Oil and gas pipeline elbow feature recognition method based on posture data

By acquiring and processing attitude data through the internal detector of the IMU, and combining it with the circumferential weld number and geometric features, the three-dimensional spatial feature recognition of oil and gas pipeline bends was realized. This solved the problem of inaccurate bend recognition in the existing technology and improved the accuracy and comprehensiveness of the recognition.

CN121256441BActive Publication Date: 2026-06-02XI AN JIAOTONG UNIV
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
XI AN JIAOTONG UNIV
Filing Date
2025-09-26
Publication Date
2026-06-02

AI Technical Summary

Technical Problem

Existing methods for identifying bends based on attitude data mostly rely on two-dimensional angle calculations, which make it difficult to fully capture the true shape and bending characteristics of oil and gas pipeline bends in three-dimensional space and accurately reflect their spatial features.

Method used

Raw data is acquired through an IMU detector, preprocessed, and then the three-dimensional direction vector is calculated. The pipeline is segmented by combining the circumferential weld number, candidate elbow areas are screened, and geometric features are used for classification. Finally, the three-dimensional shape and features of the elbow area are restored through local three-dimensional reconstruction.

Benefits of technology

It achieves accurate identification of bends in oil and gas pipelines, breaking through the limitations of simple threshold classification. It can accurately restore the three-dimensional shape and features of the bend area, improving the accuracy and comprehensiveness of identification.

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Abstract

The present application belongs to the technical field of pipeline nondestructive testing, and relates to a kind of oil and gas pipeline elbow feature recognition method based on attitude data, step 1, through Savitzky-Golay filtering and resampling pretreatment attitude data;Step 2, calculate three-dimensional direction vector based on pitch angle and heading angle;Step 3, calculate the angle change of continuous point space vector;Step 4, combined with the candidate area preliminary screening of girth weld data;Step 5, elbow type division based on geometric features;Step 6, elbow local three-dimensional trajectory reconstruction;Step 7, calculate the radius of curvature by three-point circle determination method.The present application realizes elbow recognition in small-bore oil and gas pipeline through girth weld auxiliary positioning, space vector calculation and local three-dimensional reconstruction algorithms, and describes the spatial local geometric features of elbow area.
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