Buried pipeline offset detection method and system and computer equipment

Abstract

The invention provides a buried pipeline offset detection method and system and computer equipment, and belongs to the field of pipeline detection. The buried pipeline offset detection method comprises the following steps: carrying out inertial surveying and mapping on a buried pipeline to obtain a surveying and mapping trajectory diagram of the buried pipeline; the buried pipeline is divided into a plurality of detection pipe sections, and a plurality of comparison points are arranged in each detection pipe section; calculating the offset of each comparison point in the plurality of detection pipe sections according to the surveying and mapping trajectory diagram of the buried pipeline and the initial trajectory diagram of the buried pipeline, wherein the offset of the comparison point is the offset of the comparison point in the surveying and mapping trajectory diagram based on the corresponding comparison point in the initial trajectory diagram; and according to the offset of each comparison point in the plurality of detection pipe sections, judging the offset state of the plurality of detection pipe sections, and according to the offset state of the plurality of detection pipe sections, determining the pipeline offset section of the buried pipeline.

Description

Technical Field

[0001] The present invention relates to the field of pipeline detection, and particularly to a buried pipeline offset detection method, a buried pipeline offset detection system, a computer device, and a computer-readable storage medium. Background Art

[0002] In the development of modern enterprises, long-distance pipelines have been widely used for the long-distance transportation of oil and gas. With the continuous expansion of the pipeline scale, especially the upgrading of the attention to oil and gas field safety issues, the requirements for pipeline leakage risk control have been raised to a new level. In areas with complex geological conditions, large topographic undulations, and frequent geological disasters, as the development time extends, some pipeline passing areas are affected by natural disasters, which are prone to leakage, and due to the complex terrain, the repair difficulty after leakage is great. Some production facilities are located near and upstream of environmentally sensitive areas and water source protection areas. Once a leakage occurs, the enterprise faces huge legal risks. Therefore, leakage risk positioning is a very important work content.

[0003] Geological disasters are mainly divided into collapses, landslides, ground subsidence, etc. Continuously monitoring to obtain the pipeline leakage risks caused by them and based on this for prediction and maintenance is an effective control means for preventing and treating pipeline leakage. Leak detection technology initially used manual detection methods. After the 1960s, different acoustic methods and corresponding devices such as ground microphones, leak noise correlators, and noise recorders were developed. Since then, non-acoustic methods such as gas injection, ground penetrating radar, and thermal infrared imaging have also been gradually applied. Some mathematical statistics and artificial intelligence methods have also been gradually applied to leak detection. In 1976, German scholars Isermann and Siebert proposed a method for leak detection by analyzing the cross-correlation relationship between the flow rate and pressure signals between the inflow and outflow. On this basis, an adaptive observer leak detection method based on a non-linear model was proposed in the 1980s. Since then, machine learning algorithms, model methods, and signal processing methods based on support vector machines, random forests, artificial neural networks, etc. have been gradually applied to sensor signal processing to improve leak detection accuracy and achieve rapid detection and prediction. The above methods are all applicable to pipelines that have already leaked. However, when there is no leakage, accurately judging the risk of leakage occurrence can prevent problems before they arise and effectively avoid environmental, property, and even personnel losses caused by leakage. Summary of the Invention

[0004] To solve the above technical defects, the present invention provides a buried pipeline offset detection method, system, and computer device. The buried pipeline offset detection method is applicable to buried pipelines without leakage. The buried pipeline is divided into multiple detection pipe segments according to the surveyed buried pipeline trajectory. The pipeline offset segment of the buried pipeline is determined based on the offset states of the multiple detection pipe segments, and the offset risk of the pipeline offset segment is calculated according to the offset risk of the detection pipe segments, so as to perform maintenance actions based on the offset risk of the pipeline offset segment.

[0005] The first aspect of the present invention provides a buried pipeline offset detection method, including:

[0006] Perform inertial surveying on the buried pipeline to obtain the surveyed trajectory map of the buried pipeline;

[0007] Divide the buried pipeline into multiple detection pipe segments, and set multiple comparison points in each detection pipe segment;

[0008] Calculate the offset amount of each comparison point in the multiple pipe segments according to the surveyed trajectory map of the buried pipeline and the initial trajectory map of the buried pipeline. The offset amount of the comparison point is the offset amount of the comparison point in the surveyed trajectory map based on the corresponding comparison point in the initial trajectory map;

[0009] Judge the offset states of the multiple detection pipe segments according to the offset amounts of each comparison point in the multiple detection pipe segments, and determine the pipeline offset segment of the buried pipeline according to the offset states of the multiple detection pipe segments.

[0010] In an embodiment of the present invention, the multiple comparison points in the detection pipe segment include a head comparison point and a tail comparison point;

[0011] The judging the offset states of the multiple detection pipe segments according to the offset amounts of each comparison point in the multiple detection pipe segments includes:

[0012] Judge the offset state of the detection pipe segment according to the offset amount of the head comparison point and the offset amount of the tail comparison point of each detection pipe segment.

[0013] In an embodiment of the present invention, the calculating the offset amount of each comparison point in the multiple detection pipe segments according to the surveyed trajectory map of the buried pipeline and the initial trajectory map of the buried pipeline includes:

[0014] Obtain the initial three-dimensional coordinates of the comparison point in the initial trajectory map and the offset three-dimensional coordinates of the comparison point in the surveyed trajectory map, and calculate the offset amount of the comparison point according to the initial three-dimensional coordinates of the comparison point and the offset three-dimensional coordinates of the comparison point.

[0015] In an embodiment of the present invention, the offset states of the detection pipe section include a first offset state, a second offset state, and a third offset state. The offset state of the detection pipe section is determined according to the offset amount of the head comparison point and the offset amount of the tail comparison point of the detection pipe section. Specifically:

[0016] When the offset amounts of both the head comparison point and the tail comparison point are less than a first preset offset amount, it is determined that the offset state of the detection pipe section is the first offset state;

[0017] When the offset amount of the head comparison point or the offset amount of the tail comparison point is greater than the first preset offset amount, it is determined that the offset state of the detection pipe section is the second offset state;

[0018] When the offset amounts of both the head comparison point and the tail comparison point are greater than the first preset offset amount, it is determined that the offset state of the detection pipe section is the third offset state.

[0019] In an embodiment of the present invention, obtaining the offset pipe section according to the offset states of multiple detection pipe sections is specifically as follows:

[0020] When the offset state of the detection pipe section is the first offset state, the detection pipe section is used as the pipe offset section;

[0021] When the offset state of the detection pipe section is the second offset state, the detection pipe section is used as the head section of the pipe offset section, and the offset state of the adjacent detection pipe section in the end point direction of the head comparison point or the tail comparison point on the detection pipe section with an offset amount greater than the first preset offset amount is obtained until the offset state of the adjacent detection pipe section is the second offset state. The adjacent detection pipe section with the offset state of the second offset state is used as the end of the pipe offset section to obtain a new pipe offset section;

[0022] When the offset state of the detection pipe section is the third offset state, the offset states of the adjacent detection pipe sections on both sides of the detection pipe section are respectively obtained until the offset states of the adjacent detection pipe sections on both sides are both the second offset state. The pipe offset section is from the adjacent detection pipe section on one side to the adjacent detection pipe section on the other side.

[0023] In an embodiment of the present invention, the first preset offset amount is determined by the pipe section length of the detection pipe section.

[0024] In an embodiment of the present invention, the method further includes: calculating the offset risk of the pipe offset section, specifically:

[0025] Calculating the offset risk of each detection pipe section within the pipe offset section;

[0026] Calculating the offset risk of the pipe offset section according to the offset risks of each detection pipe section.

[0027] In an embodiment of the present invention, the offset risk of each detection pipe section within the calculation pipe offset section includes:

[0028] Obtaining the offsets of multiple comparison points within the detection pipe section;

[0029] Judging the risk status of each comparison point according to the offset of each comparison point and the offsets of the adjacent comparison points of the comparison point;

[0030] Calculating the offset risk of the detection pipe section according to the risk status of each comparison point.

[0031] In an embodiment of the present invention, the risk status of the comparison point includes a first risk status and a second risk status. The judging of the risk status of each comparison point according to the offset of each comparison point and the offsets of the adjacent comparison points of the comparison point is specifically as follows:

[0032] When the offset of the comparison point is greater than a second preset offset, and both the previous adjacent comparison point and the next adjacent comparison point of the comparison point are less than the second preset offset, the risk status of the comparison point is the first risk status;

[0033] When the offset of the comparison point is greater than a second preset offset, and either the previous adjacent comparison point or the next adjacent comparison point of the comparison point is greater than the second preset offset, the risk status of the comparison point is the second risk status.

[0034] In an embodiment of the present invention, the calculating of the offset risk of the detection pipe section according to the risk status of each comparison point includes:

[0035] Obtaining the number of comparison points in the first risk status and the number of comparison points in the second risk status within the detection pipe section;

[0036] Calculating the offset risk of the detection pipe section according to the number of comparison points in the first risk status and the number of comparison points in the second risk status.

[0037] A second aspect of the present invention provides a buried pipeline offset detection system, including:

[0038] An inertial surveying and mapping module, configured to perform inertial surveying and mapping on the buried pipeline to obtain a surveying and mapping trajectory map of the buried pipeline;

[0039] A comparison point setting module, configured to divide the buried pipeline into multiple detection pipe sections and set multiple comparison points within each detection pipe section;

[0040] An offset calculation module, configured to calculate the offsets of each comparison point in multiple detection pipe sections according to the surveying and mapping trajectory map of the buried pipeline and the initial trajectory map of the buried pipeline, where the offset of the comparison point is the offset of the comparison point in the surveying and mapping trajectory map based on the corresponding comparison point in the initial trajectory map;

[0041] A pipeline offset section determination module, configured to determine the offset status of the plurality of detection pipeline sections according to the offset amounts of each comparison point in the plurality of detection pipeline sections, and determine the pipeline offset section of the buried pipeline according to the offset status of the plurality of detection pipeline sections.

[0042] The third aspect of the present invention provides a computer device, including:

[0043] A memory;

[0044] A processor; and

[0045] A computer program;

[0046] Wherein, the computer program is stored in the memory and is configured to be executed by the processor to implement the buried pipeline offset detection method as described above.

[0047] The fourth aspect of the present invention provides a computer-readable storage medium, on which a computer program is stored, characterized in that the computer program is executed by a processor to implement the buried pipeline offset detection method as described above.

[0048] The buried pipeline offset detection method provided by the present invention is applicable to buried pipelines without leakage. The buried pipeline is mapped by an inertial mapping tool, and the buried pipeline is divided into multiple detection pipeline sections according to the mapped buried pipeline trajectory. The pipeline offset section of the buried pipeline is determined according to the offset status of the multiple detection pipeline sections, so as to effectively locate the pipeline sections or points with high offset risks; and the offset risk of the pipeline offset section is calculated according to the offset risk of the detection pipeline section, so as to implement a quantitative evaluation method to quantitatively evaluate the size of the pipeline offset risk; based on the offset risk of the pipeline offset section, it is convenient for monitoring and early warning and performing maintenance actions.

[0049] Other features and advantages of the technical solution of the present invention will be described in detail in the following specific implementation section. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0051] Figure 1 is a flowchart of the buried pipeline offset detection method provided in Embodiment 1 of the present invention;

[0052] Figure 2 is a schematic structural diagram of the pipeline offset section when the offset status of the detection pipeline section is the first offset status provided in Embodiment 1 of the present invention;

[0053] Figure 3It is a schematic structural diagram of a pipeline offset section when the offset state of a detected pipe section is a second offset state provided in Embodiment 1 of the present invention;

[0054] Figure 4 It is a schematic structural diagram of a pipeline offset section when the offset state of a detected pipe section is a third offset state provided in Embodiment 1 of the present invention;

[0055] Figure 5 It is a schematic structural diagram of a buried pipeline offset detection system provided in Embodiment 2 of the present invention. Detailed implementation manners

[0056] In order to make the technical solutions and advantages in the embodiments of the present invention clearer and more understandable, the following further describes the exemplary embodiments of the present invention in detail with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than an exhaustive list of all embodiments. It should be noted that, without conflict, the embodiments in the present invention and the features in the embodiments can be combined with each other.

[0057] In the description of the present invention, it should be understood that the orientation or positional relationships indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. are based on the orientation or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus cannot be understood as a limitation to the present invention.

[0058] In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of the described features. In the description of the present invention, "a plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0059] In the process of implementing the present invention, in areas with complex geological conditions, large undulations in terrain and frequent geological disasters, as the development time extends, some pipeline passing areas are affected by natural disasters, which are prone to leakage, and due to the complex terrain, the repair work after leakage is difficult. Some production facilities are located near and upstream of environmentally sensitive areas and water source protection areas. Once leakage occurs, the enterprise faces huge legal risks. Therefore, leakage risk positioning is a very important work content.

[0060] Geological disasters are mainly divided into collapses, landslides, ground subsidence, etc. Continuously monitoring to obtain the pipeline leakage risks caused by them and based on this for prediction and maintenance is an effective control means for preventing and treating pipeline leakage. The leakage detection technology initially used the method of manual detection. After the 1960s, different acoustic methods and corresponding devices such as ground noise detectors, leakage noise correlators, and noise recorders were developed. Since then, non-acoustic methods such as gas injection, ground penetrating radar, and thermal infrared imaging have also been gradually applied. Some mathematical statistics and artificial intelligence methods have also been gradually applied to leakage detection. In 1976, German scholars Isermann and Siebert proposed a method for leakage detection by analyzing the cross-correlation relationship between the flow rate and pressure signals between the inflow and outflow. On this basis, an adaptive observer leakage detection method based on a non-linear model was proposed in the 1980s. Since then, machine learning algorithms, model methods, and signal processing methods based on support vector machines, random forests, artificial neural networks, etc. have been gradually applied to sensor signal processing to improve the accuracy of leakage detection and achieve rapid detection and prediction. The above methods are all applicable to pipelines that have already leaked. However, when there is no leakage, accurately judging the risk of leakage occurrence can prevent problems before they happen and effectively avoid environmental, property, and even personnel losses caused by leakage.

[0061] In view of the above problems, in an embodiment of the present invention, a buried pipeline offset detection method is provided, including: performing inertial mapping on a buried pipeline to obtain a mapping trajectory diagram of the buried pipeline;

[0062] Dividing the buried pipeline into multiple detection pipe segments, and setting multiple comparison points in each detection pipe segment; calculating the offset amount of each comparison point in the multiple detection pipe segments according to the mapping trajectory diagram of the buried pipeline and the initial trajectory diagram of the buried pipeline, where the offset amount of the comparison point is: the offset amount of the comparison point in the mapping trajectory diagram based on the corresponding comparison point in the initial trajectory diagram; judging the offset state of the multiple detection pipe segments according to the offset amounts of each comparison point in the multiple detection pipe segments, and determining the pipeline offset segment of the buried pipeline according to the offset states of the multiple detection pipe segments. The buried pipeline offset detection method provided by the present invention is applicable to buried pipelines that have not leaked. The buried pipeline is mapped by an inertial mapping tool, the buried pipeline is divided into multiple detection pipe segments according to the mapped buried pipeline trajectory, and the pipeline offset segment of the buried pipeline is determined according to the offset states of the multiple detection pipe segments, so as to effectively locate the pipe segments or points with high offset risks; and calculate the offset risk of the pipeline offset segment according to the offset risk of the detection pipe segment, so as to realize a quantitative evaluation method for quantitatively evaluating the size of the pipeline offset risk; and based on the offset risk of the pipeline offset segment, it is convenient for monitoring and early warning and performing maintenance actions.

[0063] Embodiment 1

[0064] Figure 1It is a flowchart of the buried pipeline offset detection method provided in Embodiment 1 of the present invention. As Figure 1 shown, a buried pipeline offset detection method provided in this embodiment includes:

[0065] S1. Conduct inertial surveying and mapping on the buried pipeline to obtain the surveying and mapping trajectory diagram of the buried pipeline;

[0066] S2. Divide the buried pipeline into multiple detection pipe segments, and set multiple comparison points in each detection pipe segment;

[0067] S3. Calculate the offset of each comparison point in multiple detection pipe segments according to the surveying and mapping trajectory diagram of the buried pipeline and the initial trajectory diagram of the buried pipeline. The offset of the comparison point is the offset of the comparison point in the surveying and mapping trajectory diagram based on the corresponding comparison point in the initial trajectory diagram;

[0068] S4. Judge the offset state of multiple detection pipe segments according to the offset of each comparison point in multiple detection pipe segments, and determine the pipeline offset segment of the buried pipeline according to the offset state of multiple detection pipe segments.

[0069] In this step S1, obtain the surveying and mapping trajectory diagram and the initial trajectory diagram of the buried pipeline; among them, use an inertial measurement tool to depict the trajectory of the buried pipeline. Specifically, use an inertial positioning instrument to depict the trajectory of the buried pipeline. Inertial navigation is a recursive navigation system. According to Newton's law, after measuring the acceleration signal received by the carrier, integrating over time can obtain the change in speed, and then integrating twice can obtain the change in position, and it can realize the solution of the attitude and position of the object at any moment. Its core component is an inertial measurement unit (IMU) composed of three-dimensional orthogonal gyroscopes and accelerometers. Respectively use gyroscopes and accelerometers to measure the rotational angular velocity and motion acceleration of an object in three directions, and use special calculation software to perform operations such as integration on the collected and recorded data, then the speed, position and attitude information of the detector at any moment can be obtained, and the center line coordinates of the pipeline can be obtained. The operation steps are as follows:

[0070] (1) Set ground reference points at intervals along the pipeline center line, place calibration boxes, and measure the GPS coordinate positions of these points

[0071] (2) Usually mount the inertial surveying and mapping system on internal detectors such as geometry and magnetic flux leakage and perform clock synchronization;

[0072] (3) Load the internal detector equipped with IMU into the oil and gas pipeline and make the whole system advance under the push of oil or gas;

[0073] (4) The IMU unit collects data of three-way gyroscopes, three-way accelerometers and odometers at a certain frequency and stores them in the storage unit;

[0074] (5) The collected IMU data and mileage data are combined to generate a "virtual path", and then the virtual path is corrected to the real pipeline path using the GPS coordinate position of the calibration box. Thus, a mapping trajectory diagram is obtained.

[0075] In step S2, the buried pipeline is segmented through the welds of the buried pipeline to obtain multiple inspection pipe segments. Specifically, after the measurement of the mapping trajectory diagram is completed, the buried pipeline is divided into multiple inspection pipe segments with the circumferential welds as the segmentation points.

[0076] In step S3, calculating the offset of each comparison point in the inspection pipe segment according to the mapping trajectory diagram of the buried pipeline and the initial trajectory diagram of the buried pipeline includes:

[0077] Obtain the initial three-dimensional coordinates of the comparison point in the initial trajectory diagram and the offset three-dimensional coordinates of the comparison point in the mapping trajectory diagram, and calculate the offset of the comparison point according to the initial three-dimensional coordinates of the comparison point and the offset three-dimensional coordinates of the comparison point.

[0078] In step S4, the multiple comparison points in the inspection pipe segment include a head comparison point and a tail comparison point;

[0079] Judging the offset state of the multiple inspection pipe segments according to the offsets of each comparison point in the multiple inspection pipe segments includes:

[0080] Judge the offset state of the inspection pipe segment according to the offset of the head comparison point and the offset of the tail comparison point of each inspection pipe segment.

[0081] Calculating the offset of the head comparison point and the offset of the tail comparison point on each inspection pipe segment according to the mapping trajectory diagram and the initial trajectory diagram includes:

[0082] Obtain the initial three-dimensional coordinates of the head comparison point in the initial trajectory diagram and the offset three-dimensional coordinates of the head comparison point in the mapping trajectory diagram, and calculate the offset of the head comparison point according to the initial three-dimensional coordinates of the head comparison point and the offset three-dimensional coordinates of the head comparison point;

[0083] Obtain the initial three-dimensional coordinates of the tail comparison point in the initial trajectory diagram and the offset three-dimensional coordinates of the tail comparison point in the mapping trajectory diagram, and calculate the offset of the tail comparison point according to the current three-dimensional coordinates of the tail comparison point and the offset three-dimensional coordinates of the tail comparison point.

[0084] Furthermore, this embodiment provides a calculation formula for the offset of the comparison point, as follows:

[0085]

[0086] Among them, (x′, y′, z′) are the three-dimensional coordinates of the comparison point in the mapping trajectory diagram, and (x, y, z) are the three-dimensional coordinates of the comparison point in the initial trajectory diagram.

[0087] In step S4, the offset states of the detection pipe sections include a first offset state, a second offset state, and a third offset state. Judging the offset state of the detection pipe section according to the offset amount of the head comparison point and the offset amount of the tail comparison point of the detection pipe section is specifically as follows:

[0088] When the offset amount of the head comparison point and the offset amount of the tail comparison point are both less than the first preset offset amount, it is determined that the offset state of the detection pipe section is the first offset state;

[0089] When the offset amount of the head comparison point or the offset amount of the tail comparison point is greater than the first preset offset amount, it is determined that the offset state of the detection pipe section is the second offset state;

[0090] When the offset amount of the head comparison point and the offset amount of the tail comparison point are both greater than the first preset offset amount, it is determined that the offset state of the detection pipe section is the third offset state.

[0091] Specifically, the first offset state is

[0092] The second offset state is: Or

[0093] The third offset state is:

[0094] Among them, Δa is the offset amount of the head comparison point, Δb is the offset amount of the tail comparison point; 0.005L is the first preset offset amount, and L is the pipe section length of the detection pipe section. In this embodiment, the first preset offset amount is determined by the pipe section length of the detection pipe section.

[0095] In step S4, obtaining the offset pipe section according to the offset states of multiple detection pipe sections is specifically as follows:

[0096] When the offset state of the detection pipe section is the first offset state, the detection pipe section is used as the pipe offset section;

[0097] When the offset state of the detection pipe section is the second offset state, the detection pipe section is used as the head section of the pipe offset section, and the offset state of the adjacent detection pipe section in the end direction of the head comparison point or the tail comparison point on the detection pipe section with an offset amount greater than the first preset offset amount is obtained until the offset state of the adjacent detection pipe section is the second offset state, and the adjacent detection pipe section with the offset state of the second offset state is used as the end of the pipe offset section to obtain a new pipe offset section;

[0098] When the offset state of the detected pipe section is the third offset state, obtain the offset states of the adjacent pipe sections on both sides of the detected pipe section respectively until the offset states of the adjacent pipe sections on both sides are the second offset state, and the pipeline offset section is from the adjacent pipe section on one side to the adjacent pipe section on the other side.

[0099] Figure 2 FIG. 4 is a schematic structural diagram of a pipeline offset section when the offset state of the detected pipe section is the first offset state provided in Embodiment 1 of the present invention; as Figure 2 shown, when the offset state of the detected pipe section is the first offset state, it indicates that this section of the detected pipe section has been severely bent, and the severe bending deformation is within the current section of the detected pipe section, then the pipeline offset section is this section of the detected pipe section.

[0100] Figure 3 FIG. 5 is a schematic structural diagram of a pipeline offset section when the offset state of the detected pipe section is the second offset state provided in Embodiment 1 of the present invention; as Figure 3 shown, when the offset state of the detected pipe section is the second offset state, it indicates that the offset deformation of the buried pipeline does not only occur within the current detected pipe section, and the current detected pipe section is only one end of the offset deformation. Then, it is necessary to extend in the end direction of the head or tail comparison point on the detected pipe section where the offset amount is greater than the first preset offset amount to find the other end where the offset deformation occurs; that is, when the offset state of the detected pipe section is the second offset state, use the detected pipe section as the head section of the pipeline offset section, obtain the offset state of the adjacent pipe section in the end direction of the head comparison point or the tail comparison point on the detected pipe section where the offset amount is greater than the first preset offset amount until the offset state of the adjacent pipe section is the second offset state, and use the adjacent pipe section with the offset state of the second offset state as the end of the pipeline offset section to obtain a new pipeline offset section.

[0101] Figure 4 FIG. 6 is a schematic structural diagram of a pipeline offset section when the offset state of the detected pipe section is the third offset state provided in Embodiment 1 of the present invention; as Figure 4 shown, when the offset state of the detected pipe section is the third offset state, it indicates that the offset deformation of the buried pipeline does not only occur within the current detected pipe section, and the current detected pipe section is in the middle section of the offset formation rather than the end section of the offset deformation. Then, it is necessary to extend in the two end directions of the current detected pipe section to find the two ends where the buried pipeline has offset deformation. That is, when the offset state of the detected pipe section is the third offset state, obtain the offset states of the adjacent pipe sections on both sides of the detected pipe section respectively until the offset states of the adjacent pipe sections on both sides are the second offset state, and the pipeline offset section is from the adjacent pipe section on one side to the adjacent pipe section on the other side.

[0102] In this embodiment, it further includes step S5: calculating the offset risk of the pipeline offset section.

[0103] In step S5, calculating the offset risk of the pipeline offset section includes:

[0104] S51. Calculating the offset risk of each inspection pipe section within the pipeline offset section;

[0105] S52. Calculating the offset risk of the pipeline offset section based on the offset risks of each inspection pipe section.

[0106] In step S51, calculating the offset risk of each inspection pipe section within the pipeline offset section includes:

[0107] Calculating the offset of multiple comparison points within the inspection pipe section;

[0108] Judging the risk status of each comparison point according to the offset of each comparison point and the offset of the adjacent comparison point of the comparison point;

[0109] Calculating the offset risk of the inspection pipe section according to the risk status of each comparison point.

[0110] Furthermore, in step S51, the risk status of the comparison point includes a first risk status and a second risk status. Judging the risk status of each comparison point according to the offset of each comparison point and the offset of the adjacent comparison point of the comparison point is specifically:

[0111] When the offset of the comparison point is greater than the second preset offset, and both the previous adjacent comparison point and the next adjacent comparison point of the comparison point are less than the second preset offset, the risk status of the comparison point is the first risk status;

[0112] When the offset of the comparison point is greater than the second preset offset, and either the previous adjacent comparison point or the next adjacent comparison point of the comparison point is greater than the second preset offset, the risk status of the comparison point is the second risk status.

[0113] Specifically, the condition for the risk status of the comparison point to be the first risk status is:

[0114] The condition for the risk status of the comparison point to be the second risk status is:

[0115] Or

[0116] where n is the current comparison point, n - 1 is the previous adjacent comparison point, n + 1 is the next adjacent comparison point, 0.005L is the second preset offset, and L is the pipe section length of the inspection pipe section.

[0117] Furthermore, in step S51, calculating the offset risk of the inspection pipe section according to the risk status of each comparison point includes:

[0118] Obtain the number of comparison points in the first risk state and the number of comparison points in the second risk state within the detection pipe section;

[0119] Calculate the offset risk of the detection pipe section according to the number of comparison points in the first risk state and the number of comparison points in the second risk state.

[0120] Specifically, the offset risk of the detection pipe section is calculated according to the following formula:

[0121]

[0122] Among them, is the offset risk of the detection pipe section, n1 is the number of comparison points in the first risk state, and n2 is the number of comparison points in the second risk state.

[0123] In step S42, calculate the average value of the offset risks of multiple detection pipe sections, which is the offset risk of the pipe offset end. The specific calculation formula is as follows:

[0124] Among them, is the offset risk of the pipe offset section; n is the number of detection pipe sections within the pipe offset section.

[0125] Furthermore, according to the magnitude of the offset risk, classify the offset risk levels of each section of the pipeline according to the following table.

[0126]

[0127] In this embodiment, perform offset alarm according to the offset risk level, and notify the maintenance personnel to perform maintenance work according to the offset risk level.

[0128] Embodiment 2

[0129] Figure 5 is a schematic structural diagram of the buried pipeline offset detection system provided by Embodiment 2 of the present invention. As Figure 5As shown, the buried pipeline offset detection system provided in this embodiment includes: An underground pipeline offset detection system includes an inertial mapping module for inertial mapping of the buried pipeline to obtain a mapping trajectory diagram of the buried pipeline; a comparison point setting module for dividing the buried pipeline into multiple detection pipe segments and setting multiple comparison points in each detection pipe segment; an offset calculation module for calculating the offset of each comparison point in multiple detection pipe segments according to the mapping trajectory diagram of the buried pipeline and the initial trajectory diagram of the buried pipeline, where the offset of the comparison point is the offset of the comparison point in the mapping trajectory diagram based on the corresponding comparison point in the initial trajectory diagram; a pipeline offset segment determination module for determining the offset state of the multiple detection pipe segments according to the offset of each comparison point in the multiple detection pipe segments and determining the pipeline offset segment of the buried pipeline according to the offset state of the multiple detection pipe segments.

[0130] In this embodiment, the buried pipeline offset detection system further includes an offset risk determination module for calculating the offset risk of the pipeline offset segment.

[0131] The buried pipeline offset detection system is implemented by a buried pipeline offset detection method, and the method includes:

[0132] S1. Perform inertial mapping on the buried pipeline to obtain a mapping trajectory diagram of the buried pipeline;

[0133] S2. Divide the buried pipeline into multiple detection pipe segments and set multiple comparison points in each detection pipe segment;

[0134] S3. Calculate the offset of each comparison point in multiple detection pipe segments according to the mapping trajectory diagram of the buried pipeline and the initial trajectory diagram of the buried pipeline, where the offset of the comparison point is: the offset of the comparison point in the mapping trajectory diagram based on the corresponding comparison point in the initial trajectory diagram;

[0135] S4. Determine the offset state of the multiple detection pipe segments according to the offset of each comparison point in the multiple detection pipe segments and determine the pipeline offset segment of the buried pipeline according to the offset state of the multiple detection pipe segments.

[0136] In this step S1, obtain the surveying and mapping trajectory diagram and the initial trajectory diagram of the buried pipeline; among them, use an inertial measurement tool to depict the trajectory of the buried pipeline. Specifically, use an inertial locator to depict the trajectory of the buried pipeline. Inertial navigation is a recursive navigation system. According to Newton's law, after measuring the acceleration signal received by the carrier, integrating over time can obtain the velocity change, and then integrating twice can obtain the position change, which can realize the calculation of the attitude and position at any moment of the carrier. Its core component is an inertial measurement unit (IMU) composed of three-dimensional orthogonal gyroscopes and accelerometers. Use gyroscopes and accelerometers to measure the rotational angular velocity and motion acceleration of an object in three directions respectively. Integrate and perform other operation processes on the collected and recorded data using specialized calculation software, and then the velocity, position, and attitude information of the detector at any moment can be obtained, and the center line coordinates of the pipeline can be obtained. The operation steps are as follows:

[0137] (1) Set ground reference points at regular intervals along the center line of the pipeline, place calibration boxes, and measure the GPS coordinate positions of these points

[0138] (2) Usually mount the inertial surveying and mapping system on internal detectors such as geometry and magnetic flux leakage detectors and perform clock synchronization;

[0139] (3) Load the internal detector equipped with the IMU into the oil and gas pipeline and make the entire system advance under the push of oil or gas;

[0140] (4) The IMU unit collects data from three-way gyroscopes, three-way accelerometers, and odometers at a certain frequency and stores them in the storage unit;

[0141] (5) Combine the collected IMU data and mileage data to generate a "virtual path", and then use the GPS coordinate position of the calibration box to correct the virtual path into the real pipeline path. Thus, obtain the surveying and mapping trajectory diagram.

[0142] In step S2, segment the buried pipeline through the welds of the buried pipeline to obtain multiple inspection pipe segments. Specifically, after the measurement of the surveying and mapping trajectory diagram is completed, use the circumferential weld as the segmentation point to divide the buried pipeline into multiple inspection pipe segments.

[0143] In step S3, calculating the offset of each comparison point in the inspection pipe segment according to the surveying and mapping trajectory diagram of the buried pipeline and the initial trajectory diagram of the buried pipeline includes:

[0144] Obtain the initial three-dimensional coordinates of the comparison point in the initial trajectory diagram and the offset three-dimensional coordinates of the comparison point in the surveying and mapping trajectory diagram, and calculate the offset of the comparison point according to the initial three-dimensional coordinates of the comparison point and the offset three-dimensional coordinates of the comparison point.

[0145] In step S4, the comparison points include a head comparison point and a tail comparison point;

[0146] Judging the offset state of the detected pipe segment according to the offset amounts of each comparison point in the detected pipe segment includes:

[0147] Judging the offset state of the detected pipe segment according to the offset amount of the head comparison point and the offset amount of the tail comparison point of each detected pipe segment.

[0148] Calculating the offset amount of the head comparison point and the offset amount of the tail comparison point on each detected pipe segment according to the mapping trajectory diagram and the initial trajectory diagram includes:

[0149] Obtaining the initial three-dimensional coordinates of the head comparison point in the initial trajectory diagram and the offset three-dimensional coordinates of the head comparison point in the mapping trajectory diagram, and calculating the offset amount of the head comparison point according to the initial three-dimensional coordinates of the head comparison point and the offset three-dimensional coordinates of the head comparison point;

[0150] Obtaining the initial three-dimensional coordinates of the tail comparison point in the initial trajectory diagram and the offset three-dimensional coordinates of the tail comparison point in the mapping trajectory diagram, and calculating the offset amount of the tail comparison point according to the three-dimensional coordinates of the tail comparison point at this time and the offset three-dimensional coordinates of the tail comparison point.

[0151] Further, the present embodiment provides a calculation formula for the offset amount of the comparison point, as follows:

[0152]

[0153] Among them, (x′, y′, z′) are the three-dimensional coordinates of the comparison point in the mapping trajectory diagram, and (x, y, z) are the three-dimensional coordinates of the comparison point in the initial trajectory diagram.

[0154] In step S4, the offset state of the detected pipe segment includes a first offset state, a second offset state, and a third offset state. Judging the offset state of the detected pipe segment according to the offset amount of the head comparison point and the offset amount of the tail comparison point of the detected pipe segment is specifically:

[0155] When the offset amounts of both the head comparison point and the tail comparison point are less than the first preset offset amount, determining that the offset state of the detected pipe segment is the first offset state;

[0156] When the offset amount of the head comparison point or the offset amount of the tail comparison point is greater than the first preset offset amount, determining that the offset state of the detected pipe segment is the second offset state;

[0157] When the offset amounts of both the head comparison point and the tail comparison point are greater than the first preset offset amount, determining that the offset state of the detected pipe segment is the third offset state.

[0158] Specifically, the first offset state is

[0159] The second offset state is: or

[0160] The third offset state is:

[0161] Wherein, Δa is the offset of the head comparison point, and Δb is the offset of the end comparison point; 0.005L is the first preset offset, and L is the length of the detection pipe section. In this embodiment, the first preset offset is determined by the length of the detection pipe section.

[0162] In step S4, obtaining the offset pipe section according to the offset states of multiple detection pipe sections specifically includes:

[0163] When the offset state of the detection pipe section is the first offset state, the detection pipe section is used as the pipe offset section;

[0164] When the offset state of the detection pipe section is the second offset state, the detection pipe section is used as the head section of the pipe offset section, and the offset states of the adjacent detection pipe sections in the end point direction of the head comparison point or the end comparison point on the detection pipe section with an offset greater than the first preset offset are obtained until the offset state of the adjacent detection pipe section is the second offset state, and the adjacent detection pipe section with the offset state of the second offset state is used as the end of the pipe offset section to obtain a new pipe offset section;

[0165] When the offset state of the detection pipe section is the third offset state, the offset states of the adjacent detection pipe sections on both sides of the detection pipe section are respectively obtained until the offset states of the adjacent detection pipe sections on both sides are the second offset state, and the pipe offset section is from the adjacent detection pipe section on one side to the adjacent detection pipe section on the other side.

[0166] As Figure 2 shown, when the offset state of the detection pipe section is the first offset state, it indicates that this section of the detection pipe section has been severely bent, and the severe bending deformation is within the current section of the detection pipe section, so the pipe offset section is this section of the detection pipe section.

[0167] As Figure 3As shown, when the offset state of the detection pipe section is the second offset state, it indicates that the offset deformation of the buried pipeline does not only occur within the current detection pipe section, and the current detection pipe section is only one end of the offset deformation. Then, it is necessary to extend in the end point direction where the offset amount of the current detection pipe section is greater than the first preset offset amount to find the other end where the offset deformation occurs. That is, when the offset state of the detection pipe section is the second offset state, the detection pipe section is used as the starting section of the pipeline offset section, and the offset state of the adjacent detection pipe section in the end point direction of the head comparison point or the end comparison point on the detection pipe section where the offset amount is greater than the first preset offset amount is obtained until the offset state of the adjacent detection pipe section is the second offset state. The adjacent detection pipe section with the offset state of the second offset state is used as the end of the pipeline offset section to obtain a new pipeline offset section.

[0168] As Figure 4 shown, when the offset state of the detection pipe section is the third offset state, it indicates that the offset deformation of the buried pipeline does not only occur within the current detection pipe section, and the current detection pipe section is in the middle section of the offset formation rather than the end section of the offset deformation. Then, it is necessary to extend in the two end point directions of the current detection pipe section to find the two end points where the buried pipeline has offset deformation. That is, when the offset state of the detection pipe section is the third offset state, the offset states of the adjacent detection pipes on both sides of the detection pipe section are obtained respectively until the offset states of the adjacent detection pipes on both sides are the second offset state, and the pipeline offset section is from the adjacent detection pipe on one side to the adjacent detection pipe on the other side.

[0169] In this embodiment, it further includes step S5: calculating the offset risk of the pipeline offset section.

[0170] In step S5, the calculating the offset risk of the pipeline offset section includes:

[0171] S51. Calculating the offset risk of each detection pipe section within the pipeline offset section;

[0172] S52. Calculating the offset risk of the pipeline offset section according to the offset risks of each detection pipe section.

[0173] In step S51, the calculating the offset risk of each detection pipe section within the pipeline offset section includes:

[0174] Calculating the offset amounts of multiple comparison points within the detection pipe section;

[0175] Judging the risk state of each comparison point according to the offset amount of each comparison point and the offset amount of the adjacent comparison point of the comparison point;

[0176] Calculating the offset risk of the detection pipe section according to the risk state of each comparison point.

[0177] Further, in step S51, the risk states of the comparison points include a first risk state and a second risk state. Judging the risk state of each comparison point according to the offset of each comparison point and the offsets of the adjacent comparison points of the comparison point specifically includes:

[0178] When the offset of the comparison point is greater than a second preset offset, and both the previous adjacent comparison point and the next adjacent comparison point of the comparison point are less than the second preset offset, the risk state of the comparison point is the first risk state;

[0179] When the offset of the comparison point is greater than the second preset offset, and either the previous adjacent comparison point or the next adjacent comparison point of the comparison point is greater than the second preset offset, the risk state of the comparison point is the second risk state.

[0180] Specifically, the condition for the risk state of the comparison point to be the first risk state is:

[0181] The condition for the risk state of the comparison point to be the second risk state is:

[0182] Or

[0183] where n is the current comparison point, n - 1 is the previous adjacent comparison point, n + 1 is the next adjacent comparison point, 0.005L is the second preset offset, and L is the length of the detected pipe section.

[0184] Further, in step S51, calculating the offset risk of the detected pipe section according to the risk states of each comparison point includes:

[0185] Obtaining the number of comparison points in the first risk state and the number of comparison points in the second risk state within the detected pipe section;

[0186] Calculating the offset risk of the detected pipe section according to the number of comparison points in the first risk state and the number of comparison points in the second risk state.

[0187] Specifically, the offset risk of the detected pipe section is calculated according to the following formula:

[0188]

[0189] where is the offset risk of the detected pipe section, n1 is the number of comparison points in the first risk state, and n2 is the number of comparison points in the second risk state.

[0190] In step S42, calculating the average value of the offset risks of multiple detected pipe sections is the offset risk of the pipe offset end. The specific calculation formula is as follows:

[0191] Among them, is the offset risk of the pipeline offset section; n is the number of detection pipe sections within the pipeline offset section.

[0192] Furthermore, according to the magnitude of the offset risk, the offset risk levels of each pipeline section are classified as follows in the table.

[0193]

[0194] In this embodiment, offset alarm is performed according to the offset risk level, and maintenance personnel are notified to perform maintenance work according to the offset risk level.

[0195] Embodiment 3

[0196] The specific buried pipeline provided in this embodiment is a long-distance oil and gas pipeline in the southwestern mountainous area. Uneven local stress causes bulges, resulting in local offset of the pipeline.

[0197] The terrain in the southwestern mountainous area is complex, and there are many situations where oil and gas long-distance pipelines cross tunnels and bridges. The total length of the surveyed pipeline in this section is 5 km. The rotational angular velocity and motion acceleration of an object in three directions are measured by using a gyroscope and an accelerometer respectively. The collected and recorded data are processed by using special calculation software for operations such as integration to obtain the speed, position and attitude information of the detector at any moment, and the center line coordinates of the pipeline are obtained. The operation steps are as follows:

[0198] (1) Set ground reference points every 500 m along the center line of the pipeline, place calibration boxes, and measure the GPS coordinate positions of these points;

[0199] (2) Usually mount the inertial surveying and mapping system in internal detectors such as geometry and magnetic flux leakage and perform clock synchronization;

[0200] (3) Load the internal detector equipped with IMU into the oil and gas pipeline and make the whole system advance under the push of oil or gas;

[0201] (4) The IMU unit collects data of three-way gyroscopes, three-way accelerometers and odometers at a certain frequency and stores them in the storage unit;

[0202] (5) The collected IMU data and mileage data are combined to generate a "virtual path", and then the virtual path is corrected to the real pipeline path by using the GPS coordinate positions of the calibration boxes.

[0203] After the total path measurement is completed, a surveying and mapping trajectory map is obtained. The surveyed pipeline is divided into multiple detection pipe sections (each section is L = 10 m long) with the circumferential welds as the segmentation points. The measurement data of a certain detection pipe section P1 is intercepted.

[0204] After obtaining the offset trajectory map of the detected pipe section, 49 comparison points are set within the detected pipe section to divide the pipe section into 50 segments. The offset at each point is calculated by the following formula:

[0205]

[0206]

[0207] The first comparison point and the last comparison point of the detected pipe section satisfy the first offset state of the detected pipe section. Therefore, this detected pipe section is used as the offset pipe section, and the offset risk of the offset pipe section is calculated.

[0208] From the data in the table, it can be seen that the offset at point No. 9 satisfies:

[0209]

[0210] Then, the comparison point No. 9 is the comparison point in the first risk state.

[0211] At the remaining points, Δn > L is not satisfied, and there is no comparison point in the second risk state.

[0212] Then, the offset risk of this offset pipe section is The offset risk level of the pipe section is level two. This pipe section should be closely monitored and inspected.

[0213] Embodiment 4

[0214] The specific buried pipeline provided in this embodiment is a long-distance pipeline in North China. Due to geological movement and landslide, the whole pipeline is slightly offset along the landslide surface.

[0215] Some oil and gas long-distance pipelines in North China cross the landslide zone and are slightly offset under the action of the landslide. The total length of this section of the measured pipeline is 3 km. The rotational angular velocity and motion acceleration of an object in three directions are measured by using a gyroscope and an accelerometer respectively. The collected and recorded data are processed by integral operations and other operations using special calculation software to obtain the velocity, position, and attitude information of the detector at any moment, and the centerline coordinates of the pipeline are obtained. The operation steps are as follows:

[0216] (1) Set ground reference points every 300 m along the centerline of the pipeline, place calibration boxes, and measure the GPS coordinate positions of these points;

[0217] (2) Usually mount the inertial surveying system on internal detectors such as geometry and magnetic flux leakage and perform clock synchronization;

[0218] (3) Load the internal detector equipped with IMU into the oil and gas pipeline and make the whole system advance under the push of oil or gas;

[0219] (4) The IMU unit collects data from three gyroscopes, three accelerometers and an odometer at a certain frequency and stores them in the storage unit;

[0220] (5) The collected IMU data and mileage data are combined to generate a "virtual path", and then the virtual path is corrected to the real pipeline path by using the GPS coordinate position of the calibration box.

[0221] After the total path measurement is completed, a mapping trajectory diagram is obtained. The measured pipeline is divided into multiple inspection pipe segments (each segment is L = 10 m long) with the circumferential weld as the segmentation point. The measurement data of a certain inspection pipe segment P2 is intercepted.

[0222] After obtaining the offset trajectory diagram of the inspection pipe segment, 49 comparison points are set in the inspection pipe segment to divide the pipe segment into 50 segments, and the offset at each point is calculated by the following formula:

[0223]

[0224]

[0225]

[0226] The first comparison point and the last comparison point of the inspection pipe segment satisfy the first offset state of the inspection pipe segment. Therefore, the inspection pipe segment is used as an offset pipeline segment, and the offset risk of the offset pipeline segment is calculated.

[0227] And it can be seen from the data in the table that Δn > L is not satisfied at all points, there is no comparison point in the first risk state and no comparison point in the second risk state.

[0228] Then, the offset risk of the offset pipeline segment is

[0229] An embodiment of the present invention also provides a computer device, including: a memory, a processor, and a computer program, where the computer program is stored in the memory and is configured to be executed by the processor to implement the above-mentioned buried pipeline offset detection method.

[0230] An embodiment of the present invention also provides a machine-readable storage medium, on which computer program instructions are stored, and when the computer program instructions are executed by a processor, the above-mentioned buried pipeline offset detection method is implemented.

[0231] Those skilled in the art should understand that the embodiments of the present invention can be provided as a method, a system, or a computer program product. Therefore, the present invention can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present invention can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code. The solutions in the embodiments of the present invention can be implemented in various computer languages. For example, object-oriented programming languages such as Java and interpreted scripting languages such as JavaScript, etc.

[0232] The present invention is described with reference to the flowcharts and / or block diagrams of methods, apparatuses (systems), and computer program products according to embodiments of the present invention. It should be understood that each flow and / or block in the flowchart and / or block diagram, as well as the combination of flows and / or blocks in the flowchart and / or block diagram, can be realized by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, such that the instructions executed by the processor of the computer or other programmable data processing devices generate means for realizing the functions specified in Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0233] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, such that the instructions stored in the computer-readable memory generate a manufactured article including instruction means, and the instruction means realizes the functions specified in Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0234] These computer program instructions can also be loaded onto a computer or other programmable data processing device, such that a series of operation steps are executed on the computer or other programmable device to generate a computer-implemented process. Thus, the instructions executed on the computer or other programmable device provide steps for realizing the functions specified in Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0235] Although the preferred embodiments of the present invention have been described, those skilled in the art can make additional changes and modifications once they learn the basic creative concepts. Therefore, the appended claims are intended to be construed to include the preferred embodiments as well as all changes and modifications falling within the scope of the present invention.

[0236] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalent technologies, the present invention also intends to include these changes and modifications therein.

Claims

1. A method for detecting the offset of buried pipelines, characterized in that, Including: Performing inertial surveying and mapping on the buried pipeline to obtain a surveying and mapping trajectory diagram of the buried pipeline; Dividing the buried pipeline into multiple detection pipe segments, and setting multiple comparison points in each detection pipe segment; Calculating the offset of each comparison point in multiple detection pipe segments according to the surveying and mapping trajectory diagram of the buried pipeline and the initial trajectory diagram of the buried pipeline, where the offset of the comparison point is the offset of the comparison point in the surveying and mapping trajectory diagram based on the corresponding comparison point in the initial trajectory diagram; Judging the offset state of the multiple detection pipe segments according to the offset of each comparison point in the multiple detection pipe segments, and determining the pipeline offset segment of the buried pipeline according to the offset state of the multiple detection pipe segments.

2. The buried pipeline offset detection method according to claim 1, characterized in that The multiple comparison points in the detection pipe segment include a head comparison point and a tail comparison point; The judging the offset state of the multiple detection pipe segments according to the offset of each comparison point in the multiple detection pipe segments includes: Judging the offset state of the detection pipe segment according to the offset of the head comparison point and the offset of the tail comparison point of each detection pipe segment.

3. The buried pipeline offset detection method according to claim 1, wherein The calculating the offset of each comparison point in multiple detection pipe segments according to the surveying and mapping trajectory diagram of the buried pipeline and the initial trajectory diagram of the buried pipeline includes: Obtaining the initial three-dimensional coordinates of the comparison point in the initial trajectory diagram and the offset three-dimensional coordinates of the comparison point in the surveying and mapping trajectory diagram, and calculating the offset of the comparison point according to the initial three-dimensional coordinates of the comparison point and the offset three-dimensional coordinates of the comparison point.

4. The buried pipeline offset detection method according to claim 2, characterized in that, The offset state of the detection pipe segment includes a first offset state, a second offset state, and a third offset state; The judging the offset state of the detection pipe segment according to the offset of the head comparison point and the offset of the tail comparison point of each detection pipe segment includes: When the offset of the head comparison point and the offset of the tail comparison point are both less than the first preset offset, determining that the offset state of the detection pipe segment is the first offset state; When the offset of the head comparison point or the offset of the tail comparison point is greater than the first preset offset, determining that the offset state of the detection pipe segment is the second offset state; When the offset of the head comparison point and the offset of the tail comparison point are both greater than the first preset offset, determining that the offset state of the detection pipe segment is the third offset state.

5. The buried pipeline offset detection method according to claim 4, wherein The determining the offset pipeline segment of the buried pipeline according to the offset state of the multiple detection pipe segments is specifically: When the offset state of the detection pipe segment is the first offset state, taking the detection pipe segment as the pipeline offset segment; When the offset state of the detection pipe segment is the second offset state, taking the detection pipe segment as the head segment of the pipeline offset segment, obtaining the offset state of the adjacent detection pipe segment in the end direction of the head comparison point or the tail comparison point on the detection pipe segment with an offset greater than the first preset offset, until the offset state of the adjacent detection pipe segment is the second offset state, and taking the adjacent detection pipe segment with the offset state of the second offset state as the end of the pipeline offset segment to obtain a new pipeline offset segment; When the offset state of the detection pipe segment is the third offset state, respectively obtaining the offset states of the adjacent detection pipe segments on both sides of the detection pipe segment, until the offset states of the adjacent detection pipe segments on both sides are both the second offset state, and the pipeline offset segment is from the adjacent detection pipe segment on one side to the adjacent detection pipe segment on the other side.

6. The buried pipeline offset detection method according to claim 4, characterized in that, The first preset offset is determined by the pipe segment length of the detected pipe segment.

7. The buried pipeline offset detection method according to claim 1, characterized in that The method further includes: calculating the offset risk of the pipeline offset segment, specifically: Calculating the offset risk of each detected pipe segment within the pipeline offset segment; Calculating the offset risk of the pipeline offset segment based on the offset risks of each detected pipe segment.

8. The buried pipeline offset detection method according to claim 7, characterized in that, The calculating the offset risk of each detected pipe segment within the pipeline offset segment includes: Obtaining the offsets of multiple comparison points within the detected pipe segment; Judging the risk status of each comparison point according to the offset of each comparison point and the offsets of the adjacent comparison points of the comparison point; Calculating the offset risk of the detected pipe segment according to the risk status of each comparison point.

9. The buried pipeline offset detection method according to claim 8, characterized in that, The risk status of the comparison point includes a first risk status and a second risk status; The judging the risk status of each comparison point according to the offset of each comparison point and the offsets of the adjacent comparison points of the comparison point is specifically: When the offset of the comparison point is greater than the second preset offset, and both the previous adjacent comparison point and the subsequent adjacent comparison point of the comparison point are less than the second preset offset, the risk status of the comparison point is the first risk status; When the offset of the comparison point is greater than the second preset offset, and either the previous adjacent comparison point or the subsequent adjacent comparison point of the comparison point is greater than the second preset offset, the risk status of the comparison point is the second risk status.

10. The buried pipeline offset detection method according to claim 9, characterized in that, The calculating the offset risk of the detected pipe segment according to the risk status of each comparison point includes: Obtaining the number of comparison points in the first risk status and the number of comparison points in the second risk status within the detected pipe segment; Calculating the offset risk of the detected pipe segment according to the number of comparison points in the first risk status and the number of comparison points in the second risk status.

11. An underground pipeline offset detection system, characterized in that, Includes: An inertial surveying and mapping module, configured to perform inertial surveying and mapping on the buried pipeline to obtain a surveying and mapping trajectory diagram of the buried pipeline; A comparison point setting module, configured to divide the buried pipeline into multiple detected pipe segments and set multiple comparison points within each detected pipe segment; An offset calculation module, configured to calculate the offsets of each comparison point in multiple detected pipe segments according to the surveying and mapping trajectory diagram of the buried pipeline and the initial trajectory diagram of the buried pipeline, and the offset of the comparison point is the offset of the comparison point in the surveying and mapping trajectory diagram based on the corresponding comparison point in the initial trajectory diagram; A pipeline offset segment determination module, configured to judge the offset status of the multiple detected pipe segments according to the offsets of each comparison point in the multiple detected pipe segments, and determine the pipeline offset segment of the buried pipeline according to the offset status of the multiple detected pipe segments.

12. A computer device, characterized in that, Includes: A memory; A processor; And A computer program; Wherein, the computer program is stored in the memory and is configured to be executed by the processor to implement the buried pipeline offset detection method according to any one of claims 1 to 10.

13. A computer-readable storage medium having a computer program stored thereon, characterized in that, The computer program is executed by the processor to implement the buried pipeline offset detection method according to any one of claims 1 to 10.

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