System, method and device for monitoring displacement of buried pipeline

Abstract

The invention discloses a buried pipeline displacement monitoring system, method and device, and relates to the technical field of pipeline state monitoring. The buried pipeline displacement monitoring system comprises a buried pipeline displacement monitoring device and at least one chained sensor group connected with the buried pipeline displacement monitoring device, the chain type sensor group comprises at least one chain type sensor; the head end of the chained sensor is installed on a reference point on the ground, and the tail end is installed on a displacement anchor point on the side wall of the buried pipeline. The buried pipeline displacement monitoring system can accurately monitor the displacement of the buried pipeline, and is suitable for various buried pipeline deployment scenes.

Description

Technical Field

[0001] The present invention relates to the technical field of pipeline status monitoring, and in particular to a buried pipeline displacement monitoring system, method and device. Background Art

[0002] Long-distance oil and gas pipelines are the primary transportation channels for oil and natural gas. Monitoring long-distance oil and gas pipelines is essential to meet the operational safety requirements of long-distance pipeline construction and operation. When significant deformation and damage occur in oil pipelines, timely identification and repair of the damaged area can reduce losses caused by interruptions in oil and gas transportation. However, significant deformation is often accompanied by significant pipeline displacement, necessitating the establishment of a comprehensive monitoring system for this displacement.

[0003] Compared to pipelines installed above ground or laid in corridors, buried pipelines are primarily surrounded by soil, which rapidly attenuates electromagnetic and acoustic signals. This poses significant challenges for monitoring buried pipeline displacement. Currently, there are three main methods for monitoring buried pipeline displacement: hardware-based methods, numerical simulation methods, and manual inspections. Numerical simulation methods use a coupled dynamic model of the soil and pipeline and pressure point analysis to model the displacement of the oil pipeline and determine the displacement. Software-based methods suffer from significant errors due to model accuracy and environmental complexity. Manual inspections are direct and accurate, but time-consuming and labor-intensive. They cannot predict hazardous points in advance and can only be used for post-event investigations, resulting in poor real-time performance. Hardware-based methods use different sensors to detect displacement, depending on the detection method. However, existing sensors are not suitable for buried pipeline displacement monitoring due to limitations in their operating environment, installation method, and monitoring range. Summary of the Invention

[0004] The present invention provides a buried pipeline displacement monitoring system, method and device to solve the problem that existing sensors are limited by the use environment and are not suitable for buried pipeline displacement monitoring and cannot accurately monitor the displacement of buried pipelines.

[0005] In a first aspect, an embodiment of the present invention provides a buried pipeline displacement monitoring system, comprising:

[0006] A buried pipeline displacement monitoring device and a chain sensor group connected to the buried pipeline displacement monitoring device; the chain sensor group includes at least one chain sensor; the head end of the chain sensor is installed at a reference point on the ground, and the tail end is installed at a displacement anchor point on the side wall of the buried pipeline;

[0007] The chain sensor comprises at least two single chain links, adjacent single chain links are connected in series via a universal hinge structure, and a measuring module connected to the buried pipeline displacement monitoring device is assembled inside the single chain link.

[0008] In a second aspect, an embodiment of the present invention provides a method for monitoring displacement of a buried pipeline, comprising:

[0009] Obtain the original displacement anchor point position of the buried pipeline displacement anchor point;

[0010] For each single link of the chain sensor in the chain sensor group, determining the single link attitude angle according to measurement data measured by the measurement module in the single link;

[0011] For each chain sensor in the chain sensor group, determining a current displacement anchor point position of an end of the chain sensor according to a single link attitude angle of each single link in the chain sensor and a reference point position of a head end of the chain sensor;

[0012] The displacement of the buried pipeline is determined according to the current displacement anchor point position and the original displacement anchor point position of each chain sensor.

[0013] In a third aspect, an embodiment of the present invention provides a buried pipeline displacement monitoring device, comprising:

[0014] An original position acquisition module is used to obtain the original displacement anchor point position of the displacement anchor point of the buried pipeline;

[0015] An attitude angle determination module is used to determine the attitude angle of a single link of each chain sensor in the chain sensor group according to measurement data measured by the measurement module in the single link;

[0016] a current position determination module, configured to determine, for each chain sensor in the chain sensor group, a current displacement anchor point position of the end of the chain sensor according to a single link attitude angle of each single link in the chain sensor and a reference point position of the head end of the chain sensor;

[0017] The displacement determination module determines the displacement of the buried pipeline according to the current displacement anchor point position and the original displacement anchor point position of each chain sensor.

[0018] The technical solution of an embodiment of the present invention provides a buried pipeline displacement monitoring system, comprising: a buried pipeline displacement monitoring device and at least one chain sensor group connected to the buried pipeline displacement monitoring device; the chain sensor group includes at least one chain sensor; the head end of the chain sensor is installed at a reference point on the ground, and the tail end is installed at a displacement anchor point on the side wall of the buried pipeline; the chain sensor includes at least two single chain links, adjacent single chain links are connected in series via a universal hinge structure, and the single chain links are equipped with a measurement module connected to the buried pipeline displacement monitoring device. The posture information collected by the chain sensor connected to the displacement anchor point on the buried pipeline can determine the displacement of the displacement anchor point, thereby indirectly reflecting the displacement of the buried pipeline, achieving accurate monitoring of the buried pipeline displacement. The chain sensor can change its posture as the external soil environmental pressure changes, and is applicable to various buried pipeline deployment scenarios.

[0019] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present invention, nor is it intended to limit the scope of the present invention. Other features of the present invention will become readily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0021] Figure 1 A schematic structural diagram of a buried pipeline displacement monitoring system provided in the first embodiment of the present invention;

[0022] Figure 2 A schematic diagram of a usage scenario of a buried pipeline displacement monitoring system provided in the first embodiment of the present invention;

[0023] Figure 3 A schematic structural diagram of a chain sensor provided in Example 1 of the present invention;

[0024] Figure 4 A schematic structural diagram of a single link in a chain sensor provided in the first embodiment of the present invention;

[0025] Figure 5 A schematic diagram of a usage scenario of a buried pipeline displacement monitoring system provided in the second embodiment of the present invention;

[0026] Figure 6 A schematic structural diagram of a buried pipeline displacement monitoring system provided in a second embodiment of the present invention;

[0027] Figure 7 This is a flow chart of a method for monitoring displacement of buried pipelines provided in the third embodiment of the present invention;

[0028] Figure 8 This is a structural schematic diagram of a buried pipeline displacement monitoring device provided in Example 4 of the present invention. DETAILED DESCRIPTION

[0029] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described 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 should fall within the scope of protection of the present invention.

[0030] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0031] Example 1

[0032] Figure 1 This is a schematic diagram of the structure of a buried pipeline displacement monitoring system provided in Example 1 of the present invention. This embodiment is applicable to monitoring the displacement of buried pipelines.

[0033] like Figure 1 and Figure 2 As shown, the buried pipeline displacement monitoring system includes: a buried pipeline displacement monitoring device 1 and a chain sensor group 2 connected to the buried pipeline displacement monitoring device 1; the chain sensor group 2 includes at least one chain sensor 20; the head end of the chain sensor 20 is installed on the reference point diagram on the ground, and the end end is installed on the displacement anchor point 5 on the side wall of the buried pipeline 4.

[0034] Among them, the buried pipeline displacement monitoring device 1 is used to calculate and store the monitoring data and output the displacement monitoring results of the buried pipeline. It can be understood that in the actual buried pipeline displacement monitoring scenario, there may be one or more buried pipeline displacement monitoring devices 1 in the buried pipeline displacement monitoring system for monitoring the displacement of the same buried point pipeline, and each buried pipeline displacement monitoring device 1 is respectively connected to at least one group of chain sensor groups 2. Multiple buried pipeline displacement monitoring devices 1 can communicate with each other to transmit monitoring data or displacement monitoring results. Exemplarily, the buried pipeline displacement monitoring device 1 may include a microcontroller and may also include a communication module, etc.

[0035] The chain sensor group 2 may include one or more chain sensors 20. The reference point 3 may be understood as a marking point set on the ground; the displacement anchor point 5 may be understood as a marking point set on the side wall of the buried pipeline 4 to reflect the displacement of the buried pipeline 4.

[0036] Specifically, the buried pipeline displacement monitoring system includes at least one buried pipeline displacement monitoring device 1, each buried pipeline displacement monitoring device 1 is connected to at least one group of chain sensor groups 2; each group of chain sensor groups 2 includes at least one chain sensor 20. A reference point 3 is set on the ground near the pipeline, and the head end of the chain sensor 20 is installed at the reference point 3 to fix the chain sensor 20. To facilitate the installation of the chain sensor 20 on the reference point 3, a connecting component can be fixed at the reference point 3 on the ground, and a connecting component can be fixed at the head end of the chain sensor 20, and the connecting component at the head end of the chain sensor 20 is connected to the connecting component of the reference point 3 on the ground. The connecting component can adopt a detachable connection method, such as a threaded connection, a snap connection, and a hinge connection. The reference point 3 on the ground is generally set on an immovable object. To facilitate monitoring and positioning, the reference point 3 can be set at a monitoring station, and a positioning service can be provided at the monitoring station, such as the Beidou landslide comprehensive monitoring station.

[0037] A displacement anchor point 5 is provided on the side wall of the buried pipeline 4, and the head end of the chain sensor 20 is mounted on the displacement anchor point 5 on the side wall of the buried pipeline 4 to measure the displacement of the displacement anchor point 5. To facilitate installation of the chain sensor 20 on the buried pipeline 4, a connecting component can be fixed to the displacement anchor point 5 of the buried pipeline 4. The connecting component at the end of the chain sensor 20 is connected to the fixed connecting component of the displacement anchor point 5. The connecting component can adopt a detachable connection method, such as a threaded connection, a snap connection, and a hinge connection.

[0038] In the scenario of buried pipeline 4 displacement monitoring based on the buried pipeline displacement monitoring system, if the buried pipeline 4 is displaced due to soil changes or other reasons, the position of the displacement anchor point 5 connected to the end of the chain sensor 20 will change, thereby causing the posture of the chain sensor 20 to change. The displacement of the buried pipeline 4 can be determined based on the posture of the chain sensor 20, and the position of the buried pipeline 4 can be further determined in combination with the positioning of the reference point 3 at the head end of the chain sensor 20.

[0039] It should be noted that in an actual buried pipeline 4 displacement monitoring scenario, multiple monitoring points can be selected on the buried pipeline 4, and displacement monitoring can be performed using a chain sensor group 2 at each monitoring point. Multiple chain sensor groups 2 can be connected to a single buried pipeline displacement monitoring device 1 or different buried pipeline displacement monitoring devices 1. For example, a monitoring station can be set up in each monitoring area according to the monitoring area, and multiple chain sensor groups 20 deployed within the monitoring area can be connected to the buried pipeline displacement monitoring device 1 within the monitoring area.

[0040] An embodiment of the present invention provides a buried pipeline displacement monitoring system, comprising: a buried pipeline displacement monitoring device 1 and at least one chain sensor group 2 connected to the buried pipeline displacement monitoring device 1; the chain sensor group 2 includes at least one chain sensor 20; the head end of the chain sensor 20 is installed at a reference point 3 on the ground, and the tail end is installed at a displacement anchor point 5 on the side wall of the buried pipeline 4. The chain sensor 20 can accurately monitor the displacement of the buried pipeline 4 and is applicable to various buried pipeline 4 deployment scenarios.

[0041] In this embodiment, the chain sensor 20 includes at least two single links 21 , and adjacent single links 21 are connected in series via a universal hinge structure 23 . A measurement module 22 connected to the buried pipeline displacement monitoring device 1 is installed inside the single link 21 .

[0042] The measurement module 22 is composed of one or more sensors and is used to collect sensory data. This may include angle sensors, inertial sensors, and acceleration sensors. A universal joint is a mechanical structure that allows connected components to rotate freely in multiple directions. It typically consists of a central sphere or cross-shaped hinge and multiple connected components, enabling multi-degree-of-freedom movement.

[0043] Specifically, Figure 3 This is a schematic diagram of the structure of a chain sensor provided by the first embodiment of the present invention. Figure 3As shown, the chain sensor 20 includes at least two single links 21, each of which is connected in series via a universal hinge structure, allowing for free movement between the links 21. Thus, multiple links 21 are connected in series via the universal hinge structure to form the chain sensor 20. To enhance strength, the universal hinge structure and the single links 21 can be fixedly connected using a welding method or other means. It is understood that the number of single links 21 included in the chain sensor 20 can be determined based on factors such as the distance of the buried pipeline 4 from the ground. The single links 21 can be made of corrosion-resistant materials such as stainless steel, alloy, or polyvinyl chloride (PVC). The diameter and length of the single links 21 can be adjusted based on actual needs and are not limited in this embodiment of the present invention.

[0044] To accurately sense changes in the position of the soil and pipeline, a measurement module 22 is installed within the single chain link 21. This module is connected to the buried pipeline displacement monitoring device 1 and transmits the collected measurement data to the device 1 for calculation or output. Furthermore, the sensor in the measurement module 22 can be a microelectromechanical system (MEMS) sensor. MEMS sensors are miniature sensors that integrate micromechanical structures and microelectronic circuits. They offer advantages such as small size, light weight, low power consumption, high reliability, high sensitivity, and ease of integration. They can reduce power consumption and extend the service life of the chain sensor 20.

[0045] The chain sensor 20 provided in this embodiment is composed of single chain links 21 connected by multiple universal hinge structures, and can change its posture as the external soil environmental pressure changes; and the single chain links 21 in the chain sensor 20 can be expanded or reduced according to the monitoring scenario of the buried pipeline 4. It can effectively adapt to the use environment of various buried pipelines 4, and can not only measure the displacement of the pipeline at the end, but also monitor the displacement of soil layers at different depths.

[0046] As an optional implementation of this embodiment, the measurement module 22 includes an inertial measurement module and an angle measurement module; the inertial measurement module includes an acceleration sensor and a gyroscope;

[0047] The single link 21 includes a sleeve 211 and a sleeve 212, and the sleeve 211 and the sleeve 212 are fixed using a locating pin; the inertial measurement module is assembled in the end through hole 213 of the sleeve 211 facing the sleeve 212; the side wall of the sleeve 211 is provided with an opening 214, and the angle measurement module is assembled in the opening 214; the angle measurement module and the inertial measurement module are assembled perpendicular to each other.

[0048] Specifically, Figure 4This is a schematic diagram of the structure of a single link in a chain sensor provided in the first embodiment of the present invention. Figure 4 As shown, the structure of a single chain link 21 consists of a hollow sleeve 211 and a sleeve 212, which are assembled in a sleeve-and-sleeve arrangement. The sleeve 211 and sleeve 212 of the single chain link 21 employ a hollow structure to reduce the overall mass of the chain sensor 20. The sleeve 211 and sleeve 212 are secured together using locating pins. A sealing groove may also be provided, allowing for sealing with sealant after assembly to prevent groundwater infiltration. An inertial measurement module is mounted in the through-hole 213 at the end of the sleeve 211 facing the sleeve 212. The inertial measurement module uses an accelerometer and a gyroscope to measure the orientation and attitude of the moving object. An opening 214 is provided in the side wall of the sleeve 211 to accommodate an angle measurement module. Due to the limitations of the chain link's posture during use, the chain sensor 20 is typically suspended vertically. The angle measurement module and the inertial measurement module are mounted perpendicularly to each other on the side wall and through-hole of the sleeve 211. In this configuration, the angle measurement module is vertical and the inertial measurement module is horizontal, facilitating the operation of the gyroscope.

[0049] For example, the angle measurement module and the inertial measurement module are usually packaged in the form of a circuit board or an integrated module. The angle measurement module and the inertial measurement module can be fixed to the shaft sleeve 211 by gluing and / or bolting.

[0050] Because the pipeline and soil layers change slowly, pipeline displacement can be estimated using the posture of the chain sensor 20. For scenarios like landslides, the acceleration sensors in the inertial measurement module can be combined to measure the acceleration information of each link in the chain sensor 20, providing timely warning of landslides.

[0051] In this embodiment, the measuring module 22 is assembled in a single chain link 21 in a set-type manner, which can effectively protect the measuring module 22, reduce corrosion and pollution, increase the service life of the chain sensor 20, and ensure the monitoring accuracy of the chain sensor 20.

[0052] As an optional implementation of this embodiment, the cavity structure accommodates the wiring harness of the angle measurement module and the inertial measurement module; an opening is provided on the side wall of the single link 21, and the wiring harness passes through the opening and is connected to the buried pipeline displacement monitoring device 1.

[0053] Specifically, such as Figure 2As shown, the cavity structure houses the wiring harnesses for the angle measurement module and inertial measurement module mounted on the sleeve 211. These harnesses pass through openings in the sidewalls of the single link 21 and connect to the buried pipeline displacement monitoring device 1. Furthermore, the cavity can be filled with a desiccant and sealed with a sealant to ensure a healthy operating environment for each sensor module. The components of the single link 21 utilize an integrated sealing design, effectively adapting to various operating environments and providing high waterproof and dustproof properties.

[0054] Exemplarily, the angle measurement module can adopt a high-precision digital tilt angle measurement sensor, which can contain a MEMS mechanical structure inside to achieve high-precision measurement of the tilt angle. The inertial measurement module can adopt a high-precision digital inertial sensor to collect the three-axis angular velocity of the link to estimate the change in the link posture. The angular velocity measurement data and acceleration measurement data in the three axes are output through the SPI interface, and a dynamic controller is embedded to compensate for the dynamic error to improve the accuracy and stability of the inertial measurement. It can be understood that the angle measurement module and the inertial measurement module can select sensors of different accuracy, applicable temperature range and size according to actual needs, and the embodiments of the present invention do not impose any restrictions on this.

[0055] Example 2

[0056] Figure 5 This is a schematic diagram of a usage scenario of a buried pipeline displacement monitoring system provided by Embodiment 2 of the present invention. Based on the above embodiments, this embodiment further defines that the chain sensor group 2 in the buried pipeline displacement monitoring system includes: at least two chain sensors 20 .

[0057] like Figure 5 As shown, the buried pipeline displacement monitoring system includes: a buried pipeline displacement monitoring device 1 and at least one chain sensor group 2 connected to the buried pipeline displacement monitoring device 1; the chain sensor group 2 includes at least two chain sensors 20, the head end of at least one chain sensor 20 is fixed to a first reference point 3 on the ground, and the tail end is set at a displacement anchor point 5 on the first side wall of the buried pipeline 4; the head end of at least another chain sensor 20 is fixed to a second reference point 3 on the ground, and the tail end is set at the displacement anchor point 5 on the second side wall of the buried pipeline 4.

[0058] Specifically, at least one chain sensor 20 in each chain sensor group 2 is disposed on one side of the buried pipeline 4, and at least one chain sensor 20 is disposed on the other side of the buried pipeline 4, to monitor the displacement of the buried pipeline between the two sides. The two sides of the buried pipeline 4 can be the two sides along the longitudinal axis of the buried pipeline 4, for example, the left and right sides, or the top and bottom sides of the buried pipeline 4.

[0059] The chain sensor 20 deployed on one side of the buried pipeline 4 has its head end fixed to a first reference point 3 on the ground, and its tail end set at a displacement anchor point 5 on the first sidewall of the buried pipeline 4. The chain sensor 20 deployed on the other side of the buried pipeline 4 has its head end fixed to a second reference point 3 on the ground, and its tail end set at a displacement anchor point 5 on the second sidewall of the buried pipeline 4.

[0060] Preferably, the soil rheology that is more harmful to the pipeline will generally flow along Figure 5 As shown in the vertical direction (z-axis) and the horizontal direction (x-axis), the displacement anchor points 5 are set below the left and right sides of the buried pipeline 4. The displacement anchor points 5 move along with the pipeline on the x-axis and z-axis, thus indirectly reflecting the position and displacement of the pipeline.

[0061] As an optional implementation of this embodiment, the chain sensor 20 is provided with a flexible protective tube; the first reference point 3 and the second reference point 3 are respectively set on different sliding rails, and the sliding rails slide along the vertical direction of the center of the earth, and a displacement sensor is provided on the sliding rail to collect the distance that the chain sensor 20 slides on the sliding rail and in the flexible protective tube.

[0062] Specifically, the chain sensor 20 is protected by a flexible protective tube, such as a polyvinyl chloride (PVC) protective tube. When the buried pipeline 4 shifts, the movement of the displacement anchor 5 drives the end of the chain sensor 20 to move. Constrained by soil pressure, the chain sensor 20 may not be able to freely change shape, and may slide within the tube, following the stable position of the protective tube. Therefore, a first reference point 3 is set on a sliding track on one side of the buried pipeline 4, and a second reference point 3 is set on a sliding track on the other side of the buried pipeline 4. These sliding reference points 3 provide the chain sensor 20 with a certain degree of mobility, improving measurement accuracy while protecting the chain sensor 20 structure.

[0063] The sliding track slides perpendicular to the Earth's center and is equipped with a displacement sensor. The buried pipeline 4 moves vertically and horizontally, causing the displacement anchor point 5 at the end of the chain sensor 20 to shift, potentially changing the posture of the chain sensor 20 and the sliding movement of the reference point 3 at the head end. The displacement sensor installed on the sliding track measures the sliding distance of the reference point 3, providing a positioning coordinate for the head end of the chain sensor 20. Combining the posture of the chain sensor 20 and the position of the reference point 3, the position and displacement of the displacement anchor point 5 at the end of the chain sensor 20 can be determined, thereby indirectly reflecting the absolute position and relative displacement of the buried pipeline 4 and enabling online monitoring of the displacement of the buried pipeline 4.

[0064] As an optional implementation of this embodiment, Figure 6This is a structural diagram of a buried pipeline displacement monitoring system provided by the second embodiment of the present invention. Figure 6 As shown, the buried pipeline displacement monitoring system includes at least two buried pipeline displacement monitoring devices 1, each of which includes: a microcontroller 11 and a wireless module 12 connected to the microcontroller 11; the microcontroller 11 is connected to at least one group of chain sensor groups 2; and the buried pipeline displacement monitoring devices 1 communicate with each other through the wireless module 12.

[0065] Specifically, the buried pipeline displacement monitoring device 1 includes a microcontroller (MCU) 11 and a wireless module 12. The microcontroller 11 is connected to the wireless module 12 and to at least one chain sensor group 2. Multiple buried pipeline displacement monitoring devices 1 in the buried pipeline displacement monitoring system can transmit monitoring data and displacement results via the wireless module 12, achieving synchronization and data transmission, thereby further determining the overall displacement of the buried pipeline 4. The microcontroller 11 can communicate and control the angle measurement module or inertial measurement module in the chain sensor group 2 via the SPI communication interface. Similarly, the microcontroller 11 can be selected based on actual needs, and this is not limited in the embodiments of the present invention.

[0066] Furthermore, the buried pipeline displacement monitoring device 1 in the buried pipeline displacement monitoring system can also be connected to the server 6 via the communication module 13, for transmitting monitoring data and displacement monitoring results to the remote server for storage, management, and display in the management system software. For multiple communicating buried pipeline displacement monitoring devices 1, only one or some of them can be connected to the server 6 via the communication module 13.

[0067] Example 3

[0068] Figure 7 This is a flowchart of a buried pipeline displacement monitoring method provided in the third embodiment of the present invention. This embodiment is applicable to monitoring the displacement of buried pipelines. The method can be executed by a buried pipeline displacement monitoring device. The buried pipeline displacement monitoring device can be implemented in the form of hardware and / or software. The buried pipeline displacement monitoring device can be configured in an electronic device. Figure 7 As shown, the method includes:

[0069] S310: Obtain the original displacement anchor point position of the displacement anchor point of the buried pipeline.

[0070] The displacement anchor point is set on the side wall of the buried pipeline, and the original displacement anchor point position can reflect the original position of the buried pipeline.

[0071] Specifically, the original displacement anchor point location can be the location of the displacement anchor point measured and calculated historically, used as a reference location for buried pipeline displacement. For example, it can be the location of the displacement anchor point last calculated by the buried pipeline displacement monitoring system. Alternatively, it can be the location of the displacement anchor point recorded during buried pipeline construction.

[0072] S320 : For each single link of the chain sensor in the chain sensor group, determine the attitude angle of the single link according to measurement data measured by the measurement module in the single link.

[0073] The chain sensor group includes at least one chain sensor, each chain sensor comprising at least two single links. The measurement module may include an inertial measurement module and an angle measurement module. The measurement data may be understood as data measured by the measurement module, for example, angle data measured by the inertial measurement module and the angle measurement module.

[0074] Specifically, measurement data is obtained by measuring a measurement module in each single link of a chain sensor connected to the buried pipeline displacement monitoring device, and the measurement data is calculated to obtain the single link attitude angle of each single link of the chain sensor in the chain sensor group.

[0075] For example, the attitude angle of a single chain link can be directly measured by a gyroscope; in order to reduce measurement errors, the measurement data measured by the gyroscope and the angle sensor can also be combined to determine the attitude angle of the single chain link.

[0076] S330 : For each chain sensor in the chain sensor group, determine the current displacement anchor point position of the end of the chain sensor according to the link posture angle of each single link in the chain sensor and the reference point position of the head end of the chain sensor.

[0077] In the chain sensor, multiple single links are connected in series in sequence, the head end of each single link is connected to the end of the previous single link, and the end of each single link is connected to the head end of the next single link. The head end of the chain sensor can be understood as the head end of the first single link, which is installed at a reference point on the ground. The reference point position can be considered as the position of the head end of the chain sensor, which can be a pre-positioned reference position, or it can be calculated based on the displacement and reference position provided by the displacement sensor set on the sliding track of the head end. The end of the chain sensor can be understood as the end of the last chain sensor, which is a displacement anchor point installed on the side wall of the buried pipeline. The current displacement anchor point position can be considered as the end position of the chain sensor. Since the displacement anchor point is set on the side wall of the buried pipeline, the current displacement anchor point position can reflect the current position of the buried pipeline.

[0078] Specifically, for each chain sensor, the end position of each single link can be determined based on the start position of the single link and the single link attitude angle of the single link. The start position of the first single link is the reference point, and the start position of each single link after the first single link is the end position of the previous single link. Therefore, the end position of each single link in the chain sensor can be determined sequentially based on the reference point position and the single link attitude angle of each single link in the chain sensor, until the displacement anchor point position of the end of the chain sensor is determined.

[0079] S340: Determine the displacement of the buried pipeline according to the current displacement anchor point position and the original displacement anchor point position of the chain sensor.

[0080] The displacement can be the moving distance in each coordinate axis direction, for example, it can be expressed as , It represents the displacement of the buried pipeline on the x-axis at the j-th moment (historical moment) and the k-th moment (current moment). It represents the displacement of the buried pipeline on the y-axis at the j-th moment (historical moment) and the k-th moment (current moment). It represents the displacement of the buried pipeline on the z-axis between the j-th moment (historical moment) and the k-th moment (current moment).

[0081] Specifically, the displacement of the buried pipeline is determined according to the current displacement anchor point position and the original displacement anchor point position of each chain sensor in the chain sensor group.

[0082] Exemplarily, if the chain sensor group includes one chain sensor, the displacement of the buried pipeline is the difference between the current displacement anchor point position and the original displacement anchor point position calculated according to the coordinates. If the chain sensor group includes at least two chain sensors, the displacement of the buried pipeline is the average of the differences between the current displacement anchor point position and the original displacement anchor point position of each chain sensor calculated according to the coordinates. For example, if the chain sensor group includes N chain sensors, the displacement of the buried pipeline is for:

[0083] ;

[0084] represents the current displacement anchor point position of the displacement anchor point at the end of the mth chain sensor in the chain sensor group, Represents the original displacement anchor point position of the displacement anchor point at the end of the mth chain sensor in the chain sensor group.

[0085] The technical solution of the embodiment of the present invention obtains the original displacement anchor point position of the displacement anchor point of the buried pipeline through the buried pipeline displacement monitoring device in the buried pipeline displacement monitoring system; for each single chain link of the chain sensor group, the single chain link attitude angle is determined based on the measurement data measured by the measurement module within the single chain link; for each chain sensor in the chain sensor group, the current displacement anchor point position of the chain sensor end is determined based on the single chain link attitude angle of each single chain link in the chain sensor and the reference point position of the chain sensor head end; and the displacement of the buried pipeline is determined based on the current displacement anchor point position and the original displacement anchor point position of each chain sensor. By obtaining the attitude of the chain sensor connected to the buried pipeline, the displacement of the buried pipeline can be accurately monitored, and the system is applicable to various buried pipeline deployment scenarios.

[0086] As an optional implementation manner of this embodiment, the single link attitude angle includes a single link horizontal attitude angle and a single link vertical attitude angle; S320, for each single link of the chain sensor group, determining the single link attitude angle based on measurement data measured by a measurement module within the single link, includes:

[0087] S321. For each single link in each chain sensor in the chain sensor group, obtain a yaw angle measured by a gyroscope in an inertial measurement module in the single link and an offset angle measured by an angle measurement module.

[0088] Specifically, the angle measured by the gyroscope may include the roll angle , pitch angle and yaw angle , recorded as The angle measurement module measures the offset angle relative to the center of the earth. .

[0089] S322: Determine the yaw angle as a horizontal attitude angle of a single link, and determine a vertical attitude angle of the single link according to the yaw angle and the offset angle.

[0090] Among them, the horizontal attitude angle of a single link can be understood as the angle between the projection of the single link on the xoy plane and the x-axis, which is recorded as The vertical attitude angle of a single chain link can be understood as the angle between the single chain link and the z-axis, which is expressed as .

[0091] Specifically, for each single link, the yaw angle is determined as the horizontal attitude angle of the single link, that is, ; According to the yaw angle and Determine the vertical attitude angle of a single chain link .

[0092] For example, according to the yaw angle and Determine the vertical attitude angle of a single chain link The calculation formula can be:

[0093] ;

[0094] in, is the vertical attitude angle of a single link The noise variance, , Roll angle The noise variance, Pitch angle The noise variance, is the yaw angle The noise variance.

[0095] This embodiment combines the angle measured by the gyroscope and the angle measured by the angle measurement module to determine the attitude angle of a single chain link, thereby improving the attitude measurement accuracy of the chain sensor and further improving the displacement measurement accuracy of the buried pipeline.

[0096] As an optional implementation manner of this embodiment, for each chain sensor in the chain sensor group, determining the current displacement anchor point position of the end of the chain sensor based on the single link attitude angle of each single link in the chain sensor and the reference point position of the head end of the chain sensor includes:

[0097] S331. For the first single link in each chain sensor, determine the end position of the first single link according to the reference point position of the head end of the first single link, the length of the single link, and the posture angle of the single link.

[0098] Specifically, for the first single link in each chain sensor, the reference point position of the first end of the first single link is recorded as , the single link attitude angle includes the single link horizontal attitude angle and the vertical attitude angle of a single link , the length of a single chain link is L; according to the reference point position, the length of a single chain link L, the horizontal attitude angle of a single chain link and the vertical attitude angle of a single link Determine the end position of the first single link , the calculation formula can be:

[0099] .

[0100] S332: Determine the end position of the first single chain link as the head end position of the next single chain link connected to the first single chain link in the chain sensor.

[0101] Specifically, the end position of the first single link The starting position of the next single link connected to the first single link in the chain sensor .

[0102] S333. For each single link in the chain sensor except the first single link, determine the end position of the single link according to the starting end position of the single link, the length of the single link, and the posture angle of the single link.

[0103] Specifically, for each single link in the chain sensor except the first single link (the A single link, ), according to the position of the first end of the single link , single link length L and single link attitude angle (single link horizontal attitude angle and the vertical attitude angle of a single link ) Determine the end position of a single link .

[0104] S334: Determine the end position of the last single chain link as the current displacement anchor point position of the end of the chain sensor.

[0105] Specifically, the end position of the last single link (N is the total number of single links of the chain sensor) is determined as the current displacement anchor position of the end of the chain sensor .

[0106] As an optional implementation of this embodiment, the following is also included:

[0107] When the displacement exceeds a displacement threshold, an alarm signal is issued;

[0108] And / or, acquiring acceleration data from an acceleration sensor in each single link of the chain sensor, and issuing an alarm signal when the acceleration data exceeds an acceleration threshold.

[0109] The displacement threshold can be understood as the maximum allowable displacement, which can be determined according to actual needs.

[0110] Specifically, when the displacement exceeds a threshold, an alarm signal is issued, indicating excessive displacement of the buried pipeline, enabling online monitoring and notification of buried pipeline displacement. Furthermore, for landslide hazards, when acceleration data exceeds a threshold, a disaster is identified and an alarm signal is issued, enabling monitoring and notification of buried pipeline landslide hazards.

[0111] Example 4

[0112] Figure 8 This is a schematic diagram of the structure of a buried pipeline displacement monitoring device provided by the fourth embodiment of the present invention. Figure 8As shown, the device includes: an original position acquisition module 410, an attitude angle determination module 420, a current position determination module 430 and a displacement determination module 440;

[0113] The original position acquisition module 410 is used to obtain the original displacement anchor point position of the displacement anchor point of the buried pipeline;

[0114] An attitude angle determination module 420 is configured to determine the attitude angle of a single link of each chain sensor in the chain sensor group based on measurement data measured by a measurement module in the single link;

[0115] a current position determination module 430 for determining, for each chain sensor in the chain sensor group, a current displacement anchor point position of the end of the chain sensor based on the single link attitude angle of each single link in the chain sensor and the reference point position of the head end of the chain sensor;

[0116] The displacement determination module 440 determines the displacement of the buried pipeline according to the current displacement anchor point position and the original displacement anchor point position of each chain sensor.

[0117] The technical solution of an embodiment of the present invention provides a buried pipeline displacement monitoring device. The buried pipeline displacement monitoring device in a buried pipeline displacement monitoring system obtains the original displacement anchor point position of the buried pipeline's displacement anchor point. For each single link of a chain sensor in a chain sensor group, the single link attitude angle is determined based on measurement data measured by a measurement module within the single link. For each chain sensor in the chain sensor group, the current displacement anchor point position of the chain sensor's end is determined based on the single link attitude angle of each single link in the chain sensor and the reference point position of the chain sensor's head end. The displacement of the buried pipeline is determined based on the current displacement anchor point position and the original displacement anchor point position of each chain sensor. By obtaining the attitude of the chain sensors connected to the buried pipeline, the displacement of the buried pipeline can be accurately monitored, and the system is applicable to various buried pipeline deployment scenarios.

[0118] Optionally, the single link posture angle includes a single link horizontal posture angle and a single link vertical posture angle; the single link posture angle includes a single link horizontal posture angle and a single link vertical posture angle; the posture angle determination module 420 is specifically used to:

[0119] For each single link in each chain sensor in the chain sensor group, obtaining a yaw angle measured by a gyroscope in an inertial measurement module in the single link and an offset angle measured by an angle measurement module;

[0120] The yaw angle is determined as a horizontal attitude angle of a single link, and a vertical attitude angle of the single link is determined according to the yaw angle and the offset angle.

[0121] Optionally, the current location determination module 430 is specifically configured to:

[0122] For the first single chain link in each chain sensor, determine the end position of the first single chain link according to the reference point position of the head end of the first single chain link, the length of the single chain link, and the posture angle of the single chain link;

[0123] Determining the end position of the first single chain link as the head end position of the next single chain link connected to the first single chain link in the chain sensor;

[0124] For each single link in the chain sensor except the first single link, determining the end position of the single link according to the starting end position of the single link, the length of the single link, and the attitude angle of the single link;

[0125] The end position of the last single chain link is determined as the current displacement anchor point position of the end of the chain sensor.

[0126] Optionally, also include:

[0127] A first alarm module, configured to send an alarm signal when the displacement exceeds a displacement threshold;

[0128] The second alarm module is used to obtain acceleration data collected by the acceleration sensor in each single link of the chain sensor, and to send an alarm signal when the acceleration data exceeds an acceleration threshold.

[0129] The buried pipeline displacement monitoring device provided in the embodiment of the present invention can execute the buried pipeline displacement monitoring method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0130] It should be understood that the various forms of the processes shown above can be used to reorder, add, or delete steps. For example, the steps described in the present invention can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present invention can be achieved. This is not limited herein.

[0131] The above specific embodiments do not limit the scope of protection of the present invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention are intended to be included within the scope of protection of the present invention.

Claims

1. A buried pipeline displacement monitoring system, characterized in that: include: A buried pipeline displacement monitoring device and a chain sensor group connected to the buried pipeline displacement monitoring device; the chain sensor group includes at least one chain sensor; the head end of the chain sensor is installed at a reference point on the ground, and the tail end is installed at a displacement anchor point on the side wall of the buried pipeline; The chain sensor comprises at least two single chain links, adjacent single chain links are connected in series via a universal hinge structure, and a measuring module connected to the buried pipeline displacement monitoring device is assembled inside the single chain link.

2. The system according to claim 1, wherein: The measurement module includes an inertial measurement module and an angle measurement module; the inertial measurement module includes an acceleration sensor and a gyroscope; The single link includes a shaft sleeve and a sleeve with a cavity structure, and the shaft sleeve and the sleeve are fixed by a positioning pin; the inertial measurement module is assembled in the end through hole of the shaft sleeve facing the sleeve; an opening is provided on the side wall of the shaft sleeve, and the angle measurement module is assembled in the opening; the angle measurement module and the inertial measurement module are assembled perpendicular to each other.

3. The system according to claim 2, characterized in that The cavity structure accommodates the wiring harness of the angle measurement module and the inertial measurement module; an opening is provided on the side wall of the single link, and the wiring harness passes through the opening and is connected to the buried pipeline displacement monitoring device.

4. The system according to any one of claims 1 to 3, characterized in that The chain sensor group includes: at least two chain sensors, at least one chain sensor has its head end fixed to a first reference point on the ground, and its tail end is set at a displacement anchor point on the first side wall of the buried pipeline; at least another chain sensor has its head end fixed to a second reference point on the ground, and its tail end is set at a displacement anchor point on the second side wall of the buried pipeline.

5. The system according to claim 4, characterized in that The chain sensor is outerly provided with a flexible protective tube; the first reference point and the second reference point are respectively arranged on different sliding rails, the sliding rails slide along the vertical direction of the center of the earth, and a displacement sensor is provided on the sliding rails for collecting the distance that the chain sensor slides on the sliding rails and in the flexible protective tube.

6. The system according to any one of claims 1 to 3, characterized in that The buried pipeline displacement monitoring system includes at least two buried pipeline displacement monitoring devices, each of which includes: a microcontroller and a wireless module connected to the microcontroller; the microcontroller is connected to at least one group of chain sensors; and the buried pipeline displacement monitoring devices communicate with each other via the wireless module.

7. A method for monitoring displacement of buried pipelines, characterized in that: The buried pipeline displacement monitoring device used in the buried pipeline displacement monitoring system according to any one of claims 1 to 6, the method comprising: Obtain the original displacement anchor point position of the buried pipeline displacement anchor point; For each single link of the chain sensor in the chain sensor group, determining the single link attitude angle according to measurement data measured by the measurement module in the single link; For each chain sensor in the chain sensor group, determining a current displacement anchor point position of an end of the chain sensor according to a single link attitude angle of each single link in the chain sensor and a reference point position of a head end of the chain sensor; The displacement of the buried pipeline is determined according to the current displacement anchor point position and the original displacement anchor point position of each chain sensor.

8. The method according to claim 7, characterized in that The single link attitude angle includes a single link horizontal attitude angle and a single link vertical attitude angle; for each single link of the chain sensor group, determining the single link attitude angle based on measurement data measured by a measurement module in the single link includes: For each single link in each chain sensor in the chain sensor group, obtaining a yaw angle measured by a gyroscope in an inertial measurement module in the single link and an offset angle measured by an angle measurement module; The yaw angle is determined as a horizontal attitude angle of a single link, and a vertical attitude angle of the single link is determined according to the yaw angle and the offset angle.

9. The method according to claim 7, characterized in that For each chain sensor in the chain sensor group, determining a current displacement anchor point position of a terminal end of the chain sensor according to a single link attitude angle of each single link in the chain sensor and a reference point position of a head end of the chain sensor includes: For the first single chain link in each chain sensor, determine the end position of the first single chain link according to the reference point position of the head end of the first single chain link, the length of the single chain link, and the posture angle of the single chain link; Determining the end position of the first single chain link as the head end position of the next single chain link connected to the first single chain link in the chain sensor; For each single link in the chain sensor except the first single link, determining the end position of the single link according to the starting end position of the single link, the length of the single link, and the attitude angle of the single link; The end position of the last single chain link is determined as the current displacement anchor point position of the end of the chain sensor.

10. The method according to claim 7, characterized in that Also includes: When the displacement exceeds a displacement threshold, an alarm signal is issued; And / or, acquiring acceleration data from an acceleration sensor in each single link of the chain sensor, and issuing an alarm signal when the acceleration data exceeds an acceleration threshold.

11. A buried pipeline displacement monitoring device, characterized in that: include: An original position acquisition module is used to obtain the original displacement anchor point position of the displacement anchor point of the buried pipeline; An attitude angle determination module is used to determine the attitude angle of a single link of each chain sensor in the chain sensor group according to measurement data measured by the measurement module in the single link; a current position determination module, configured to determine, for each chain sensor in the chain sensor group, a current displacement anchor point position of the end of the chain sensor according to a single link attitude angle of each single link in the chain sensor and a reference point position of the head end of the chain sensor; The displacement determination module determines the displacement of the buried pipeline according to the current displacement anchor point position and the original displacement anchor point position of each chain sensor.

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