, a fault diagnosis module, and a predictive maintenance module. The data preprocessing module is used to perform data cleaning and standardization processing on the motion data transmitted by the spherical internal detector. The fault diagnosis module is used to extract features from the data after the standardization processing by the data preprocessing module, so as to identify the fault mode and locate the fault of the simulated suspended submarine pipeline. The predictive maintenance module is used to predict the maintenance requirements and generate a maintenance plan for the simulated suspended submarine pipeline according to the data after the standardization processing by the data preprocessing module.

[0045] A method for simulating and detecting the suspended state of a submarine pipeline using the above-mentioned submarine pipeline suspended state simulation detection device includes the following steps:

[0046] After filling the spherical internal detector with liquid, deploy it to the starting end of the open-loop circuit of the simulation detection system;

[0047] Start the air pump to make the spherical internal detector enter the bending test pipeline and the vibration test pipeline through the buffer pipeline, and collect motion data during the movement. The spherical internal detector transmits the motion data to the data acquisition and analysis system;

[0048] Perform bending detection and vibration detection based on the motion data through the data acquisition and analysis system.

[0049] Among them, the bending detection includes:

[0050] Establish a pipeline coordinate system, a sensor coordinate system, and an internal detector coordinate system;

[0051] Determine the transformation relationship between coordinate systems, including the transformation matrix from the internal detector coordinate system to the pipeline coordinate system and the transformation matrix from the internal detector coordinate system to the sensor coordinate system; wherein, the transformation matrix is related to the rotational angular frequency of the internal detector and the sensor installation angle;

[0052] When the spherical internal detector passes through the curved experimental pipeline, its moving speed changes, resulting in a change in the angular frequency, and further causing changes in the frequency and amplitude of the acceleration signal. The bending state of the pipeline is evaluated by analyzing the frequency of the AC component or the amplitude of the DC component of the acceleration signal.

[0053] Among them, vibration detection includes:

[0054] Use an exciter to control the frequency range of the vibration of the experimental pipeline and perform vibration characteristic detection;

[0055] The acceleration signal of the spherical internal detector presents a characteristic pattern related to the gravitational acceleration, the excitation frequency, and the vibration amplitude;

[0056] Determine the vibration parameters by analyzing the characteristic pattern of the acceleration signal.

[0057] The simulation detection device and method for the suspended span state of the subsea pipeline will be further described in detail below.

[0058] As Figure 1 shown, the spherical internal detector includes a housing 1, an acceleration sensor 2, an acceleration detection unit 3, a first power supply 203, a data storage unit 204, and a control unit 205. The acceleration detection unit includes four accelerometers 201, which are distributed in a cross shape. Due to its own weight, the spherical internal detector clings to the inner wall of the pipeline. Therefore, while recording the motion information of the detector, it can obtain the vibration information of the inner wall of the pipeline, and the detected data is stored in the SD card (i.e., the data storage unit 2044) inside the spherical internal detector. The power of the first power supply is the sum of the total power consumption. The four accelerometers use the same clock 202 (i.e., the timing signal source) to ensure synchronous data acquisition and facilitate subsequent data processing. At the same time, to ensure the normal operation of the clock, a clock buffer chip is added. The data storage unit transmits the detected data in real time via Bluetooth and transmits it to the data acquisition and analysis system. The accelerometer is a three-axis accelerometer, with a sampling rate of 200 sps, a measurement range of ±16 g, and a resolution of 0.5 mg, where g is the gravitational acceleration. The three-axis accelerometer is mounted in the spherical internal detector and can be used to record the acceleration components in three directions of the spherical internal detector.

[0059] As Figure 2As shown in the figure, in the simulation detection system, the ball sending port 8 and the ball receiving port 9 are relatively close to each other, facilitating the sending and receiving of the spherical internal detector. The rectangular plane formed by the buffer pipelines is 16 m long and 2 m wide. In the length direction, pipelines with an inner diameter of 110 mm are connected by clamps 12 and supported by supports 13. The distance between two clamps does not exceed 4 m, which can ensure that the buffer pipeline basically does not bend downward in the horizontal direction, avoiding subsequent detection errors. At the same time, the height of the support can be adjusted to control the slope of the buffer pipeline. During the experiment, the spherical internal detector enters the bending test pipeline 10 and the vibration test pipeline 11 via the buffer pipeline 17 from the ball sending port, and is finally taken out from the ball receiving port. On the side of the circulation system near the ball sending port, an air pump or a water pump is connected to a frequency converter and a power supply to control the fluid flow rate in the pipeline, and the fluid pushes the spherical internal detector forward. The rotation speed of the air pump 7 is controlled by the frequency converter 5, which is connected to the 380 V power supply 4 (i.e., the second power supply).

[0060] As Figure 3 shown, the length of the bending test pipeline section is 12 m, the inner diameter is 105 mm, and the wall thickness is 4 mm. By adjusting the frequency of the frequency converter, the speed of the spherical internal detector when it reaches the detection pipeline is exactly equal to the speed when it moves forward at a constant speed in the buffer pipeline. The spherical internal detector adjusts the frequency of the frequency converter to make its speed in the buffer pipeline and the bending test pipeline the same. The bending test pipeline section is designed to simulate the suspended span state of the submarine pipeline, including downward and upward bending situations. The height of the supports 14 at both ends of the downward-bending steel pipe is 110 mm, and the steel pipe is supported by aluminum blocks 15 at 4 m and 8 m to maintain horizontal, and the bending degree (deflection γ) is adjusted by changing the number of aluminum blocks. The upward-bending steel pipe is supported by aluminum blocks at the 6 m position and less aluminum blocks at the 4 m and 8 m positions, forming a three-point support structure to simulate the actual buckling shape. The spherical internal detector is equipped with a triaxial accelerometer and can roll forward under the push of the fluid in the pipeline. In addition, a very heavy tungsten sheet with a thickness of about 5 mm is equipped on the middle plane of the spherical internal detector, and the accelerometer is connected to the tungsten sheet to record the acceleration.

[0061] The specific bending detection method is as follows: If the pipeline coordinate system is defined as O1-X1Y1Z1, the acceleration sensor coordinate system is O2-X2Y2Z2, and the spherical internal detector coordinate system is O3-X3Y3Z3. Assuming that the rotational angular frequency of the spherical internal detector is ω1 = 2πf1, where f1 is the frequency, the transformation matrix from the coordinate system O3-X3Y3Z3 to O1-X1Y1Z1 is as follows:

[0062]

[0063] The transformation matrix from the coordinate system O3-X3Y3Z3 to O2-X2Y2Z2 is as follows:

[0064]

[0065] Where θ is the angle between the x-axis of the accelerometer and the x-axis of the spherical inner detector coordinate system, and the angle between the z-axis of the accelerometer and the z-axis of the spherical inner detector coordinate system is also θ.

[0066] The output of the accelerometer is a = (a x , a y , a z ). T ,

[0067]

[0068] a y = σ y #

[0069]

[0070] where γ0 is the distance of the accelerometer from the center of the rotation plane, and the DC component is the centripetal acceleration. The acceleration component of the sensitive axis that theoretically coincides with the rotation axis of the spherical inner detector is 0, and the information will be completely transferred to the other two sensitive axes. At the same time, the amplitudes of the AC components of the other two axes are equal, and the value of the DC component is related to θ, ω1, and γ0. When the spherical inner detector passes through the curved pipe, the rolling speed will change, and ω1 will change accordingly, causing changes in the frequency and DC component of the acceleration. In view of the fact that γ0 and θ will affect the sensitivity of the DC component to the rolling speed, it is necessary to carefully design them during assembly. Using the frequency of the AC component of a x and a z or the amplitude of the DC component can evaluate the degree of pipe bending. The bending detection process is as shown in Figure 4 .

[0071] As shown in Figure 5 , the length of the vibration experiment pipe is 4m, and the outer diameter is adjustable. The variable diameter joint 16 is connected to the buffer pipe 17. This parameter configuration can ensure that the adjustable frequency of the experimental pipe is within the common excitation frequency range of the submarine suspended pipeline. When the experimental pipe is excited at the excitation frequency of the submarine pipeline, the pipe is easy to vibrate and can be used to simulate the vibration of the submarine pipeline. Use a pressure pump to push the fluid to make the spherical inner detector roll forward to ensure that the ball is in a steady state of uniform rolling in the pipe. Continuously adjust the thrust by adjusting the frequency converter. Fixed supports are adopted at both ends of the excited pipe to simulate the actual suspended submarine pipeline. The computer 18 controls the NI acquisition card 19 to generate an excitation signal, which is amplified by the power amplifier 20 and then sent to the exciter 21 to excite the pipe to vibrate in the vertical direction. The frequency and amplitude of the excitation are controlled by the PC. The laser displacement sensor 22 measures the vibration displacement of the pipe in real time as a reference. After the detection is completed, the pipe vibration is identified by offline processing of the acceleration signal.

[0072] The vibration detection method is specifically as follows: The vibration detection experiment uses an exciter to stimulate the experimental pipeline to control the frequency range of pipeline vibration, so as to conduct vibration frequency detection. Vibration detection is achieved through the acceleration measurement of the spherical internal detector, satisfying the following formula: It is realized through measurement and satisfies the following formula:

[0073]

[0074] In the formula, ω2 = 2πf2, where f2 is the excitation frequency; A2 = ω2H2, and H2 is the pipeline amplitude at the position where the spherical internal detector is located; g is the acceleration due to gravity. The vibration detection process is as shown in Figure 6 shown.

[0075] As shown in Figure 7 shown, the operation of the data acquisition and analysis system starts from the system initialization stage, and then collects raw data from sensors or external data sources. Next, it enters the data preprocessing module for data cleaning to remove noise, outliers, and incomplete data, and then performs data normalization to ensure unified data format and consistent range. Finally, the processed data is stored in a database or a file system. Then, after entering the fault diagnosis module, the system extracts key information helpful for diagnosis through feature extraction, and then identifies known fault modes and locates the specific position where the fault occurs. In the predictive maintenance module, the system predicts future maintenance requirements based on historical data and the current state, and generates corresponding maintenance plans accordingly. Finally, the system outputs the analysis results, fault diagnosis reports, and predictive maintenance plans to users or related systems, marking the end of the system operation cycle.

[0076] In this article, specific examples are used to elaborate on the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method and its core idea of the present invention. It should be noted that for those of ordinary skill in the art in this technical field, without departing from the principle of the present invention, several improvements and modifications can still be made to the present invention, and these improvements and modifications also fall within the protection scope of the claims of the present invention.

Claims

1. A simulation detection device for the suspended span state of a submarine pipeline, characterized in that: The submarine pipeline suspension span state simulation detection device includes: A spherical internal detector, which includes a housing and an acceleration sensor and an acceleration detection unit arranged inside the housing. The acceleration detection unit includes a plurality of accelerometers distributed in different directions inside the housing and a timing signal source synchronously and electrically connected to the plurality of accelerometers; A simulation detection system, which includes a second power supply, an air pump, a buffer pipeline, a bending test pipeline and a vibration test pipeline. The second power supply is electrically connected to the air pump. The vibration test pipeline is provided with an exciter for exciting the vibration test pipeline to simulate the vortex-induced vibration of the submarine pipeline in suspension span. The buffer pipeline, the bending test pipeline and the vibration test pipeline form an open-loop circuit. The starting end of the open-loop circuit is the ball sending port, and the ending end of the open-loop circuit is the ball receiving port. The air pump is communicated with the ball sending port; A data acquisition and analysis system, which is used to perform data analysis based on the motion data obtained by the spherical internal detector.

2. The simulation detection device for the suspended span state of a subsea pipeline according to claim 1, characterized in that: The spherical internal detector further includes a first power supply, a data storage unit and a control unit. The first power supply is electrically connected to the acceleration sensor, the acceleration detection unit, the data storage unit and the control unit.

3. The simulation detection device for the suspended span state of a submarine pipeline according to claim 1, wherein: The bending test pipeline is used to simulate the suspension span state of the submarine pipeline. The bending test pipeline has a concave arc section and a convex arc section, and both the concave arc section and the convex arc section are formed by three-point support structures located at different positions of the bending test pipeline.

4. The submarine pipeline spanning state simulation detection device according to claim 1, wherein: The vibration test pipeline is further provided with a laser displacement sensor for real-time monitoring of the displacement change of the vibration test pipeline, and a processor for controlling the excitation frequency and excitation amplitude of the exciter. The processor is electrically connected to the exciter and the laser displacement sensor respectively.

5. The simulation detection device for the suspended span state of a submarine pipeline according to claim 1, characterized in that: The data acquisition and analysis system includes a data preprocessing module, a fault diagnosis module and a predictive maintenance module. The data preprocessing module is used to perform data cleaning and standardization processing on the motion data transmitted by the spherical internal detector. The fault diagnosis module is used to extract features from the data after being standardized by the data preprocessing module, so as to identify the fault mode and locate the fault of the simulated submarine pipeline in suspension span. The predictive maintenance module is used to predict the maintenance requirements and generate a maintenance plan for the simulated submarine pipeline in suspension span according to the data after being standardized by the data preprocessing module.

6. A submarine pipeline suspension span state simulation detection method using the submarine pipeline suspension span state simulation detection device according to any one of claims 1-5, including the following steps: After filling the spherical internal detector with liquid, deploy it to the starting end of the open-loop circuit of the simulation detection system; Start the air pump to make the spherical internal detector enter the bending test pipeline and the vibration test pipeline through the buffer pipeline, and collect motion data during the movement. The spherical internal detector transmits the motion data to the data acquisition and analysis system; Perform bending detection and vibration detection based on the motion data through the data acquisition and analysis system.

7. A method for simulating and detecting the suspended span state of a submarine pipeline according to claim 6, characterized in that: The bending detection includes: Establish a pipeline coordinate system, a sensor coordinate system and an internal detector coordinate system; Determine the transformation relationship between coordinate systems, including the transformation matrix from the internal detector coordinate system to the pipeline coordinate system and the transformation matrix from the internal detector coordinate system to the sensor coordinate system; wherein, the transformation matrix is related to the rotational angular frequency of the internal detector and the sensor installation angle; When the spherical internal detector passes through the curved experimental pipeline, its moving speed changes, resulting in a change in the angular frequency, and further causing changes in the frequency and amplitude of the acceleration signal. Evaluate the pipeline bending state by analyzing the frequency of the AC component or the amplitude of the DC component of the acceleration signal.

8. A method for simulating and detecting the suspended span state of a submarine pipeline according to claim 7, characterized in that: The vibration detection includes: Use an exciter to control the frequency range of the vibration of the experimental pipeline and perform vibration characteristic detection; The acceleration signal of the spherical internal detector exhibits a characteristic pattern related to the gravitational acceleration, the excitation frequency, and the vibration amplitude; Determine the vibration parameters by analyzing the characteristic pattern of the acceleration signal.

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