A dynamic monitoring method for crude oil storage and transportation safety status in pressure pipelines

Abstract

The present invention discloses a dynamic monitoring method for the safety status of crude oil storage and transportation in pressure pipelines, belonging to the field of pressure pipeline engineering safety monitoring. The method comprises acquiring multimodal sensor data collected by multiple sensor nodes; performing spatiotemporal signal fusion processing on the multimodal sensor data to generate environmental interference compensation parameters; constructing a dynamic compensation model based on the environmental interference compensation parameters to output a pipeline damage feature vector and a medium state feature vector; performing migration enhancement analysis on the pipeline damage feature vector and the medium state feature vector to generate a migration enhancement feature vector; and generating a corresponding safety warning signal based on the comparison result of the migration enhancement feature vector with a preset dynamic threshold parameter. The present invention utilizes multi-sensor spatiotemporal fusion and migration enhancement analysis technology to accurately identify true damage signals and implement dynamic threshold warnings.

Description

Technical Field

[0001] The present invention relates to the field of safety monitoring of pressure pipeline projects, and in particular to a dynamic monitoring method for the safety status of crude oil storage and transportation in pressure pipelines. Background Art

[0002] Currently, safety monitoring of crude oil pipelines faces the challenge of multiple interference sources. Conventional detection technologies struggle to effectively distinguish signals from environmental factors like earthquakes and ocean waves from actual pipeline damage, resulting in a high false alarm rate in monitoring systems.

[0003] Traditional solutions often use a single-parameter threshold alarm mechanism. This involves deploying a vibration sensor array to monitor abnormal pipeline vibrations and then combining fixed-parameter spectral analysis to identify crack growth characteristics.

[0004] Traditional solutions suffer from insufficient sensitivity in single sensing modes when dealing with complex interference environments. Fixed thresholds are unable to adapt to changes in the medium's rheological properties, and traditional signal processing algorithms lack the ability to dynamically integrate multi-dimensional features. These issues significantly reduce the reliability of existing systems when dealing with combined conditions such as sudden pressure differentials and sulfidation corrosion. Summary of the Invention

[0005] To solve the above problems, the present invention provides a dynamic monitoring method for the safety status of crude oil storage and transportation in pressure pipelines. It adopts multi-sensor spatiotemporal fusion and migration enhanced analysis technology, which can accurately identify real damage signals and realize dynamic threshold warning.

[0006] The above objectives can be achieved through the following solutions:

[0007] A method for dynamically monitoring the safety status of crude oil storage and transportation in pressure pipelines includes acquiring multimodal sensing data collected by multiple sensor nodes at preset distribution intervals, the multimodal sensing data including vibration waveforms, ultrasonic reflection signals, and pressure gradient parameters; performing spatiotemporal signal fusion processing on the multimodal sensing data to generate environmental interference compensation parameters; constructing a dynamic compensation model based on the environmental interference compensation parameters to output a pipeline body damage feature vector and a medium state feature vector; performing migration enhancement analysis on the pipeline body damage feature vector and the medium state feature vector to generate a migration enhancement feature vector; and generating a corresponding safety warning signal based on a comparison result of the migration enhancement feature vector with a preset dynamic threshold parameter.

[0008] Optionally, the signal spatiotemporal fusion processing also includes: eliminating the interference noise component in the vibration waveform matched by a preset seismic wave template to obtain a purified vibration spectrum; extracting the envelope morphological characteristics of the ultrasonic reflection signal to generate a circumferential damage index; correcting the circumferential damage index according to the changing slope of the pressure gradient parameter to output a standardized vibration spectrum; superimposing the purified vibration spectrum and the standardized vibration spectrum in the time-frequency domain to generate the environmental interference compensation parameter.

[0009] Optionally, generating a safety warning signal includes: obtaining a temperature-viscosity mapping table and a corrosion rate baseline value in historical pipeline operation and maintenance data; adjusting the transient pressure fluctuation allowable range in the preset dynamic threshold parameter according to the medium viscosity prediction value in the migration enhancement feature vector; and triggering a warning signal when the pipeline wall thickness loss rate in the migration enhancement feature vector exceeds 1.5 times the corrosion rate baseline value.

[0010] Optionally, the elimination of interference noise components includes: identifying the vibration arrival time difference between adjacent sensor nodes to generate a phase offset matrix; using the phase offset matrix to construct a directional filter to isolate the internal damage vibration of the pipeline from the external environment vibration; extracting the isolated internal damage vibration frequency component to generate the purified vibration spectrum.

[0011] Optionally, after outputting the standardized vibration spectrum, it also includes: calculating the attenuation coefficient of the pressure gradient parameter in the axial direction of the pipeline to generate a flow mutation index; when the flow mutation index exceeds a preset leakage judgment baseline, triggering the leakage signal signal in the safety warning signal.

[0012] Optionally, after generating the circumferential damage index, the method further includes: superimposing ultrasonic reflection signal intensity distribution maps of different sensor nodes to generate a three-dimensional damage cloud map; and correcting the weight distribution coefficient of the circumferential damage index based on the density gradient direction of the three-dimensional damage cloud map.

[0013] Optionally, the migration enhancement analysis includes: obtaining wave impact spectrum characteristics from a preset marine pipeline fluctuation database; performing frequency domain convolution on the wave impact spectrum characteristics and the current pipeline vibration waveform to generate a composite damage sensitivity factor; when the correlation coefficient between the composite damage sensitivity factor and the migration enhancement feature vector is greater than 0.75, activating the sulfide corrosion monitoring mode.

[0014] Optionally, the activation of the sulfide corrosion monitoring mode includes: collecting pipeline surface electrolysis potential data and weightedly fusing it with the sulfur content prediction value in the medium state characteristic vector; generating a corrosion rate dynamic curve, and comparing the slope of the dynamic curve with a preset safety threshold in real time.

[0015] Optionally, the triggering of the warning signal includes: when the warning signal is triggered, synchronously sending the azimuth coordinate index of the three-dimensional damage cloud map to a preset emergency control terminal; activating the corresponding sound and light positioning device according to the azimuth coordinate index to generate a leakage point navigation mark.

[0016] Based on the same inventive concept, the present invention also provides a dynamic monitoring system for the safety status of crude oil storage and transportation for pressure pipelines, the system comprising: a data acquisition module for acquiring multimodal sensing data collected by multiple sensor nodes at a preset distribution interval, the multimodal sensing data comprising vibration waveforms, ultrasonic reflection signals and pressure gradient parameters; a signal processing module for performing spatiotemporal signal fusion processing on the multimodal sensing data to generate environmental interference compensation parameters; a feature analysis module for constructing a dynamic compensation model based on the environmental interference compensation parameters to output a pipeline body damage feature vector and a medium state feature vector; a migration enhancement module for performing migration enhancement analysis on the pipeline body damage feature vector and the medium state feature vector to generate a migration enhancement feature vector; and a decision output module for generating a corresponding safety warning signal based on the comparison result of the migration enhancement feature vector and the preset dynamic threshold parameter.

[0017] Compared with the prior art, the present invention has the following advantages:

[0018] 1. This invention significantly improves the accuracy of fault feature identification through the spatiotemporal fusion of multi-source information. Compared with the single-sensor monitoring method, the collaborative processing of multimodal sensor data effectively suppresses environmental noise interference, improves the signal-to-noise ratio, and ensures the accurate extraction of weak fault features.

[0019] 2. Adopt a dynamic threshold adjustment mechanism; break through the limitations of the traditional fixed warning mode, through migration enhancement analysis, real-time correlation between medium rheological parameters and stress change trends, improve the response speed of the leakage judgment baseline, and significantly reduce false alarms and missed alarms under complex working conditions.

[0020] 3. A three-dimensional damage characterization system enables three-dimensional defect assessment. Through the spatial superposition and weight optimization of ultrasonic reflection signals, the generated damage cloud map has a resolution of millimeter level, which improves the diagnostic accuracy of the circumferential damage index and provides reliable data support for pipeline safety assessment.

[0021] Other features and advantages of the present invention will be described in the following description, and in part will become apparent from the description, or will be understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures pointed out in the description, claims and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0023] Figure 1 The figure is a flow chart of a method for dynamically monitoring the safety status of crude oil storage and transportation in a pressure pipeline according to an embodiment of the present invention.

[0024] Figure 2 2 is a schematic diagram for comparing filtered signals according to an embodiment of the present invention.

[0025] Figure 3 Schematic diagram of a dynamic threshold adjustment mechanism according to an embodiment of the present invention.

[0026] Figure 4 3D damage cloud diagram according to an embodiment of the present invention.

[0027] Figure 5 A schematic structural diagram of a dynamic monitoring system for the safety status of crude oil storage and transportation in a pressure pipeline according to an embodiment of the present invention. DETAILED DESCRIPTION

[0028] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0029] Reference Figure 1 One embodiment of the present invention proposes a dynamic monitoring method for the safety status of crude oil storage and transportation in pressure pipelines. By using multi-sensor spatiotemporal fusion and migration-enhanced analysis technology, it can accurately identify real damage signals and implement dynamic threshold warnings.

[0030] The method of this embodiment specifically includes:

[0031] Acquire multimodal sensing data collected by multiple sensor nodes at a preset distribution interval, the multimodal sensing data including vibration waveforms, ultrasonic reflection signals, and pressure gradient parameters;

[0032] Specifically, multimodal sensing data refers to three types of heterogeneous measurements collected simultaneously by each sensing node. A vibration waveform is a continuous curve of the amplitude of mechanical vibrations on an object's surface recorded by the sensor over time. An ultrasonic reflection signal describes the characteristics of the sound waves reflected by defects or interfaces within the material being inspected after the sensor transmits high-frequency sound waves. The pressure gradient parameter is the rate of change of the fluid pressure difference between measurement points relative to the axial distance in the pipe.

[0033] Perform spatiotemporal signal fusion processing on multimodal sensor data to generate environmental interference compensation parameters;

[0034] Specifically, signal spatiotemporal fusion processing refers to the algorithmic process of jointly analyzing multi-source sensor data with spatiotemporal correlation. Environmental interference compensation parameters specifically refer to the set of correction factors extracted through fusion processing.

[0035] A dynamic compensation model is constructed based on environmental interference compensation parameters to output pipeline damage feature vectors and medium state feature vectors.

[0036] Specifically, the dynamic compensation model refers to a correction system built using a recursive neural network with adaptive environmental parameter capabilities. The pipeline damage feature vector is a mathematical representation of compensated fused data generated through convolutional feature extraction. The medium state feature vector is a projection into the feature space established by the compensation model, representing the abnormal state parameters of the flowing medium within the pipeline.

[0037] Performing migration enhancement analysis on the pipeline body damage feature vector and the medium state feature vector to generate a migration enhancement feature vector;

[0038] Specifically, transfer-enhanced analysis refers to a heterogeneous feature fusion strategy based on a transfer learning framework. The transfer-enhanced feature vector is a projection of a 14-dimensional composite feature space generated through collaborative training, containing three key parameters for cross-domain fusion.

[0039] According to the comparison result of the migration enhancement feature vector and the preset dynamic threshold parameter, a corresponding safety warning signal is generated.

[0040] Specifically, the medium viscosity is monitored in real time and compared with the temperature database. When the ambient temperature deviates from the standard parameters, the pressure fluctuation limit is automatically adjusted. The degree of degradation of the pipeline wall thickness is tracked simultaneously, and a safety warning signal is triggered when an abnormal loss rate is found.

[0041] Optionally, the steps of performing spatiotemporal signal fusion processing on the multimodal sensing data to generate environmental interference compensation parameters include:

[0042] Eliminate the interference noise component matched by the preset seismic wave template in the vibration waveform to obtain a purified vibration spectrum;

[0043] Specifically, the vibration arrival time difference of adjacent sensor nodes is identified, a phase offset matrix is ​​generated, and a directional filter is constructed using the phase offset matrix to isolate the internal damage vibration of the pipeline from the external environment vibration, such as Figure 2 As shown, the original signal and the filtered signal are compared, and the isolated internal damage vibration frequency component is extracted to generate the purified vibration spectrum.

[0044] Extract the envelope morphological features of the ultrasonic reflection signal and generate the circumferential damage index;

[0045] Specifically, the ultrasonic reflection signal is processed, its signal envelope morphological characteristics are plotted, and the peak interval variance of the envelope morphological characteristics is calculated. and pulse decay rate , using the formula Generate circumferential damage index DI ,in 、 is the pre-calibrated material property coefficient.

[0046] Correcting the circumferential damage index according to the slope of the pressure gradient parameter and outputting a standardized vibration spectrum;

[0047] Specifically, read the real-time pressure change rate collected by the pressure gradient sensor , when the real-time pressure change rate exceeds the preset threshold When the dynamic correction operation is performed ,in is the pressure correction coefficient, and the standardized damage index is obtained, that is, the standardized vibration spectrum .

[0048] The purified vibration spectrum and the standardized vibration spectrum are superimposed in the time and frequency domains to generate environmental interference compensation parameters.

[0049] Specifically, the vibration spectrum will be purified With the normalized vibration spectrum Perform time-frequency superposition to construct environmental interference compensation parameters ,in 、 is the weighting coefficient, is the time domain window function. By fusing the time domain damage characteristics with the frequency domain vibration characteristics, the anti-interference composite compensation parameters are generated.

[0050] For example, the 5th monitoring node located on the submarine pipeline detected an abnormal vibration with an amplitude of 0.3 mm, and the time difference between adjacent nodes was measured. After constructing the directional filter, the 8Hz low-frequency vibration component caused by the impact of the waves was successfully filtered out, and the 45Hz characteristic frequency related to crack expansion was retained. The ultrasonic system measured the envelope peak interval variance , combined with the current pressure change rate , the corrected circumferential damage index is calculated The time-frequency superposition generates compensation parameters with significant characteristic peaks, accurately triggering the second-level warning. The beneficial effects of this verification example are reflected in the effective distinction between real damage and environmental vibration, the dynamic correction algorithm improves the accuracy of damage determination, and the multi-feature fusion significantly enhances monitoring reliability under complex working conditions.

[0051] Optionally, generating a safety warning signal according to a comparison result of the migration enhancement feature vector and a preset dynamic threshold parameter includes:

[0052] Obtain temperature-viscosity mapping tables and corrosion rate benchmark values ​​from historical pipeline operation and maintenance data;

[0053] Specifically, a temperature-viscosity mapping table, which records the relationship between temperature and corresponding medium viscosity values, is retrieved from a database. The average corrosion rate baseline value measured over the last 12 months is also extracted. This value is calculated by dividing the change in pipe wall thickness during monthly testing with an ultrasonic thickness gauge by the time interval.

[0054] Adjusting the transient pressure fluctuation tolerance in the preset dynamic threshold parameter according to the medium viscosity prediction value in the migration enhancement feature vector;

[0055] Specifically, the medium viscosity prediction value , match the closest temperature value in the temperature-viscosity mapping table, and update the transient pressure fluctuation allowable range when the temperature value changes by more than 5°C compared to the current ambient temperature ， in Represents the medium viscosity under standard working conditions, Design static pressure value for the pipeline. Figure 3 As shown in FIG, a schematic diagram of a dynamic threshold adjustment mechanism.

[0056] When the pipeline wall thickness loss rate in the migration enhancement feature vector exceeds a preset threshold, an early warning signal is triggered.

[0057] Specifically, the wall thickness loss rate in the migration enhancement feature vector is monitored in real time, where the wall thickness loss rate is calculated by dividing the difference between the current measured thickness of the pipe wall and the initial thickness by the operating time. When it is detected that the wall thickness loss rate exceeds 1.5 times the corrosion rate baseline value, an early warning signal is triggered.

[0058] For example, the ambient temperature of a submarine oil pipeline suddenly dropped from 8°C to 5°C, and the system detected From the normal 48 to 62. According to the temperature-viscosity mapping table, the medium viscosity under the standard working condition at 7°C is 51, and the calculation results are , a 40% relaxation from the original threshold of 4.2. At this point, monitoring indicated a pipe wall loss rate of 0.28, while the baseline corrosion rate for this pipe section was 0.15, activating a Level 2 warning. The beneficial effect of this verification example is reflected in the dynamic adjustment mechanism's ability to flexibly alter the criteria based on the medium's state. This not only avoids false alarms under low-temperature, high-viscosity conditions, but also provides timely warnings at the early stages of accelerated corrosion, enabling differentiated and precise monitoring.

[0059] Optionally, the step of removing the interference noise component matched by the preset seismic wave template in the vibration waveform to obtain the purified vibration spectrum includes:

[0060] Identify the vibration arrival time difference of adjacent sensor nodes and generate a phase offset matrix;

[0061] Specifically, the arrival time differences of vibration waveforms recorded by adjacent sensor nodes set at a distance of L on the pipeline surface are first identified, and the phase offset matrix between adjacent nodes is calculated. The phase offset matrix is ​​composed of the vibration wave propagation time differences of each sensor pair, where the time difference is obtained by comparing the triggering moment of the rising edge of the vibration waveform.

[0062] Applying a phase offset matrix Constructing a directional filter , the filter separates the internal pipeline damage vibration and the external environment vibration based on the propagation direction characteristics of the vibration wave, where f represents the vibration frequency component, It is an exponential function with base e, j is an imaginary unit, and its square is equal to negative one. It is used to represent the orthogonal component of the phase in signal analysis.

[0063] The isolated internal damage vibration frequency component is extracted to generate the purified vibration spectrum.

[0064] Specifically, by converting the original vibration waveform With directional filter Perform frequency domain convolution operation to obtain the purified vibration spectrum ,in is the Fourier transform result of the vibration waveform, Represents the convolution operation.

[0065] Optionally, the circumferential damage index is corrected by the change slope of the pressure gradient parameter, and the output of the standardized vibration spectrum further includes:

[0066] Calculating the attenuation coefficient of the pressure gradient parameter in the pipeline axial direction to generate a flow mutation index;

[0067] Specifically, the pressure gradient sensor array is used to obtain the measurement data of the pipeline axial segment, where the length of each detection segment is . Calculate the current pressure gradient for the kth detection segment , The pressure drop difference between the sections is obtained by continuously collecting the Pk value of each section within N sampling periods to form a pressure gradient distribution curve along the process. The calculation formula is ,in and are the maximum and minimum pressure gradient values ​​detected in the last N cycles, is the average pressure gradient for the corresponding period, is the total sampling time.

[0068] When the flow mutation index exceeds the preset leakage determination baseline, the leakage signal in the safety early warning signal is triggered.

[0069] Specifically, when it is detected that the flow rate mutation index exceeds the preset leakage judgment baseline, a leakage signal is triggered.

[0070] For example, a crude oil pipeline measured within ,correspond . Recorded within 12 minutes of continuous sampling period 、 、 , Calculated When the preset When 0.00061 exceeds the baseline, a leak signal is triggered.

[0071] Optionally, after extracting the envelope morphological features of the ultrasonic reflection signal and generating the circumferential damage index, the following steps may also be performed:

[0072] Superimpose the ultrasonic reflection signal intensity distribution maps of different sensor nodes to generate a three-dimensional damage cloud map;

[0073] Specifically, the ultrasonic reflection signal intensity values ​​Si collected by N detection nodes distributed on the pipeline surface are normalized to obtain , where i represents the i-th sensor node, the normalized signal strength is spatially interpolated according to the sensor position coordinates to construct a three-dimensional data matrix ,in is the interpolation weight of the i-th sensor at the spatial point (x, y, z), and the calculation formula is , represents the Euclidean distance between the spatial point and the i-th sensor, Take 20% of the pipe diameter, is an exponential function with real number e as base. Figure 4 As shown in Figure 2, it is a schematic diagram of the three-dimensional damage cloud map effect.

[0074] The weight distribution coefficient of the circumferential damage index is modified based on the density gradient direction of the three-dimensional damage cloud image.

[0075] Specifically, the density gradient vectors in the axial, circumferential and radial directions of the pipeline are calculated through the three-dimensional damage cloud map. ,in represents the rate of change of damage density along the length of the pipeline, represents the density gradient of the circumferential angle change, Reflects the damage distribution characteristics of radial penetration depth. Based on the gradient vector, the weight distribution coefficient is modified and the new weight is set. , V is the stress concentration trend vector of the pipeline material, is a sign discriminant function. For the product of two vectors, the directional correlation characteristics of the two can be judged. is the old weight.

[0076] Optionally, performing migration enhancement analysis on the pipeline body damage feature vector and the medium state feature vector includes:

[0077] Obtain wave impact spectrum characteristics from the marine pipeline wave database;

[0078] Specifically, the wave height and impact pressure data were collected for 3 consecutive hours by using the ocean environment monitoring buoy. The data were converted into frequency domain waveforms using Fourier transform, and the first 10 main frequency points were taken to construct the wave impact spectrum feature matrix. .

[0079] Perform frequency domain convolution on the wave impact spectrum characteristics and the current pipeline vibration waveform to generate a composite damage sensitivity factor;

[0080] Specifically, obtain the current pipeline vibration acceleration sensor measurement value and convert it into a displacement waveform through secondary integration And perform 1024-point fast Fourier transform to obtain the vibration spectrum . Perform frequency domain convolution operation , select the maximum value of the convolution result and the third harmonic component The weighted sum of .

[0081] When the correlation coefficient between the composite damage sensitivity factor and the migration enhancement eigenvector is greater than 0.75, the sulfide corrosion monitoring mode is activated.

[0082] Specifically, obtain the processed enhanced feature vector , forming the benchmark template for pattern recognition. In the formula for calculating the Pearson correlation coefficient β and The covariance of Divide by the standard deviation of the two 、 ,when When the value is greater than 0.75 for 5 consecutive sampling cycles, the sulfide corrosion monitoring mode is triggered. and are the i-th sampling point data of the composite damage sensitivity factor and migration characteristic vector, Represents the mean of the transfer-enhanced feature vector.

[0083] Optionally, activating the sulfide corrosion monitoring mode includes:

[0084] Collect the electrolytic potential data on the pipeline surface and perform weighted fusion with the sulfur content prediction value in the medium state characteristic vector;

[0085] Specifically, a three-electrode array is arranged at equal intervals on the outer wall of the pipeline, and a silver / silver chloride reference electrode is used to continuously collect the surface potential difference. The potential measuring instrument records the electrolysis potential EP at a frequency of once per minute. The electrolysis potential is standardized and the calculation formula is: , where and Taken from the database of potential extreme values ​​during the service life of the pipeline. Obtain the sulfur content prediction value in the medium state characteristic vector , which is converted to Perform weighted fusion , the coefficient weights are determined based on the entropy weight analysis of the ten-year corrosion case database.

[0086] A dynamic corrosion rate curve is generated, and the slope of the dynamic curve is compared with a preset safety threshold in real time.

[0087] Specifically, when establishing the corrosion rate model, a window sliding mechanism is used to process the real-time data stream. Every ten minutes, the fusion index sequence of the six-hour period is intercepted and fitted with a second-order polynomial to obtain the dynamic curve of the corrosion rate. The model slope is updated three times per hour. When the instantaneous slope exceeds the 0.15 mm / year threshold for two consecutive times, the secondary alarm mechanism is triggered. The threshold is based on Standard setting.

[0088] Optionally, triggering the warning signal includes:

[0089] When the warning signal is triggered, the azimuth coordinate index of the three-dimensional damage cloud map is sent to the preset emergency control terminal simultaneously;

[0090] Specifically, the vertex coordinate set of the corrosion concentrated area in the three-dimensional damage cloud map is extracted by the edge computing node, and the The graph algorithm delineates the danger zone with each vertex as the center and generates an azimuth coordinate index consisting of pipeline mileage, circumferential angle, and axial depth.

[0091] The corresponding sound and light positioning device is activated according to the azimuth coordinate index to generate a navigation mark for the leakage point.

[0092] Specifically, the emergency control terminal parses the received coordinate index , driving the annular LED array and ultrasonic transmitter arranged in the corresponding pipe section, wherein the LED light strip is arranged according to the circumferential angle The red and blue alternating strobe mode indicates the leak direction, and the ultrasonic emission pulse interval varies with the depth. At the same time, the millimeter wave radar on the mobile inspection robot matches the coordinate parameters in real time according to the pipeline mileage. , dynamic navigation marks are generated through path optimization algorithms, specifically by calculating the optimal approach route , where 、 is the current posture parameter of the robot. The planning logic is comparable to the map-finding strategy of autonomous vehicles.

[0093] Based on the same inventive concept, Figure 5 As shown, the present invention also provides a dynamic monitoring system for the safety status of crude oil storage and transportation in a pressure pipeline, the system comprising:

[0094] A data acquisition module is used to obtain multimodal sensing data collected by multiple sensor nodes at a preset distribution interval. The multimodal sensing data includes vibration waveforms, ultrasonic reflection signals, and pressure gradient parameters.

[0095] The signal processing module performs spatiotemporal fusion processing on multimodal sensor data to generate environmental interference compensation parameters;

[0096] The feature analysis module builds a dynamic compensation model based on the environmental interference compensation parameters and outputs the pipeline damage feature vector and the medium state feature vector;

[0097] The migration enhancement module performs migration enhancement analysis on the pipeline damage feature vector and the medium state feature vector to generate a migration enhancement feature vector;

[0098] The decision output module generates a corresponding safety warning signal based on the comparison results of the migration enhancement feature vector and the preset dynamic threshold parameters.

[0099] It should be noted that the electrical connections between the above-mentioned units do not necessarily mean direct connections of lines. Indirect connections are applicable to the embodiments of the present invention as long as the purpose of the present invention is achieved. The above description is only an exemplary embodiment of the present invention and is not intended to limit the scope of the present invention.

[0100] That is, any equivalent changes and modifications made according to the teachings of the present invention are still within the scope of the present invention. Those skilled in the art will readily conceive of other embodiments of the present invention after considering the disclosure of the specification and practice. This application is intended to cover any variations, uses, or adaptations of the present invention that follow the general principles of the present invention and include common knowledge or customary techniques in the art not described herein.

Claims

1. A method for dynamic monitoring of the safety status of crude oil storage and transportation in a pressure pipeline, characterized in that: The method comprises: Obtaining vibration waveforms, ultrasonic reflection signals, and pressure gradient parameters collected by multiple sensor nodes at preset distribution intervals to obtain multimodal sensing data; Performing a spatiotemporal signal fusion process on the multimodal sensing data to generate an environmental interference compensation parameter, wherein the spatiotemporal signal fusion process includes: Eliminating the interference noise component matched by the preset seismic wave template in the vibration waveform to obtain a purified vibration spectrum; extracting the envelope morphological characteristics of the ultrasonic reflection signal to generate a circumferential damage index; obtaining the change slope through the pressure gradient parameter, correcting the circumferential damage index, and outputting a standardized vibration spectrum; superimposing the purified vibration spectrum and the standardized vibration spectrum in the time and frequency domains to generate an environmental interference compensation parameter; Building a dynamic compensation model based on the environmental interference compensation parameters, outputting a pipeline body damage feature vector and a medium state feature vector, wherein the medium state feature vector includes a sulfur content prediction value; Perform migration enhancement analysis on the pipeline body damage feature vector and the medium state feature vector to generate a migration enhancement feature vector, wherein the migration enhancement feature vector includes the pipeline wall thickness loss rate. The migration enhancement analysis includes: Obtaining a preset marine pipeline wave database to obtain wave impact spectrum characteristics; performing frequency domain convolution on the wave impact spectrum characteristics and the current pipeline vibration waveform to generate a composite damage sensitivity factor; and generating a sulfide corrosion monitoring mode by comparing the correlation coefficient between the composite damage sensitivity factor and the migration enhancement feature vector and a preset safety threshold; The migration enhancement feature vector is compared with a preset dynamic threshold parameter to generate a safety warning signal, which includes a leakage signal and a warning signal.

2. A method for dynamic monitoring of crude oil storage and transportation safety status for pressure pipelines according to claim 1, characterized in that: Generating a safety warning signal includes: Acquire historical pipeline operation and maintenance data; adjust the preset dynamic threshold parameter range based on the migration enhancement feature vector to obtain a new dynamic threshold parameter range; The pipeline wall thickness loss rate in the migration enhancement feature vector is compared with a preset threshold to generate an early warning signal.

3. The method for dynamic monitoring of crude oil storage and transportation safety status for pressure pipelines according to claim 1, characterized in that: Eliminate the interfering noise components and obtain the purified vibration spectrum including: Obtain the vibration arrival time of adjacent sensor nodes, calculate the time difference, and generate a phase offset matrix; A directional filter is constructed using the phase shift matrix to isolate internal damage vibration of the pipeline from external environmental vibration; The isolated internal damage vibration frequency components are extracted to generate a purified vibration spectrum.

4. The method for dynamic monitoring of crude oil storage and transportation safety status for pressure pipelines according to claim 1, characterized in that: After outputting the standardized vibration spectrum, the method further includes: Calculating the attenuation coefficient of the pressure gradient parameter in the pipeline axial direction to generate a flow mutation index; The flow mutation index is compared with a preset leakage determination baseline to trigger a leakage signal in the safety early warning signal.

5. The method for dynamic monitoring of crude oil storage and transportation safety status for pressure pipelines according to claim 1, characterized in that: After generating the circumferential damage index, the method further includes: Superimpose the intensity distribution maps generated by ultrasonic reflection signals from different sensor nodes to generate a three-dimensional damage cloud map; The density gradient direction of the three-dimensional damage cloud map is analyzed to generate an optimized circumferential damage index weight distribution coefficient.

6. The method for dynamic monitoring of crude oil storage and transportation safety status for pressure pipelines according to claim 1, characterized in that: The sulfide-generating corrosion monitoring mode includes: The electrolysis potential data of the pipeline surface is collected and weightedly fused with the sulfur content prediction value in the medium state characteristic vector to generate a corrosion rate dynamic curve, and the slope of the corrosion rate dynamic curve is compared with the preset safety threshold in real time to generate a sulfide corrosion monitoring mode.

7. The method for dynamic monitoring of crude oil storage and transportation safety status for pressure pipelines according to claim 2, characterized in that: The step of triggering the early warning signal includes: When the early warning signal is triggered, the azimuth coordinate index is sent to the preset emergency control terminal simultaneously; the corresponding sound and light positioning device is activated to generate a navigation mark for the leakage point.

8. A dynamic monitoring system for the safety status of crude oil storage and transportation in pressure pipelines, characterized by: The system comprises: The data acquisition module acquires vibration waveforms, ultrasonic reflection signals, and pressure gradient parameters collected by multiple sensor nodes at preset distribution intervals to obtain multimodal sensing data; a signal processing module for performing spatiotemporal signal fusion processing on the multimodal sensing data to generate environmental interference compensation parameters, wherein the spatiotemporal signal fusion processing includes: removing the interference noise component matched by a preset seismic wave template in the vibration waveform to obtain a purified vibration spectrum; extracting the envelope morphological characteristics of the ultrasonic reflection signal to generate a circumferential damage index; obtaining a change slope based on the pressure gradient parameter, correcting the circumferential damage index, and outputting a standardized vibration spectrum; and superimposing the purified vibration spectrum and the standardized vibration spectrum in the time and frequency domains to generate the environmental interference compensation parameters; A feature analysis module is used to construct a dynamic compensation model based on the environmental interference compensation parameters, and output a pipeline body damage feature vector and a medium state feature vector, wherein the medium state feature vector includes a sulfur content prediction value; A migration enhancement module is configured to perform migration enhancement analysis on the pipeline body damage feature vector and the medium state feature vector to generate a migration enhancement feature vector. The migration enhancement feature vector includes the pipeline wall thickness loss rate. The migration enhancement analysis includes: obtaining a preset marine pipeline wave database to obtain wave impact spectrum characteristics; performing frequency domain convolution on the wave impact spectrum characteristics with the current pipeline vibration waveform to generate a composite damage sensitivity factor; and generating a sulfide corrosion monitoring mode by comparing the correlation coefficient between the composite damage sensitivity factor and the migration enhancement feature vector with a preset safety threshold. The decision output module is used to compare the migration enhancement feature vector with the preset dynamic threshold parameter to generate a safety warning signal, which includes a leakage signal and a warning signal.

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