Long-distance shield tunnel oil and gas pipeline inspection system

Abstract

The application discloses a long-distance shield tunnel oil and gas pipeline inspection system, and belongs to the technical field of oil and gas pipeline inspection. The system comprises a track system arranged in a tunnel and along the extension direction of an oil and gas pipeline; an inspection robot moves at a preset speed along the track system at a constant speed and collects inspection data at a preset time interval; a background management system receives the inspection data in an offline mode, processes and displays the inspection data, and determines a leakage point or a damage point of the oil and gas pipeline according to abnormal data in the inspection data; and a power supply system is arranged in a reserved room outside a sending well and a receiving well and is used for charging the inspection robot. The application adopts a robot inspection to replace manual inspection, significantly improves inspection efficiency, reduces inspection cost, and through a maintenance-free design, the inspection system does not need manual intervention in the tunnel, and the reliability and safety of the system are improved.

Description

Technical Field

[0001] This application relates to the field of oil and gas pipeline inspection technology, and more specifically, to an oil and gas pipeline inspection system for long-distance shield tunnels. Background Technology

[0002] Shield tunnels are a common method for trenchless pipeline crossings. After the shield tunnel is completed, oil and gas pipelines are installed inside. When the tunnel is short and has a large cross-section, the pipeline is generally operated in an idle state, with ventilation and lighting facilities installed inside. Personnel conduct daily maintenance and periodic manual inspections. However, as the length of oil and gas pipeline tunnels continues to increase—for example, the Yangtze River shield tunnel in the China-Russia East Route Natural Gas Pipeline Project (Yongqing-Shanghai) exceeds 10km—manual inspections become inefficient. The maintenance costs of power, ventilation, and communication facilities within the tunnel are high, and pipeline leaks can release flammable and explosive gases, posing safety and health risks to inspection personnel working in such an environment. Therefore, pipeline inspection within long-distance shield tunnels is a major challenge for the operation of oil and gas shield pipelines.

[0003] Traditional inspection methods and systems include manual inspection and distributed sensor remote monitoring systems. Manual inspection relies on personnel carrying detection equipment into the tunnel for inspection, but this method is complex, inefficient, and poses challenges to personnel safety. Distributed sensor remote monitoring systems utilize various sensors (combustible gas sensors, cameras) deployed within the tunnel for remote monitoring, but they rely on the tunnel's power, lighting, and communication facilities, and require a control system within the tunnel. Existing technical solutions have many limitations in shield tunnel environments and are difficult to effectively address the needs of long-distance tunnel pipeline inspection under conditions requiring no external power and no maintenance. Summary of the Invention

[0004] This application aims to provide an oil and gas pipeline inspection system for long-distance shield tunnels, which solves the problems of low efficiency and high cost in the existing oil and gas pipeline inspection technology.

[0005] A long-distance shield tunnel oil and gas pipeline inspection system includes: The track system is located inside the tunnel and is arranged along the direction of the oil and gas pipeline. The inspection robot includes a robot body, a power supply, a walking drive module, a data acquisition module, and a robot controller. The walking drive module is used to drive the robot body to move at a preset speed along the track system at a uniform speed. The data acquisition module is used to collect inspection data at preset time intervals. The robot controller is connected to the data acquisition module and is used to store the inspection data. The back-end management system receives the inspection data offline, processes and displays the inspection data, and determines the leakage or damage point of the oil and gas pipeline based on the abnormal data in the inspection data. The power supply system is located in a reserved room outside the sending and receiving wells and is used to charge the inspection robot. Optionally, the oil and gas pipeline inspection system further includes a positioning system connected to the inspection robot to determine the location information of the inspection robot in the tunnel; the robot controller is connected to the positioning system and the data acquisition module respectively to obtain the correspondence between the inspection data and the location coordinates based on the currently collected inspection data and the current location information.

[0006] Optionally, the back-end management system includes a processing module and a storage module; The processing module is used to analyze the inspection data and identify abnormal data in the inspection data, and to determine the abnormal location coordinates corresponding to the abnormal data based on the correspondence between the inspection data and the location coordinates. The storage module contains a pre-stored tunnel model file. The processing module is connected to the storage module and is used to determine the leakage point or damage point of the oil and gas pipeline based on the tunnel model file and the coordinates of the abnormal location.

[0007] Optionally, the positioning system includes an odometer disk disposed on the robot body, the odometer disk being used to acquire real-time mileage data of the robot body moving along the track system.

[0008] Optionally, the positioning system further includes a plurality of electronic tags disposed on the track system and a tag reader disposed on the robot body; the plurality of electronic tags are disposed at predetermined distance intervals along the length direction of the track system, and the tag reader is used to identify the electronic tags currently passed by the robot body and obtain calibration point position data; The robot controller is connected to the tag reader and the mileage code disk respectively, and is used to obtain the position coordinates of the inspection robot based on the real-time mileage data and the calibration point location data.

[0009] Optionally, the oil and gas pipeline inspection system further includes a lifting device; the lifting device is installed in the sending well and the receiving well, and is used to lower the inspection robot from the ground into the tunnel or to lift the inspection robot from the tunnel to the ground.

[0010] Optionally, a prompting mechanism is provided at the opening of the sending well and the receiving well, and lifting preparation areas are provided at both ends of the track system. The prompting mechanism is used to issue a prompt when the inspection robot arrives at the lifting preparation area.

[0011] Optionally, the oil and gas pipeline inspection system further includes a fault-prone drive device, which is used to push the inspection robot to a safe area when the inspection robot malfunctions.

[0012] Optionally, the data acquisition module includes: a first submodule for acquiring video images of the current inspection area; a second submodule for detecting the temperature of the current inspection area; and a third submodule for detecting the concentration of combustible gas in the current inspection area.

[0013] Optionally, the track system includes a hanger assembly and a track body; one end of the hanger assembly is fixed to the top of the tunnel, and the other end of the hanger assembly is connected to the track body; the track body includes two parallel tracks connected by a connecting shaft.

[0014] Beneficial effects: The long-distance shield tunnel oil and gas pipeline inspection system described in this application includes: a track system, installed inside the tunnel and arranged along the extension direction of the oil and gas pipeline; an inspection robot, including a robot body, a power supply, a walking drive module, a data acquisition module, and a robot controller. The walking drive module drives the robot body to move at a preset speed along the track system at a uniform speed. The data acquisition module collects inspection data at preset time intervals. The robot controller is connected to the data acquisition module and stores the inspection data; a background management system receives the inspection data offline, processes and displays the data, and determines the leakage or damage points of the oil and gas pipeline based on abnormal data; and a power supply system, installed in a reserved room outside the sending and receiving shafts, for charging the inspection robot. This application uses an inspection robot to replace manual inspection, reducing inspection costs, achieving high-efficiency inspection, accurately detecting leaks and damages in oil and gas pipelines, and requiring no manual intervention inside the tunnel, greatly improving the system's reliability and safety. It can meet the requirements for long-distance tunnel pipeline inspection under conditions of no external power and no maintenance. Attached Figure Description

[0015] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments of this application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1This is a system block diagram of an oil and gas pipeline inspection system in a long-distance shield tunnel proposed in one embodiment of this application; Figure 2 This is a schematic diagram of the structure of an oil and gas pipeline inspection system in a long-distance shield tunnel proposed in one embodiment of this application; Figure 3 This is a cross-sectional schematic diagram of the track in a long-distance shield tunnel oil and gas pipeline inspection system proposed in one embodiment of this application.

[0017] Explanation of reference numerals in the attached figures: 1. Sending well; 2. Receiving well; 3. Oil and gas pipeline; 4. Lifting device; 5. Inspection robot; 6. Track system; 7. Power supply system; 8. Back-end management system; 9. Drive device in case of failure. Detailed Implementation

[0018] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0019] In related technologies, shield tunnels are one of the commonly used methods for trenchless pipeline crossings. After the shield tunnel is constructed, oil and gas pipelines are installed inside. When the tunnel is short and has a large cross-section, the pipeline is generally operated in an idle state during operation. Ventilation and lighting facilities are installed inside the tunnel, and personnel conduct daily maintenance and regular manual inspections. However, as the length of oil and gas pipeline tunnels continues to increase, for example, the Yangtze River shield tunnel of the China-Russia East Route Natural Gas Pipeline Project (Yongqing-Shanghai) exceeds 10km in length. Manual inspections are inefficient, the maintenance costs of power, ventilation, and communication facilities inside the tunnel are high, and pipeline leaks can pose flammable and explosive gases. Inspection personnel working in such an environment also face safety and health risks. Therefore, pipeline inspection in long-distance shield tunnels is a major challenge for the operation of oil and gas shield pipelines.

[0020] Traditional inspection methods and systems include manual inspection and distributed sensor remote monitoring systems. Manual inspection relies on personnel carrying detection equipment into the tunnel for inspection, but this method is complex, inefficient, and poses challenges to personnel safety. Distributed sensor remote monitoring systems utilize various sensors (combustible gas sensors, cameras) deployed within the tunnel for remote monitoring, but they rely on the tunnel's power, lighting, and communication facilities, and require a control system within the tunnel. Existing technical solutions have many limitations in shield tunnel environments and are difficult to effectively address the needs of long-distance tunnel pipeline inspection under conditions requiring no external power and no maintenance.

[0021] In view of this, this application proposes an oil and gas pipeline inspection system for long-distance shield tunnels.

[0022] See Figure 1 and Figure 2 A long-distance shield tunnel oil and gas pipeline inspection system includes: Track system 6 is installed inside the tunnel and arranged along the extension direction of oil and gas pipeline 3; The inspection robot 5 includes a robot body, a power supply, a walking drive module, a data acquisition module, and a robot controller. The walking drive module is used to drive the robot body to move at a preset speed along the track system 6 at a uniform speed. The data acquisition module is used to collect inspection data at preset time intervals. The robot controller is connected to the data acquisition module and is used to store the inspection data. The background management system 8 receives the inspection data offline, processes and displays the inspection data, and determines the leakage point or damage point of the oil and gas pipeline 3 based on the abnormal data in the inspection data. The power supply system 7 is located in a reserved room outside the sending well 1 and the receiving well 2, and is used to charge the inspection robot 5. Specifically, the track system 6 is laid along the direction of the oil and gas pipeline 3 on the top of the tunnel. The coordinates (i.e., the horizontal coordinates) of the track system 6 in the length direction are consistent with the coordinates (i.e., the horizontal coordinates) of the oil and gas pipeline 3 in the length direction. The inspection robot 5 is mounted on the track system 6 and can move back and forth along the track system 6 to carry out inspections, covering all key points of the entire oil and gas pipeline 3. The distance traveled by the inspection robot 5 is equal to the mileage of the oil and gas pipeline 3 in the tunnel.

[0023] The inspection robot 5 includes a robot body, a power supply, a walking drive module, a data acquisition module, and a robot controller. The power supply includes a battery, which can be a lithium battery, to power the inspection robot 5 and ensure that the robot 5 has the endurance to make at least one round trip in the tunnel. The walking drive module is used to drive the robot body to walk along the track at a preset speed, and the speed can be adjusted. The data acquisition module is used to collect inspection data such as images, temperature, and combustible gas concentration near the pipeline at preset time intervals, and the time intervals can be adjusted. The collected inspection data is stored in the robot controller.

[0024] Since the walking speed of the inspection robot 5 and the time interval for collecting inspection data are known, the correspondence between inspection data and walking distance can be established based on the walking speed and the time interval for collecting data. Furthermore, since the walking distance of the inspection robot 5 is equal to the mileage of the oil and gas pipeline 3 in the tunnel, the correspondence between inspection data and the mileage of the oil and gas pipeline 3 can be derived.

[0025] The back-end management system 8 is located in a reserved room outside the sending well 1 and receiving well 2. After the inspection is completed, the inspection data is uploaded to the back-end management system 8 offline. The back-end management system 8 receives the inspection data offline and can determine whether there is any abnormal data by analyzing and processing the inspection data. If there is no abnormal data, it indicates that the oil and gas pipeline 3 is operating normally. If there is abnormal data, the location of the leak point or damage point of the oil and gas pipeline 3 can be determined based on the abnormal data.

[0026] The power supply system 7 is located in a reserved room outside the sending well 1 and receiving well 2, so that the inspection robot 5 can be charged after the inspection is completed, ensuring that it has sufficient power for the next inspection.

[0027] With the above setup, the inspection robot 5 can replace manual inspection. No power, lighting, or communication facilities are needed inside the tunnel. After the inspection, the inspection data is transmitted offline to the back-end management system 8 for analysis and processing. This allows the robot to detect the operating status of the oil and gas pipeline 3, locate leaks and damage points, and achieve efficient inspection in a maintenance-free tunnel without external power. This improves the efficiency and safety of long-distance shield tunnel inspection and reduces maintenance costs.

[0028] Optionally, the oil and gas pipeline inspection system further includes a positioning system connected to the inspection robot 5, used to determine the location information of the inspection robot 5 in the tunnel; the robot controller is connected to the positioning system and the data acquisition module respectively, used to obtain the correspondence between the inspection data and the location coordinates based on the currently collected inspection data and the current location information.

[0029] Specifically, the oil and gas pipeline inspection system also includes a positioning system. This system accurately determines the location of the inspection robot 5 within the tunnel, specifically its coordinates on the track system 6. The robot controller, based on the currently collected inspection data and its current location, can establish the correspondence between the inspection data and the coordinates. Since the coordinates of the inspection robot 5 on the track system 6 are consistent with the coordinates of the oil and gas pipeline 3 along its length, the correspondence between the inspection data and the pipeline location can be established. Subsequently, during the analysis and processing of the inspection data, leaks or damage points in the pipeline can be located by identifying abnormal data.

[0030] Optionally, the background management system 8 includes a processing module and a storage module; the processing module is used to analyze the inspection data and identify abnormal data in the inspection data, and determine the abnormal location coordinates corresponding to the abnormal data according to the correspondence between the inspection data and location coordinates; the storage module pre-stores a tunnel model file, and the processing module is connected to the storage module to determine the leakage point or damage point of the oil and gas pipeline 3 according to the tunnel model file and the abnormal location coordinates.

[0031] Specifically, the backend management system 8 includes a processing module and a storage module. The processing module can analyze and process the inspection data, identify areas of abnormal changes in different detection indicators, and thus determine the abnormal data. Furthermore, based on the correspondence between the inspection data and location coordinates, it can determine the abnormal location coordinates corresponding to the abnormal data. The storage module pre-stores a tunnel model file, which includes the tunnel's geometry, pipeline elevation and mileage, and the characteristics of the surrounding environment. The processing module is connected to the storage module and can integrate the tunnel model file with the inspection data, mapping the inspection data onto the tunnel's three-dimensional model. Based on the abnormal location coordinates, it can accurately locate the pipeline's leak point or damage point.

[0032] Furthermore, the back-end management system 8 also includes a display module. After the inspection data is integrated with the tunnel model file, it can form visualized data points, which are dynamically displayed in the model and indicate abnormal change areas of different detection indicators, making it clearer and more intuitive.

[0033] Optionally, the positioning system includes an odometer disk disposed on the robot body, the odometer disk being used to acquire real-time mileage data of the robot body moving along the track system 6.

[0034] Specifically, when the robot moves along the track system 6, the odometer can calculate the distance the robot moves by the number of rotations of the wheels, thereby obtaining real-time mileage data of the robot moving on the track system 6 and locating the inspection robot 5.

[0035] Optionally, the positioning system further includes multiple electronic tags disposed on the track system 6 and a tag reader disposed on the robot body; the multiple electronic tags are disposed at predetermined distance intervals along the length direction of the track system 6; the tag reader is used to identify the electronic tags currently passed by the robot body and obtain calibration point position data; the robot controller is connected to the tag reader and the odometer respectively, and is used to obtain the position coordinates of the inspection robot 5 based on the real-time mileage data and the calibration point position data.

[0036] Furthermore, the positioning system also includes electronic tags and tag readers. Specifically, the electronic tags are RFID (Radio Frequency Identification) tags, with multiple tags spaced apart along the length of the track system 6. These tags serve as fixed reference points, providing precise absolute position coordinates as the inspection robot 5 passes by. The robot itself is equipped with a tag reader. As the robot moves along the track system 6, the tag reader identifies the currently passing electronic tags, thereby obtaining the absolute position coordinates of the track system 6, i.e., the calibration point position data.

[0037] The robot controller can perform positioning and path verification based on real-time mileage data and calibration point location data, and obtain the precise position coordinates of the inspection robot 5, taking into account both the continuity of movement and the accuracy of absolute position, to achieve high-precision positioning throughout the entire process.

[0038] Optionally, the track system 6 includes a hanger assembly and a track body; one end of the hanger assembly is fixed to the top of the tunnel, and the other end of the hanger assembly is connected to the track body; the track body includes two parallel tracks connected by a connecting shaft.

[0039] Specifically, the track system 6 includes a hanger assembly and a track body. The hanger assembly is installed by pre-embedded chemical anchors or bolts at the top of the tunnel. The track body adopts a parallel double-tube track structure, which includes two parallel tracks connected by a dedicated cylindrical connecting shaft. Electronic tags can be installed at the connection between the two tracks.

[0040] Preferably, the track body can be made of high-strength aluminum alloy or other high-strength alloys, and the surface is treated with oxidation for rust prevention. The hanger components used to hoist the track body are preferably made of stainless steel, which can effectively resist adverse factors such as moisture and chemical corrosion in the tunnel and ensure the long-term stability of the equipment.

[0041] Optionally, the oil and gas pipeline inspection system further includes a lifting device 4; the lifting device 4 is installed in the sending well 1 and the receiving well 2, and is used to lower the inspection robot 5 from the ground into the tunnel or to lift the inspection robot 5 from the tunnel to the ground.

[0042] For details, see Figure 2 The tunnel has a sending shaft 1 and a receiving shaft 2 at both ends. To facilitate the lowering of the inspection robot 5 into the tunnel or its lifting from the tunnel to the ground, a lifting device 4 is installed in both the sending shaft 1 and the receiving shaft 2. Preferably, in this embodiment, the lifting device 4 is mechanical and operated manually, requiring no power supply. The lifting device 4 should be installed as close as possible to the shaft wall to minimize the space it occupies.

[0043] The lifting device 4 may specifically include a lifting rail and a lifting mechanism body. The lifting rail is preferably made of high-strength aluminum alloy, stainless steel or other high-strength alloy, and the load-bearing capacity of the lifting mechanism body should meet the lifting requirements of the robot.

[0044] Optionally, a prompting mechanism is provided at the opening of the sending well 1 and the receiving well 2, and lifting preparation areas are provided at both ends of the track system 6. The prompting mechanism is used to issue a prompt when the inspection robot 5 arrives at the lifting preparation area.

[0045] Specifically, the track system 6 has lifting preparation areas at both ends along its length. A prompting mechanism is installed at the opening of the sending shaft 1 and the receiving shaft 2. When the inspection robot 5 arrives at the lifting preparation area after the inspection is completed, the prompting mechanism can issue a prompt to remind the staff to operate the lifting device 4 to lift the inspection robot 5 from inside the tunnel to the ground.

[0046] To further reduce power demand, a mechanical type of alert mechanism is preferred. Specifically, the alert mechanism includes a sign movable at the wellhead, which has an indicating and a non-indicating state. In the indicating state, the sign is perpendicular to the wellhead ground; in the non-indicating state, the sign is parallel to the wellhead ground. A triggering component is installed in the lifting preparation area. The triggering component is connected to the lower end of the sign via a linkage. When the inspection robot 5 arrives at the lifting preparation area, the inspection robot 5 pushes the triggering component, which in turn moves the linkage, ultimately moving the sign to switch it from the non-indicating state to the indicating state. This promptly reminds the staff to operate the lifting device 4 to raise the inspection robot 5 to the ground.

[0047] Optionally, the inspection robot 5 is an explosion-proof track inspection robot 5, suitable for Class IIB explosion-proof areas. The robot body can be equipped with various data acquisition modules, sensors, etc., to collect inspection data. The robot body can also be equipped with supplementary lights, so that it can still carry out inspection work in dark environments and without light, thereby comprehensively grasping the status information of equipment and environment within the inspection range.

[0048] Optionally, the data acquisition module includes: a first submodule for acquiring video images of the current inspection area; a second submodule for detecting the temperature of the current inspection area; and a third submodule for detecting the concentration of combustible gas in the current inspection area.

[0049] Specifically, the first submodule may include a high-definition camera, which can capture and record video of the current inspection area to complete the data acquisition of video images; the second submodule may include an infrared thermal imager, which uses infrared thermal imaging technology to detect temperature changes outside the pipeline and the surrounding environment; the third submodule may include a combustible gas detector, which uses the principle of spectral absorption to monitor the concentration of characteristic gases in real time online.

[0050] Optionally, the inspection robot 5 has a real-time self-test function. The robot controller can monitor the performance and operating parameters of key modules and generate a real-time operation log. The robot controller is set with a minimum operating power to ensure that the inspection robot 5 can return in emergency mode. In addition, the robot controller is also equipped with a closed-loop processing plan for common logic to ensure return under fault conditions.

[0051] Optionally, the oil and gas pipeline inspection system further includes a fault state drive device 9, which is used to push the inspection robot 5 to a safe area when the inspection robot 5 malfunctions.

[0052] Specifically, the oil and gas pipeline inspection system also includes a fault condition drive device 9. The fault condition drive device 9 can be placed in a reserved room outside the sending well 1 and receiving well 2. When the inspection robot 5 cannot return automatically under fault conditions, the fault condition drive device 9 can drive the inspection robot 5 to move to a safe area.

[0053] Specifically, under normal operating conditions, the inspection robot 5 travels along the track system 6 at a preset speed. The time required to inspect one route (from sending shaft 1 to receiving shaft 2 or from receiving shaft 2 to sending shaft 1) is fixed. If the inspection robot 5 fails to reach the lifting preparation area after this fixed inspection time, it can be determined that the inspection robot 5 has malfunctioned in the tunnel, preventing it from automatically returning. In this case, the drive unit 9 in the malfunctioning state can be lowered into the tunnel, and the drive unit 9 can push the inspection robot 5 to a safe area. The safe area can be the lifting preparation area. After the malfunctioning inspection robot 5 is pushed to the lifting preparation area, the operator can operate the lifting device 4 to lift it to the ground, while the drive unit 9 in the malfunctioning state can remain in the tunnel as a backup robot to continue the inspection.

[0054] The oil and gas pipeline inspection system for long-distance shield tunnels provided in this application embodiment has the following inspection operation process: (1) Before the inspection task begins, the inspection robot 5 performs a power-on self-test, which includes whether the infrared thermal imager, high-definition camera, motor, battery, internal storage and various sensors are normal.

[0055] (2) The inspection robot 5 is lowered from the sending well 1 along the lifting track to the track system 6 in the horizontal tunnel by the lifting device 4. The track system 6 in the horizontal tunnel is laid parallel to the direction of the oil and gas pipeline 3. The inspection robot 5 can cover all the key points of the entire pipeline. The horizontal coordinate of the inspection robot 5 on the track system 6 is consistent with the horizontal coordinate of the oil and gas pipeline 3. The distance traveled by the inspection robot 5 is equal to the mileage of the pipeline in the tunnel.

[0056] (3) The inspection robot 5 walks at a constant speed of 1m / s. The preset speed is adjustable in the range of 0-2m / s. It uses a combination of mileage code disk and RFID tag for positioning and path verification, and constructs a comprehensive positioning scheme that can take into account both continuity and absolute position accuracy, and achieve high-precision positioning throughout the process.

[0057] (4) During the inspection, the combustible gas detector mounted on the robot body is used to detect the concentration and distance of combustible gas at the current pipeline location. At the same time, the high-definition camera is activated to record video. When the combustible gas concentration at the current location reaches 10% LEL.m, the infrared thermal imager is activated. Through infrared thermal imaging technology, the temperature changes of the outside of the pipeline and the surrounding environment are detected to identify possible leak points. The collected inspection data such as temperature, gas concentration, and images are stored in the robot controller.

[0058] (5) After the inspection is completed, the inspection robot 5 arrives at the lifting preparation area at the bottom of the receiving well 2. The inspection robot 5 is lifted to the wellhead of the receiving well 2 by the lifting device 4. The inspection robot 5 is taken to the reserved room and charged by the power supply system 7. The inspection data is uploaded to the background management system 8 offline.

[0059] (6) The background management system 8 integrates the three-dimensional design model of the shield tunnel with the collected inspection data such as temperature, gas concentration, and images to achieve a seamless combination of spatial positioning and data analysis, determine the abnormal change areas of different detection indicators, and thus accurately locate the leak or damage point of the pipeline.

[0060] The oil and gas pipeline inspection system for long-distance shield tunnels provided in this application uses an inspection robot to replace manual labor in entering the dangerous tunnel environment for inspection. This reduces personal risks while achieving comprehensive coverage of the target area, fully detecting pipeline leaks, damage, and other abnormalities. It avoids omissions that may occur during manual inspections and can be carried out at any time and under any conditions, greatly improving inspection efficiency. Even in long-distance shield tunnels without external power and requiring no maintenance, it can still achieve efficient and accurate pipeline inspection, ensuring the safe operation of pipelines in long-distance tunnels.

[0061] It should be noted that the various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0062] It should also be noted that, in this document, the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Furthermore, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations, nor should they be construed as indicating or implying relative importance. Moreover, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal device that comprises a list of elements includes not only those elements, but also other elements not expressly listed, or elements inherent to such a process, method, article, or terminal device. In the absence of further restrictions, an element defined by the phrase "includes a..." does not exclude the presence of other identical elements in the process, method, article, or terminal device that includes the element.

[0063] The technical solutions provided in this application have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand this application, and the content of this specification should not be construed as a limitation of this application. Furthermore, for those skilled in the art, there will be different forms of changes in the specific implementation methods and application scope based on this application. It is neither necessary nor possible to exhaustively list all implementation methods here, and obvious changes or modifications derived therefrom are still within the protection scope of this application.

Claims

1. A system for inspecting oil and gas pipelines in long-distance shield tunnels, characterized in that, include: The track system is located inside the tunnel and is arranged along the direction of the oil and gas pipeline. The inspection robot includes a robot body, a power supply, a walking drive module, a data acquisition module, and a robot controller. The walking drive module is used to drive the robot body to move at a preset speed along the track system at a uniform speed. The data acquisition module is used to collect inspection data at preset time intervals. The robot controller is connected to the data acquisition module and is used to store the inspection data. The back-end management system receives the inspection data offline, processes and displays the inspection data, and determines the leakage or damage point of the oil and gas pipeline based on the abnormal data in the inspection data. The power supply system is located in a reserved room outside the sending and receiving wells and is used to charge the inspection robot.

2. The oil and gas pipeline inspection system in long-distance shield tunnels according to claim 1, characterized in that: It also includes a positioning system, which is connected to the inspection robot and used to determine the location information of the inspection robot in the tunnel; The robot controller is connected to the positioning system and the data acquisition module respectively, and is used to obtain the correspondence between the inspection data and the position coordinates based on the currently acquired inspection data and the current position information.

3. The oil and gas pipeline inspection system in long-distance shield tunnels according to claim 2, characterized in that: The back-end management system includes a processing module and a storage module; The processing module is used to analyze the inspection data and identify abnormal data in the inspection data, and to determine the abnormal location coordinates corresponding to the abnormal data based on the correspondence between the inspection data and the location coordinates. The storage module contains a pre-stored tunnel model file. The processing module is connected to the storage module and is used to determine the leakage point or damage point of the oil and gas pipeline based on the tunnel model file and the coordinates of the abnormal location.

4. The oil and gas pipeline inspection system in long-distance shield tunnels according to claim 2, characterized in that: The positioning system includes an odometer disk mounted on the robot body, which is used to acquire real-time mileage data of the robot body moving along the track system.

5. The oil and gas pipeline inspection system in a long-distance shield tunnel according to claim 4, characterized in that: The positioning system also includes multiple electronic tags set on the track system and a tag reader set on the robot body; the multiple electronic tags are set at predetermined distance intervals along the length direction of the track system, and the tag reader is used to identify the electronic tags that the robot body is currently passing by and obtain calibration point position data; The robot controller is connected to the tag reader and the mileage code disk respectively, and is used to obtain the position coordinates of the inspection robot based on the real-time mileage data and the calibration point location data.

6. The oil and gas pipeline inspection system in long-distance shield tunnels according to claim 1, characterized in that: It also includes a lifting device, which is installed in the sending well and the receiving well, for lowering the inspection robot from the ground into the tunnel or lifting the inspection robot from the tunnel to the ground.

7. The oil and gas pipeline inspection system in a long-distance shield tunnel according to claim 6, characterized in that: The sending and receiving wells are equipped with prompting mechanisms at their openings, and the track system has lifting preparation areas at both ends. The prompting mechanisms are used to issue a prompt when the inspection robot arrives at the lifting preparation area.

8. The oil and gas pipeline inspection system in long-distance shield tunnels according to claim 1, characterized in that: It also includes a fault-state drive device, which is used to move the inspection robot to a safe area when the inspection robot malfunctions.

9. The oil and gas pipeline inspection system in a long-distance shield tunnel according to claim 1, characterized in that: The data acquisition module includes: a first submodule for acquiring video images of the current inspection area; a second submodule for detecting the temperature of the current inspection area; and a third submodule for detecting the concentration of combustible gas in the current inspection area.

10. The oil and gas pipeline inspection system in a long-distance shield tunnel according to claim 1, characterized in that: The track system includes a hanger assembly and a track body; one end of the hanger assembly is fixed to the top of the tunnel, and the other end of the hanger assembly is connected to the track body; the track body includes two parallel tracks connected by a connecting shaft.

Images