Implementation method of intelligent detection system for submarine oil and gas pipeline

Abstract

The application provides an implementation method of an intelligent detection system for a submarine oil and gas pipeline, the system is composed of a robot and a maintenance device, the robot is divided into a detection robot and a transfer robot, the detection robots are uniformly distributed on the surface of the submarine pipeline and are used for collecting pipeline surface data; the maintenance device is located on the water surface and is used for monitoring pipeline data in real time; and the transfer robot is responsible for transmitting pipeline data. The application realizes real-time detection of defects such as pipeline surface corrosion and cracks through the robot, and simultaneously, the real-time detection data are sent to detection personnel, so that the detection personnel can timely repair the pipeline and ensure the safe use of the pipeline. The application significantly improves the safety and operation and maintenance efficiency of the submarine pipeline, can be applied to the fields of intelligent marine engineering, submarine key infrastructure detection and the like, and has a wide application prospect.

Description

Technical Field

[0001] This invention relates to an implementation method, and more particularly to an implementation method for an intelligent detection system for subsea oil and gas pipelines. Background Technology

[0002] At present, the detection system for subsea oil and gas pipelines mainly relies on manual inspection. However, the system has the following limitations: (1) Divers are prone to decompression sickness and hypothermia in deep water high-pressure environment, and may encounter sudden pipeline rupture; (2) Manual inspection of pipelines is slow and has low coverage, resulting in missed inspections; (3) The detection accuracy is limited, and divers may easily overlook small cracks. At the same time, the detection data recording is not continuous and data is easily missed.

[0003] The present invention aims to overcome the shortcomings of existing subsea oil and gas pipeline detection systems and realize real-time intelligent detection of subsea oil and gas pipelines. Summary of the Invention

[0004] Purpose of the invention: The technical problem to be solved by the present invention is to provide a method for implementing an intelligent detection system for subsea oil and gas pipelines, addressing the shortcomings of existing technologies.

[0005] Technical Solution: This invention discloses a method for implementing an intelligent inspection system for subsea oil and gas pipelines. The system consists of robots and maintenance equipment. The robots are divided into inspection robots and transfer robots. The inspection robots are evenly distributed on the surface of the subsea pipeline to collect pipeline surface data. The maintenance equipment is located on the water surface to monitor pipeline data in real time. The transfer robot is responsible for transmitting pipeline data.

[0006] The transfer robot establishes a transfer robot table by sending transfer robot messages; the inspection robot sends pipeline data to the maintenance equipment by sending emergency processing messages; the inspection robot establishes a transfer table by sending management messages.

[0007] The maintenance equipment sends a routine message to obtain the pipeline dataset collected by the target detection robot; if the robot ID of the relay robot that receives the routine message is equal to the destination robot ID of the routine message, then a detection entry is created; if the robot ID of the relay robot is equal to the final robot ID of the routine message, then the final 3D coordinates of the routine message are set to empty, and the routine message is forwarded.

[0008] If the robot ID of the relay robot is equal to the destination robot ID of the regular message, but not equal to the final robot ID, and if the final three-dimensional coordinates of the regular message are empty, the relay robot will select the relay table entry whose robot ID is equal to the robot ID of the regular message, set the destination robot ID of the regular message as the destination robot ID of the relay table entry, and forward the regular message.

[0009] If the target detection robot receives the regular message, it sends a pipeline message; if the relay robot that receives the pipeline message has a detection entry with a robot ID equal to the robot ID of the pipeline message, it forwards the pipeline message; after receiving the pipeline message, the maintenance equipment that sends the regular message saves the data set of the regular message.

[0010] The method further includes:

[0011] If the robot ID of a relay robot receiving a regular message is equal to the destination robot ID of the regular message, but not equal to the final robot ID, and if the final 3D coordinates of the regular message are not empty, the relay robot selects the relay robot entry whose 3D coordinates are closest to the final 3D coordinates of the regular message, sets the destination robot ID of the regular message to the robot ID of the relay robot entry, and forwards the regular message. Each relay robot maintains a detection table, and the detection table entries contain robot IDs and lifecycles. In the detection table entries created by the relay robot receiving the regular message, the robot ID is equal to the robot ID in the regular message, and the lifecycle is equal to the maximum value. If the robot ID of the relay robot receiving the regular message is equal to the final robot ID of the regular message, and there exists a relay table entry with a robot ID equal to the robot ID of the regular message, then the destination robot ID of the forwarded regular message is equal to the destination robot ID of the relay table entry.

[0012] The method further includes:

[0013] If the robot ID of the relay robot that receives the management message is equal to the destination robot ID of the management message, and if the relay robot has a relay table entry with a robot ID equal to the robot ID of the management message, then the destination robot ID of the relay table entry is set to the source robot ID of the management message, and the lifecycle is set to the maximum value; otherwise, the relay robot creates a relay table entry.

[0014] If the robot ID of the relay robot receiving the management message is equal to the destination robot ID of the management message, and if the robot ID of the relay robot is not equal to the final robot ID of the management message, then select a relay robot entry whose 3D coordinates are closest to the final 3D coordinates of the management message, set the destination robot ID of the management message to the robot ID of the relay robot entry, set the source robot ID of the management message to its own robot ID, and forward the management message.

[0015] The method further includes:

[0016] The maintenance equipment selects a transfer robot entry whose 3D coordinates are closest to the 3D coordinates of the associated robot of the target detection robot. In the regular message sent by the maintenance equipment, the message ID is 4, the robot ID is equal to the robot ID of the target detection robot, the destination robot ID is equal to the robot ID of the transfer robot entry, and the final robot ID and final 3D coordinates are equal to the robot ID and 3D coordinates of the associated robot of the target detection robot, respectively.

[0017] The method further includes:

[0018] In the pipeline messages sent by the target detection robot, the message ID is equal to 5, the robot ID is equal to its own robot ID, and the data set contains all the pipeline data it has collected.

[0019] The method further includes:

[0020] Each transit robot maintains a transit table, and each transit table entry contains the robot ID, the destination robot ID, and the lifecycle.

[0021] The method further includes:

[0022] The detection robot that sends the management message selects a relay robot entry whose 3D coordinates are closest to the 3D coordinates of its associated robot. In the management message sent by the detection robot, the message ID is 3, the final robot ID and the final 3D coordinates are equal to the robot ID and 3D coordinates of the detection robot's associated robot, the destination robot ID is equal to the robot ID of the relay robot, and the source robot ID and robot ID are both equal to its own robot ID.

[0023] The method further includes:

[0024] The detection robot sending the emergency message selects the nearest maintenance device and the relay robot entry whose 3D coordinates are closest to those of the maintenance device. In the emergency message, the message ID is 2, the source robot ID is equal to the robot's own ID, the destination robot ID is equal to the robot ID in the relay robot entry, the 3D coordinates are equal to the selected maintenance device's 3D coordinates, and the data set contains all pipeline data collected by the robot. If the relay robot receiving the emergency message has the same robot ID as the destination robot ID, it selects the relay robot entry whose 3D coordinates are closest to those of the emergency message, sets the destination robot ID of the emergency message to the robot ID of that relay robot entry, and forwards the emergency message. The maintenance device receiving the emergency message saves the source robot ID and the data set of the emergency message.

[0025] The method further includes:

[0026] Each robot has a unique robot ID; each robot and maintenance equipment is uniquely identified by three-dimensional coordinates, which include the horizontal axis, the vertical axis, and the water depth; each inspection robot is configured with a relay robot, which is called the associated robot of the inspection robot; each message is uniquely identified by a message ID.

[0027] The method further includes:

[0028] Each robot and maintenance device maintains a separate transit robot table. Each transit robot table entry contains a robot ID, 3D coordinates, and lifecycle. In transit robot messages sent by a transit robot, the message ID is 1, the robot ID is equal to its own robot ID, and the 3D coordinates are equal to its own 3D coordinates. If the robot or maintenance device receiving the transit robot message has a transit robot table entry with a robot ID equal to the robot ID of the transit robot message, it sets the 3D coordinates of the entry to the 3D coordinates of the transit robot message and sets the lifecycle to the maximum value; otherwise, it creates a new transit robot table entry.

[0029] Beneficial effects: This invention provides a method for implementing an intelligent inspection system for subsea oil and gas pipelines. It uses robots to achieve real-time detection of defects such as corrosion and cracks on the pipeline surface. At the same time, it sends real-time detection data, such as photos of the pipeline, to the inspection personnel, enabling them to repair the pipeline in a timely manner and ensure its safe use. This invention significantly improves the safety and operation and maintenance efficiency of subsea pipelines and can be applied to fields such as intelligent marine engineering and inspection of critical subsea infrastructure, with broad application prospects. Attached Figure Description

[0030] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments, and the advantages of the present invention in the above and / or other aspects will become clearer.

[0031] Figure 1 This is a schematic diagram of the process of the intelligent detection system for subsea oil and gas pipelines described in this invention.

[0032] Figure 2 This is a schematic diagram of the robot management process described in this invention.

[0033] Figure 3 This is a schematic diagram of the pipeline emergency handling process described in this invention.

[0034] Figure 4 This is a schematic diagram of the maintenance equipment management process described in this invention.

[0035] Figure 5 This is a schematic diagram of the conventional pipeline integrated information detection process described in this invention. Detailed Implementation

[0036] To enable those skilled in the art to better understand the technical solutions of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the described embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0037] Figure 1 This is a schematic diagram of the process of the intelligent detection system for subsea oil and gas pipelines described in this invention. Figure 2 This is a schematic diagram of the robot management process described in this invention. The system consists of robots and maintenance equipment. The robots are divided into inspection robots and transfer robots. The inspection robots are evenly distributed on the pipe surface to collect pipe surface data, such as corrosion or cracks. The maintenance equipment is located on the water surface, such as the maintenance personnel's smartphone or computer, to monitor the pipe data collected by the inspection robots in real time. The transfer robots are distributed on the pipe surface and in the water area between the inspection robots and the maintenance equipment, and are responsible for transmitting the pipe data collected by the inspection robots to the maintenance equipment. The maintenance equipment and transfer robots are not mobile, while the inspection robots are mobile.

[0038] Each robot has a unique robot ID, which is pre-configured.

[0039] Each robot and maintenance device is uniquely identified by three-dimensional coordinates, which are pre-configured and include x-coordinate, y-coordinate, and water depth; the water depth of the maintenance device is 0; the initial three-dimensional coordinates of each robot or maintenance device are pre-configured, and the three-dimensional coordinates of each maintenance device are pre-configured for each robot.

[0040] Each detection robot is configured with a relay robot, which is called the associated robot of the detection robot. In the initial state, the detection robot and the associated robot are neighbors, that is, the detection robot is within the communication range of its associated robot.

[0041] Each inspection robot is pre-configured with the robot ID and 3D coordinates of its associated robot; each maintenance device is pre-configured with the robot ID of each inspection machine and the robot ID and 3D coordinates of its associated robot.

[0042] Each message is uniquely identified by a message ID;

[0043] Each robot and maintenance device maintains a separate transfer robot table. Each transfer robot table entry contains the robot ID, 3D coordinates, and lifespan; the lifespan automatically decays with the machine clock.

[0044] The relay robot message includes a message ID, robot ID, and 3D coordinates;

[0045] The transfer robot RT1 periodically performs the following operations: the cycle for creating and updating transfer robot entries is less than the maximum lifespan of the transfer robot entries, and the setting range is 30%-70% of the maximum lifespan of the transfer robot entries:

[0046] Step 101: Begin;

[0047] Step 102: The relay robot RT1 sends a relay robot message with a message ID of 1, a robot ID equal to its own robot ID, and three-dimensional coordinates equal to its own three-dimensional coordinates;

[0048] Step 103: The robot (including the detection robot and the transfer robot) or maintenance equipment that receives the transfer robot message determines whether there is a transfer robot entry. The robot ID of the entry is equal to the robot ID of the transfer robot message. If it exists, the three-dimensional coordinates of the entry are set to the three-dimensional coordinates in the transfer robot message, and the lifespan is set to the maximum value. Otherwise, a transfer robot entry is created. The robot ID of the entry is equal to the robot ID of the transfer robot message, the three-dimensional coordinates of the entry are equal to the three-dimensional coordinates in the transfer robot message, and the lifespan is set to the maximum value.

[0049] Step 104: End.

[0050] The transfer robot sends its location information to all neighboring robots or maintenance devices through the above process, so that the neighboring robots or maintenance devices can establish their own transfer robot entries. The robots or maintenance devices can obtain the robot ID and three-dimensional coordinates of the surrounding transfer robots through the transfer robot table.

[0051] Figure 3 This is a schematic diagram of the pipeline emergency handling process described in this invention. The emergency handling message includes a message ID, source robot ID, destination robot ID, three-dimensional coordinates, and a data set.

[0052] If the data collected by the DT1 inspection robot needs urgent processing, such as if the collected data contains cracks, the following operations should be performed:

[0053] Step 201: Begin;

[0054] Step 202: The detection robot DT1 selects the nearest maintenance device, selects the transfer robot entry whose 3D coordinates are closest to the maintenance device, and sends an emergency processing message. The message ID of the emergency processing message is 2, the source robot ID is equal to its own robot ID, the destination robot ID is equal to the robot ID in the transfer robot entry, the 3D coordinates are equal to the 3D coordinates of the selected maintenance device, and the data set contains all the data it has collected.

[0055] Step 203: If the maintenance equipment receives the emergency handling message, proceed to step 206; otherwise, proceed to step 204.

[0056] Step 204: The relay robot that receives the emergency handling message determines whether its own robot ID is equal to the destination robot ID in the emergency handling message. If they are equal, proceed to step 205; otherwise, proceed to step 207.

[0057] Step 205: The relay robot that receives the emergency message selects the relay robot table entry whose three-dimensional coordinates are closest to the three-dimensional coordinates in the emergency message, sets the destination robot ID of the emergency message to the robot ID of the relay robot table entry, forwards the emergency message, and executes step 203.

[0058] Step 206: The maintenance equipment that receives the emergency handling message saves the source robot ID and data set from the emergency handling message;

[0059] Step 207: End.

[0060] The above process has the following innovations: (1) The detection robot sends the detected pipeline surface data to the maintenance equipment, thereby realizing emergency repair and ensuring the safe use of the pipeline; (2) The three-dimensional coordinates of the transfer robot are used to transmit the pipeline emergency information, thereby quickly transmitting the emergency information to the maintenance equipment and realizing timely repair; (3) The detection robot sends the emergency data to the nearest maintenance equipment, thereby ensuring that the maintenance equipment receives the pipeline emergency data as soon as possible and realizes timely repair.

[0061] Figure 4 This is a schematic diagram of the maintenance equipment management process described in this invention. Multiple inspection robots can be associated with the same transfer robot.

[0062] Each inspection robot is pre-configured with the 3D coordinates and robot ID of its associated robot;

[0063] Each transit robot maintains a transit table, and each entry in the transit table contains the robot ID, the destination robot ID, and the lifespan; the lifespan automatically decays with the machine clock.

[0064] The management message includes the message ID, final robot ID, final 3D coordinates, destination robot ID, source robot ID, and robot ID;

[0065] If the detection robot is not within the communication range of its associated robot, the following procedure is performed periodically to establish and update the transfer table. The cycle in which the detection robot creates and updates transfer table entries is less than the maximum lifespan of the transfer table entries, and the setting range is 30%-70% of the maximum lifespan of the transfer table entries:

[0066] Step 301: Begin;

[0067] Step 302: The detection robot selects a transit robot entry whose 3D coordinates are closest to the 3D coordinates of its associated robot, sends a management message with message ID 3, and the final robot ID and final 3D coordinates are equal to the robot ID and 3D coordinates of the robot associated with the detection robot, the destination robot ID is equal to the robot ID of the transit robot, the source robot ID is equal to its own robot ID, and the robot ID is equal to its own robot ID.

[0068] Step 303: The relay robot that receives the management message determines whether its own robot ID is equal to the destination robot ID in the management message. If they are equal, proceed to step 304; otherwise, proceed to step 308.

[0069] Step 304: The relay robot that receives the management message determines whether there is a relay table entry whose robot ID is equal to the robot ID of the management message. If it exists, proceed to step 305; otherwise, proceed to step 306.

[0070] Step 305: The transit robot that receives the management message selects a transit table entry. The robot ID of the transit table entry is equal to the robot ID of the management message. The destination robot ID of the transit table entry is set to the source robot ID of the management message. The lifecycle is set to the maximum value. Then, proceed to step 308.

[0071] Step 306: The relay robot that receives the management message creates a relay table entry. The robot ID of the relay table entry is equal to the robot ID of the management message. The destination robot ID of the relay table entry is set to the source robot ID of the management message. The lifecycle is set to the maximum value. The relay robot determines whether its own robot ID is equal to the final robot ID in the management message. If yes, proceed to step 308; otherwise, proceed to step 307.

[0072] Step 307: The transit robot that receives the management message selects a transit robot entry whose 3D coordinates are closest to the final 3D coordinates in the management message, sets the destination robot ID of the management message to the robot ID of the transit robot entry, sets the source robot ID of the management message to its own robot ID, forwards the management message, and executes step 303.

[0073] Step 308: End.

[0074] The above process has the following innovations: (1) The detection robot establishes a relay table between itself and the associated robot to ensure that it receives requests from the maintenance equipment; (2) Even if the detection robot moves, it can still ensure communication with its associated robot to ensure that it can provide real-time pipeline data.

[0075] Figure 5 This is a schematic diagram of the conventional pipeline integrated information inspection process described in this invention. Each transfer robot maintains an inspection table, and each inspection table entry includes the robot ID and lifespan; the lifespan automatically decays with the machine clock.

[0076] A typical message includes a message ID, robot ID, destination robot ID, final robot ID, and final 3D coordinates;

[0077] Pipeline messages contain a message ID, a robot ID, and a data set;

[0078] The maintenance equipment is pre-configured with the robot ID of inspection robot DR1, the robot ID of its associated robot, and its 3D coordinates. The pipeline dataset collected by inspection robot DR1 is obtained through the following process:

[0079] Step 401: Begin;

[0080] Step 402: The maintenance equipment selects a transfer robot entry whose 3D coordinates are closest to the 3D coordinates of the associated robot of the detection robot DR1, and sends a regular message with message ID 4. The robot ID is equal to the robot ID of the detection robot DR1, the destination robot ID is equal to the robot ID of the transfer robot entry, and the final robot ID and final 3D coordinates are equal to the robot ID and 3D coordinates of the associated robot of the detection robot DR1, respectively.

[0081] Step 403: If the detection robot receives the regular message, proceed to step 413; otherwise, proceed to step 404.

[0082] Step 404: The relay robot that receives the regular message determines whether its own robot ID is equal to the destination robot ID in the regular message. If they are equal, proceed to step 405; otherwise, proceed to step 419.

[0083] Step 405: The relay robot that receives the regular message determines whether there is a detection entry whose robot ID is equal to the robot ID in the regular message. If it exists, proceed to step 415; otherwise, proceed to step 406.

[0084] Step 406: The relay robot that receives the regular message creates a detection entry. The robot ID of the detection entry is equal to the robot ID in the regular message. The lifespan of the detection entry is set to the maximum value. The robot determines whether its own robot ID is equal to the final robot ID in the regular message. If yes, proceed to step 407; otherwise, proceed to step 410.

[0085] Step 407: The relay robot that receives the regular message sets the final robot ID and final 3D coordinates of the regular message to empty, and determines whether there is a relay table entry whose robot ID is equal to the robot ID in the regular message. If it exists, proceed to step 408; otherwise, proceed to step 409.

[0086] Step 408: The relay robot that receives the regular message selects a relay table entry. The robot ID of the relay table entry is equal to the robot ID in the regular message. The destination robot ID of the regular message is set to the destination robot ID of the relay table entry. The regular message is then forwarded, and step 403 is executed.

[0087] Step 409: The relay robot that receives the regular message forwards the regular message and executes step 403;

[0088] Step 410: The relay robot that receives the regular message determines whether the final three-dimensional coordinates of the regular message are empty. If so, proceed to step 412; otherwise, proceed to step 411.

[0089] Step 411: The relay robot that receives the regular message selects a relay robot entry whose 3D coordinates are closest to the final 3D coordinates in the regular message, sets the destination robot ID in the regular message to the robot ID of the relay robot entry, forwards the regular message, and executes step 403.

[0090] Step 412: The relay robot that receives the regular message selects a relay table entry. The robot ID of the relay table entry is equal to the robot ID in the regular message. The destination robot ID of the regular message is set to the destination robot ID of the relay table entry. The regular message is then forwarded, and step 403 is executed.

[0091] Step 413: The detection robot that receives the regular message determines whether its own robot ID is equal to the robot ID in the regular message. If it is equal, proceed to step 414; otherwise, proceed to step 419.

[0092] Step 414: The detection robot that receives the regular message sends a pipeline message with a message ID of 5, a robot ID equal to its own robot ID, and a data set containing all the pipeline data it has collected.

[0093] Step 415: If the maintenance equipment receives the pipeline message, proceed to step 418; otherwise, proceed to step 416.

[0094] Step 416: The relay robot that receives the pipeline message checks whether there is a detection table entry where the robot ID is equal to the robot ID in the pipeline message. If it exists, proceed to step 417; otherwise, proceed to step 419.

[0095] Step 417: The relay robot that receives the pipeline message selects the detection entry whose robot ID is equal to the robot ID in the pipeline message, deletes the detection entry, forwards the pipeline message, and executes step 415;

[0096] Step 418: If the maintenance equipment that received the pipeline message sends a regular message, then save the data set of the regular message;

[0097] Step 419: End.

[0098] The above process has the following innovations: (1) The system uses the transfer table and the transfer robot table to send routine messages to the target inspection robot, and returns the pipeline data to the maintenance equipment through the inspection table, so as to realize the rapid routine inspection of the pipeline; (2) Multiple maintenance equipment can obtain pipeline data at the same time through the inspection table, realize collaborative maintenance and repair, and ensure pipeline safety; (3) The inspection robot is located in real time through the transfer table, so as to ensure that pipeline data can still be provided in a timely manner when the position of the inspection robot changes, and ensure that the maintenance equipment can realize rapid and effective routine pipeline inspection.

[0099] Example 1

[0100] This embodiment simulates the implementation method of an intelligent detection system for subsea oil and gas pipelines according to the present invention. The simulation parameters are as follows: 20 simulations, a transmission radius of 20 meters, and a simulation time of 600 minutes. Performance analysis is as follows: When the maintenance equipment and the detection robot are far apart, the success rate of the maintenance equipment in detecting pipeline data sets decreases; when the maintenance equipment and the detection robot are close, the success rate of the maintenance equipment in detecting pipeline data sets increases. The average success rate of the maintenance equipment acquiring data is 97.1%.

[0101] This invention provides a method for implementing an intelligent detection system for subsea oil and gas pipelines. Many methods and approaches exist for implementing this technical solution; the above description is merely a preferred embodiment. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of this invention, and these improvements and modifications should also be considered within the scope of protection of this invention. All components not explicitly stated in this embodiment can be implemented using existing technologies.

Claims

1. A method for implementing an intelligent detection system for subsea oil and gas pipelines, characterized in that, The system consists of robots and maintenance equipment. The robots are divided into inspection robots and transfer robots. The inspection robots are evenly distributed on the surface of the subsea pipeline to collect pipeline surface data. The maintenance equipment is located on the water surface to monitor pipeline data in real time. The transfer robots are responsible for transmitting pipeline data. The transit robot establishes a transit robot table by sending transit robot messages; the detection robot sends pipeline data to the maintenance equipment by sending emergency processing messages; the detection robot establishes a transit table by sending management messages; if the robot ID of the transit robot receiving the management message is equal to the destination robot ID of the management message, and if the transit robot has a transit table entry with a robot ID equal to the robot ID of the management message, then the destination robot ID of the transit table entry is set to the source robot ID of the management message, and the lifecycle is set to the maximum value; otherwise, the transit robot creates a transit table entry; each transit robot stores one transit table, and each transit table entry contains the robot ID, the destination robot ID, and the lifecycle. The maintenance equipment sends a regular message to obtain the pipeline dataset collected by the target detection robot; if the robot ID of the relay robot that receives the regular message is equal to the destination robot ID of the regular message and there is no detection entry with a robot ID equal to the robot ID of the regular message, then a detection entry is created; if the robot ID of the relay robot is equal to the final robot ID of the regular message, then the final 3D coordinates of the regular message are set to empty and the regular message is forwarded. If the robot ID of the relay robot is equal to the destination robot ID of the regular message, but not equal to the final robot ID, and if the final three-dimensional coordinates of the regular message are empty, the relay robot will select the relay table entry whose robot ID is equal to the robot ID of the regular message, set the destination robot ID of the regular message as the destination robot ID of the relay table entry, and forward the regular message. If the target detection robot receives the regular message, it sends a pipeline message; if the relay robot that receives the pipeline message has a detection entry with a robot ID equal to the robot ID of the pipeline message, it forwards the pipeline message; after receiving the pipeline message, the maintenance equipment that sends the regular message saves the data set of the regular message.

2. The implementation method of the intelligent detection system for subsea oil and gas pipelines according to claim 1, characterized in that, The method further includes: If the robot ID of a relay robot receiving a regular message is equal to the destination robot ID of the regular message, but not equal to the final robot ID, and if the final 3D coordinates of the regular message are not empty, the relay robot selects the relay robot entry whose 3D coordinates are closest to the final 3D coordinates of the regular message, sets the destination robot ID of the regular message to the robot ID of the relay robot entry, and forwards the regular message. Each relay robot maintains a detection table, and the detection table entries contain robot IDs and lifecycles. In the detection table entries created by the relay robot receiving the regular message, the robot ID is equal to the robot ID in the regular message, and the lifecycle is equal to the maximum value. If the robot ID of the relay robot receiving the regular message is equal to the final robot ID of the regular message, and there exists a relay table entry with a robot ID equal to the robot ID of the regular message, then the destination robot ID of the forwarded regular message is equal to the destination robot ID of the relay table entry.

3. The implementation method of the intelligent detection system for subsea oil and gas pipelines according to claim 1, characterized in that, The method further includes: If the robot ID of the relay robot receiving the management message is equal to the destination robot ID of the management message, and if the robot ID of the relay robot is not equal to the final robot ID of the management message, then select a relay robot entry whose 3D coordinates are closest to the final 3D coordinates of the management message, set the destination robot ID of the management message to the robot ID of the relay robot entry, set the source robot ID of the management message to its own robot ID, and forward the management message.

4. A method for implementing an intelligent detection system for subsea oil and gas pipelines according to any one of claims 1 to 3, characterized in that, The method further includes: The maintenance equipment selects a transfer robot entry whose 3D coordinates are closest to the 3D coordinates of the associated robot of the target detection robot. In the regular message sent by the maintenance equipment, the message ID is 4, the robot ID is equal to the robot ID of the target detection robot, the destination robot ID is equal to the robot ID of the transfer robot entry, and the final robot ID and final 3D coordinates are equal to the robot ID and 3D coordinates of the associated robot of the target detection robot, respectively.

5. A method for implementing an intelligent detection system for subsea oil and gas pipelines according to any one of claims 1 to 3, characterized in that, The method further includes: In the pipeline messages sent by the target detection robot, the message ID is equal to 5, the robot ID is equal to its own robot ID, and the data set contains all the pipeline data it has collected.

6. A method for implementing an intelligent detection system for subsea oil and gas pipelines according to any one of claims 1 to 3, characterized in that, The method further includes: The detection robot that sends the management message selects a relay robot entry whose 3D coordinates are closest to the 3D coordinates of its associated robot. In the management message sent by the detection robot, the message ID is 3, the final robot ID and the final 3D coordinates are equal to the robot ID and 3D coordinates of the detection robot's associated robot, the destination robot ID is equal to the robot ID of the relay robot, and the source robot ID and robot ID are both equal to its own robot ID.

7. A method for implementing an intelligent detection system for subsea oil and gas pipelines according to any one of claims 1 to 3, characterized in that, The method further includes: The detection robot sending the emergency message selects the nearest maintenance device and the relay robot entry whose 3D coordinates are closest to those of the maintenance device. In the emergency message, the message ID is 2, the source robot ID is equal to the robot's own ID, the destination robot ID is equal to the robot ID in the relay robot entry, the 3D coordinates are equal to the selected maintenance device's 3D coordinates, and the data set contains all pipeline data collected by the robot. If the relay robot receiving the emergency message has the same robot ID as the destination robot ID, it selects the relay robot entry whose 3D coordinates are closest to those of the emergency message, sets the destination robot ID of the emergency message to the robot ID of that relay robot entry, and forwards the emergency message. The maintenance device receiving the emergency message saves the source robot ID and the data set of the emergency message.

8. A method for implementing an intelligent detection system for subsea oil and gas pipelines according to any one of claims 1 to 3, characterized in that, The method further includes: Each robot has a unique robot ID; each robot and maintenance equipment is uniquely identified by three-dimensional coordinates, which include the horizontal axis, the vertical axis, and the water depth; each inspection robot is configured with a relay robot, which is called the associated robot of the inspection robot; each message is uniquely identified by a message ID.

9. A method for implementing an intelligent detection system for subsea oil and gas pipelines according to any one of claims 1 to 3, characterized in that, The method further includes: Each robot and maintenance device maintains a separate transit robot table. Each transit robot table entry contains a robot ID, 3D coordinates, and lifecycle. In transit robot messages sent by a transit robot, the message ID is 1, the robot ID is equal to its own robot ID, and the 3D coordinates are equal to its own 3D coordinates. If the robot or maintenance device receiving the transit robot message has a transit robot table entry with a robot ID equal to the robot ID of the transit robot message, it sets the 3D coordinates of the entry to the 3D coordinates of the transit robot message and sets the lifecycle to the maximum value; otherwise, it creates a new transit robot table entry.

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