Submarine pipeline stress detection system

Abstract

The utility model discloses a submarine pipeline stress detection system which is used for detecting the stress of a submarine pipeline and comprises a detection robot, an in-pipe detector and a data processing device, when the submarine pipeline stress detection system is used, the detection robot is used for detecting the stress of the outer surface of the submarine pipeline, and the in-pipe detector is used for detecting the stress of the inner surface of the submarine pipeline; the detection robot and the in-pipe detector send an outer surface stress signal to the data processing device, the in-pipe detector sends an inner surface stress signal to the data processing device, and the data processing device receives the outer surface stress signal and the inner surface stress signal and analyzes and processes the signals to obtain stress data of the inner wall and the outer wall of the submarine pipeline. Therefore, the stress detection accuracy of the submarine pipeline is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of submarine pipeline stress detection equipment, in particular to a submarine pipeline stress detection system. Background Technique

[0002] The utility model patent with the authorization announcement number CN219104817U discloses a non-destructive pipeline stress detection equipment based on ultrasonic waves. By setting a first sliding block, a second sliding block, a first electric slide rail and a second electric slide rail, the precise positioning of ultrasonic transducers and receiving transducers can be realized, thereby reducing the influence of human factors on the detection results of ultrasonic stress detection equipment. At the same time, the difficulty of controlling the ultrasonic transducers and receiving transducers on the same axis is reduced, thus improving the accuracy of the stress detection results of ultrasonic detection equipment and enhancing the practicability.

[0003] However, the above-mentioned pipeline stress non-destructive detection equipment mainly analyzes the reflection signals on the surface of the pipeline by using ultrasonic waves to indirectly infer the stress condition of the pipeline. Because ultrasonic waves will refract and reflect when penetrating an object, when detecting the pipeline with ultrasonic waves, the stress magnitude received by the inner side of the pipeline cannot be detected, resulting in insufficient accuracy of the detection results.

[0004] Therefore, how to improve the accuracy of stress detection for submarine pipelines is a technical problem that those skilled in the art need to solve currently. Content of the Utility Model

[0005] In view of this, the purpose of the utility model is to provide a submarine pipeline stress detection system to improve the accuracy of stress detection for submarine pipelines.

[0006] To achieve the above purpose, the utility model provides the following technical solutions:

[0007] A submarine pipeline stress detection system for detecting the stress of a submarine pipeline, comprising a detection robot, an in-pipe detector and a data processing device, wherein:

[0008] The detection robot is electrically connected to the data processing device and is used to send the outer surface stress signal of the submarine pipeline to the data processing device;

[0009] The in-pipe detector is arranged inside the submarine pipeline and is electrically connected to the data processing device, and is used to send the inner surface stress signal of the submarine pipeline to the data processing device;

[0010] The data processing device is used to receive and analyze the outer surface stress signal and the inner surface stress signal.

[0011] Optionally, in the above-mentioned submarine pipeline stress detection system, the detection robot includes a moving frame, a driving propeller and an ultrasonic sensor, wherein:

[0012] The interior of the moving frame is hollow;

[0013] The number of driving propellers is at least four, arranged inside the moving frame and oppositely arranged on the first side and the second side of the moving frame;

[0014] The driving propellers are used to drive the moving frame to move along the outer surface of the subsea pipeline;

[0015] The ultrasonic sensor is fixed to the bottom of the moving frame and is used to detect the stress concentration area on the outer surface of the subsea pipeline.

[0016] Optionally, in the above subsea pipeline stress detection system, the inspection robot further includes a pressure sensor, an optical fiber sensor and a camera probe, wherein:

[0017] The pressure sensor is fixed to the third side of the moving frame and is used to detect the pressure of the stress concentration area on the outer surface and transmit the pressure signal to the data processing device;

[0018] The optical fiber sensor is fixed to the fourth side of the moving frame and is used to detect the bending deformation area on the outer surface of the subsea pipeline and transmit the deformation signal to the data processing device;

[0019] The camera probe is arranged on the top of the moving frame and is used to take pictures during the movement of the inspection robot and transmit the captured data to the data processing device.

[0020] Optionally, in the above subsea pipeline stress detection system, the in-pipe detector includes a detector body, a weak magnetic sensor, a computer unit and a positioning transmitter, wherein:

[0021] The weak magnetic sensor is fixed to the outer periphery of the detector body and is used to detect the stress concentration area on the inner surface of the subsea pipeline and send it to the computer unit;

[0022] The positioning transmitter is fixed to the detector body and is used to generate the position signal of the stress concentration area on the inner surface and send the position signal to the computer unit;

[0023] The computer unit is arranged in the middle of the detector body and is electrically connected to the data processing device.

[0024] Optionally, in the above subsea pipeline stress detection system, the in-pipe detector further includes a support cup, a driving cup and a mileage wheel, wherein:

[0025] Taking one support cup and one driving cup as a set of cup assemblies, one set of cup assemblies is arranged at each end of the detector body;

[0026] The support cup and the driving cup are arranged on the outer periphery of the detector body;

[0027] The supporting leather cup is used to support the in-pipe detector;

[0028] The driving leather cup is used to drive the in-pipe detector to move;

[0029] The mileage wheel is electrically connected to the computer node, and is used to send the relative position signal between the in-pipe detector and the subsea pipeline to the computer node.

[0030] Optionally, in the above-mentioned subsea pipeline stress detection system, the in-pipe detector further includes a bracket, which is used to connect the mileage wheel and the driving leather cup, and the mileage wheel is obliquely and rotatably arranged on the end face of the driving leather cup.

[0031] Optionally, in the above-mentioned subsea pipeline stress detection system, the data processing device includes a receiving module, a processing unit and a storage module. The receiving module is used to receive the electrical signals sent by the inspection robot and the in-pipe detector. The processing unit is used to process the electrical signals and form a detection result. The storage module is used to store the detection result.

[0032] Optionally, in the above-mentioned subsea pipeline stress detection system, the processing unit includes a calculation and statistical analysis module, a simulation and emulation module and a visualization presentation module. The calculation and statistical analysis module is used to receive and record the electrical signals received by the receiving module. The simulation and emulation module is used to form the stress information data of the subsea pipeline. The visualization presentation module is used to convert the stress information data into digital images and / or videos.

[0033] For the subsea pipeline stress detection system provided by the present utility model, in use, the inspection robot is used to detect the external surface stress of the subsea pipeline, and the in-pipe detector is used to detect the internal surface stress of the subsea pipeline. The inspection robot and the in-pipe detector send the external surface stress signals to the data processing device, and the in-pipe detector sends the internal surface stress signals to the data processing device. The data processing device receives the external surface stress signals and the internal surface stress signals, and analyzes and processes them to obtain the stress data of the inner wall and the outer wall of the subsea pipeline, thereby improving the accuracy of the stress detection of the subsea pipeline. Description of the Drawings

[0034] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present utility model. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0035] Figure 1 An overall structural diagram of an inspection robot at an angle for the method disclosed in the embodiment of the present utility model;

[0036] Figure 2Another overall structure diagram of the inspection robot for the method disclosed in the embodiments of the present utility model;

[0037] Figure 3 Overall structure diagram of the in-pipe detector for the method disclosed in the embodiments of the present utility model;

[0038] Figure 4 Inspection step diagram of the data processing device disclosed in the embodiments of the present utility model;

[0039] Wherein:

[0040] Inspection robot 100, moving frame 101, ultrasonic sensor 102, camera probe 103, fiber optic sensor 104, pressure sensor 105, drive propeller 106;

[0041] In-pipe detector 200, detector body 201, support leather cup 202, drive leather cup 203, positioning transmitter 204, weak magnetic sensor 205, computer section 206, odometer wheel 207. Detailed implementation manners

[0042] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without making creative efforts belong to the scope of protection of the present utility model.

[0043] In the description of the present utility model, it should be understood that the orientation or positional relationship indicated by terms such as "upper", "lower", "top surface", "bottom surface", etc. is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the indicated position or element must have a specific orientation, be constructed and operated in a specific orientation, and thus cannot be construed as a limitation of the present utility model. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0044] Such as Figures 1 - 3As shown in the figure, the submarine pipeline stress detection system disclosed by the present utility model is used to detect the stress of a submarine pipeline, and includes a detection robot 100, an in-pipe detector 200, and a data processing device. Among them, the detection robot 100 is electrically connected to the data processing device and is used to send the outer surface stress signal of the submarine pipeline to the data processing device. The in-pipe detector 200 is arranged inside the submarine pipeline and is electrically connected to the data processing device, and is used to send the inner surface stress signal of the submarine pipeline to the data processing device. The data processing device is used to receive and analyze the outer surface stress signal and the inner surface stress signal. Specifically, the detection robot 100 and the in-pipe detector 200 can work simultaneously to improve the stress detection efficiency of the submarine pipeline. When the submarine pipeline stress detection system provided by the present utility model is in use, the detection robot 100 is used to detect the outer surface stress of the submarine pipeline, the in-pipe detector 200 is used to detect the inner surface stress of the submarine pipeline, the detection robot 100 and the in-pipe detector 200 send the outer surface stress signal to the data processing device, the in-pipe detector 200 sends the inner surface stress signal to the data processing device, and the data processing device receives the outer surface stress signal and the inner surface stress signal and performs analysis and processing to obtain the stress data of the inner wall and the outer wall of the submarine pipeline, thereby improving the accuracy of the stress detection of the submarine pipeline and ensuring the comprehensiveness of the stress detection of the submarine pipeline.

[0045] In order to optimize the above technical solution, the detection robot 100 includes a moving frame 101, driving propellers 106, and ultrasonic sensors 102. Among them, the inside of the moving frame 101 is hollow, the number of the driving propellers 106 is at least four, and they are arranged inside the moving frame 101 and are relatively arranged on the first side and the second side of the moving frame 101. The driving propellers 106 are used to drive the moving frame 101 to move along the outer surface of the submarine pipeline. The ultrasonic sensors 102 are fixed to the bottom of the moving frame 101 and are used to detect the outer surface stress concentration area of the submarine pipeline. Specifically, the four driving propellers 106 are arranged at the four corners of the moving frame 101 to meet the moving needs of the moving frame 101 in different directions, and the driving propellers 106 can rotate relative to the moving frame 101.

[0046] To optimize the above technical solution, the inspection robot 100 further includes a pressure sensor 105, an optical fiber sensor 104, and a camera probe 103. Among them, the pressure sensor 105 is fixed on the third side of the mobile frame 101 and is used to detect the pressure in the stress concentration area of the outer surface and transmit the pressure signal to the data processing device. The optical fiber sensor 104 is fixed on the fourth side of the mobile frame 101 and is used to detect the bending deformation area of the outer surface of the subsea pipeline and transmit the deformation signal to the data processing device. The camera probe 103 is arranged on the top of the mobile frame 101 and is used to take pictures during the movement of the inspection robot 100 and transmit the captured data to the data processing device. Specifically, during the movement, the camera probe 103 can record stress-related features such as surface cracks and deformations of the subsea pipeline and transmit the data to the data processing device in cooperation with the optical fiber sensor 104.

[0047] During use, the driving propeller 106 drives the inspection robot 100 to move to the area to be inspected of the subsea pipeline and move along the outer surface of the subsea pipeline. The ultrasonic sensor 102 scans the outer surface of the subsea pipeline to obtain the vibration and deformation information of the outer surface of the subsea pipeline, so as to infer the stress condition of the outer surface of the subsea pipeline. When the stress concentration area of the outer surface of the subsea pipeline is detected, the pressure sensor 105 contacts the stress concentration area of the outer surface, converts the sensed pressure into a pressure signal, and synchronously transmits the pressure signal to the data processing device. The optical fiber sensor 104 uses the sensitivity and high-precision measurement ability of the fiber grating to measure the deformation of the subsea pipeline in real time and monitor the bending deformation of the subsea pipeline, such as bending, compression, stretching, etc., and can achieve precise measurement of the micro-deformation of the subsea pipeline. The camera probe 103 takes pictures during the movement, detects stress-related features such as cracks and deformations on the pipeline surface, converts the detected deformation into a deformation signal, and synchronously transmits the deformation signal to the data processing device.

[0048] In the above process, through the cooperation of the ultrasonic sensor 102, the pressure sensor 105, the optical fiber sensor 104, and the camera probe 103, the stress data on the outer surface of the subsea pipeline can be recorded in detail and transmitted to the data processing device, thereby improving the accuracy of the stress detection of the subsea pipeline and ensuring the comprehensiveness of the stress detection of the subsea pipeline.

[0049] To optimize the above technical solution, the in-pipe detector 200 includes a detector body 201, a weak magnetic sensor 205, a computer section 206, and a positioning transmitter 204. Among them, the weak magnetic sensor 205 is fixed on the outer periphery of the detector body 201 and is used to detect the inner surface stress concentration area of the submarine pipeline and send it to the computer section 206. The positioning transmitter 204 is fixed on the detector body 201 and is used to generate the position signal of the inner surface stress concentration area and send the position signal to the computer section 206. The computer section 206 is arranged in the middle of the detector body 201 and is electrically connected to the data processing device. Specifically, when the value of the weak magnetic signal detected by the weak magnetic sensor 205 increases, the inner surface stress concentration area can be determined. Cooperating with the positioning transmitter 204, the position of the inner surface stress concentration area of the submarine pipeline can be sent to the data processing device, thereby improving the accuracy of stress detection of the submarine pipeline.

[0050] To optimize the above technical solution, the in-pipe detector 200 further includes a support cup 202, a drive cup 203, and a mileage wheel 207. Among them, taking one support cup 202 and one drive cup 203 as a set of cup assemblies, a set of cup assemblies are respectively arranged at both ends of the detector body 201. The support cup 202 and the drive cup 203 are arranged on the outer periphery of the detector body 201. The support cup 202 is used to support the in-pipe detector 200, and the drive cup 203 is used to drive the in-pipe detector 200 to move. The mileage wheel 207 is electrically connected to the computer section 206 and is used to send the relative position signal between the in-pipe detector 200 and the submarine pipeline to the computer section 206. Specifically, the support cup 202 is used to support and stabilize the in-pipe detector 200 so that it can move smoothly inside the submarine pipeline without being affected by vibration or deviation. The drive cup 203 is used to generate a propulsion force and transfer the propulsion force from the detector body 201 to the inner wall of the submarine pipeline, thereby pushing the detector body 201 to move along the submarine pipeline. Specifically, a plurality of mileage wheels 207 are arranged on the circumference of the detector body 201. Information such as the travel mileage of the in-pipe detector 200 is recorded through the mileage wheels 207, so as to accurately locate the inner surface stress concentration area of the submarine pipeline and special pipeline components. Specifically, the computer section 206 is the data processor of the in-pipe detector 200 and is used to receive, process, and send electrical signals from the weak magnetic sensor 205, the drive cup 203, the mileage wheel 207, and the positioning transmitter 204.

[0051] It should be noted that the in-pipe detector 200 enters the inside of the submarine pipeline through a launching tube and uses the transportation medium inside the submarine pipeline as power to move. The type of the transportation medium depends on the location of the submarine pipeline. When it is located on the seabed, the transportation medium is seawater.

[0052] During use, the in-pipe detector 200 moves along the subsea pipeline. The weak magnetic sensor 205 detects the stress concentration areas on the inner surface of the subsea pipeline and sends them to the computer unit 206. The positioning transmitter 204 sends the position signals of the stress concentration areas on the inner surface to the computer unit 206. The odometer wheel 207 records the relative position between the in-pipe detector 200 and the subsea pipeline and sends it to the computer unit 206. The computer unit 206 processes the above data and sends signals to the data processing device.

[0053] In the above process, through the cooperation of the weak magnetic sensor 205, the computer unit 206 and the positioning transmitter 204, the stress data on the inner surface of the subsea pipeline can be recorded in detail and transmitted to the data processing device, thereby improving the accuracy of stress detection of the subsea pipeline and ensuring the comprehensiveness of stress detection of the subsea pipeline.

[0054] It should be noted that the in-pipe detector 200 and the inspection robot 100 are used to determine the stress concentration areas respectively, so as to avoid missed detection of the stress concentration areas of the subsea pipeline, improve the accuracy of stress detection of the subsea pipeline, and ensure the comprehensiveness of stress detection of the subsea pipeline.

[0055] To optimize the above technical solution, the in-pipe detector 200 further includes a bracket, which is used to connect the odometer wheel 207 and the driving leather cup 203. The odometer wheel 207 is obliquely and rotatably arranged on the end face of the driving leather cup 203.

[0056] To optimize the above technical solution, the data processing device includes a receiving module, a processing unit and a storage module. The receiving module is used to receive the electrical signals sent by the inspection robot 100 and the in-pipe detector 200. The processing unit is used to process the electrical signals and form a detection result. The storage module is used to store the detection result.

[0057] To optimize the above technical solution, the processing unit includes a calculation and statistical analysis module, a simulation and emulation module and a visualization presentation module. The calculation and statistical analysis module is used to receive and record the electrical signals received by the receiving module. The simulation and emulation module is used to form the stress information data of the subsea pipeline. The visualization presentation module is used to convert the stress information data into digital images and / or videos.

[0058] In use, the data processing device can perform visual processing on electrical signals. The receiving module is used to receive the electrical signals sent by the ultrasonic sensor 102, pressure sensor 105, fiber optic sensor 104 and camera probe 103 of the inspection robot 100, as well as the electrical signals sent by the computer section 206 of the in-pipe detector 200, and send the above electrical signals to the processing unit for processing. The calculation and statistical analysis module of the processing unit obtains the parameter information of stress and strain in the subsea pipeline through calculation and statistical analysis, such as the maximum stress value, average stress value, stress concentration factor, strain rate, etc. At the same time, the simulation module of the processing unit uses numerical simulation methods and computer simulation technologies to quantitatively describe and analyze the mechanical behavior of the subsea pipeline, so as to obtain detailed information such as stress distribution, strain distribution, and deformation conditions. Finally, the visualization presentation module of the processing unit converts the measurement data into digital images or videos through image processing, digital signal processing and other technologies to complete the data processing, and finally the storage module stores it for future reference and analysis at any time, providing a reference basis for the management and decision-making of stress detection.

[0059] As Figure 4 shown, in the above process, through the operation of the receiving module, calculation and statistical analysis module, simulation module, visualization presentation module and storage module, the comprehensive stress detection of the subsea pipeline is realized, as well as the comprehensive analysis of the stress data of the subsea pipeline, which helps to comprehensively evaluate the integrity and stability of the subsea pipeline and has great significance for maintaining the safe and stable operation of the subsea pipeline.

[0060] The advantages of the present utility model are as follows:

[0061] (1) Improve the accuracy of stress detection of subsea pipelines;

[0062] (2) Ensure the comprehensiveness of stress detection of subsea pipelines;

[0063] (3) Improve the efficiency of stress detection of subsea pipelines.

[0064] It should be noted that the subsea pipeline stress detection system provided by the present utility model can be used in the technical field of subsea pipeline stress detection equipment or other fields. The other fields are any fields other than the technical field of subsea pipeline stress detection equipment. The above is only an example and does not limit the application field of the subsea pipeline stress detection system provided by the present utility model.

[0065] In this specification, the various embodiments are described in a progressive manner. Each embodiment focuses on the differences from other embodiments, and the same or similar parts between the various embodiments can be referred to each other.

[0066] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present utility model. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present utility model. Therefore, the present utility model will not be limited to the embodiments shown herein, but rather to the broadest scope consistent with the principles and novel features disclosed herein.

[0067] In the description of this specification, the descriptions referring to the terms "one embodiment", "example", "specific example", etc. mean that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present utility model. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0068] The preferred embodiments of the present utility model disclosed above are only used to help explain the present utility model. The preferred embodiments do not describe all the details in detail, nor do they limit the present utility model to only the specific implementation manners. Obviously, many modifications and variations can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present utility model, so that those skilled in the art can understand and utilize the present utility model well. The present utility model is only limited by the claims and their full scope and equivalents.

Claims

1. A submarine pipeline stress detection system, used to detect the stress of a submarine pipeline, characterized in that: It includes a detection robot, an in-pipe detector and a data processing device, wherein: The detection robot is electrically connected to the data processing device and is used to send the outer surface stress signal of the submarine pipeline to the data processing device; The in-pipe detector is arranged inside the submarine pipeline and is electrically connected to the data processing device, and is used to send the inner surface stress signal of the submarine pipeline to the data processing device; The data processing device is used to receive and analyze the outer surface stress signal and the inner surface stress signal.

2. The submarine pipeline stress detection system according to claim 1, characterized in that: The detection robot comprises a mobile frame, a driving propeller and an ultrasonic sensor, wherein: The interior of the mobile frame is hollow; The number of the driving propellers is at least four, and the driving propellers are arranged inside the mobile frame and relatively arranged on a first side and a second side of the mobile frame; The driving propeller is used to drive the mobile frame to move along the outer surface of the submarine pipeline; The ultrasonic sensor is fixed to the bottom of the mobile frame and is used to detect the stress concentration area on the outer surface of the submarine pipeline.

3. The submarine pipeline stress detection system according to claim 2, characterized in that: The detection robot also includes a pressure sensor, an optical fiber sensor and a camera probe, wherein: The pressure sensor is fixed to the third side of the mobile frame, and is used to detect the pressure of the stress concentration area of ​​the outer surface and transmit the pressure signal to the data processing device; The optical fiber sensor is fixed to the fourth side of the mobile frame and is used to detect the bending deformation area of ​​the outer surface of the submarine pipeline and transmit the deformation signal to the data processing device; The camera probe is arranged on the top of the mobile frame, and is used for taking pictures during the movement of the detection robot, and transmitting the photographed data to the data processing device.

4. The submarine pipeline stress detection system according to claim 3, characterized in that: The in-pipe detector comprises a detector body, a weak magnetic sensor, a computer node and a positioning transmitter, wherein: The weak magnetic sensor is fixed to the outer periphery of the detector body, and is used to detect the stress concentration area on the inner surface of the submarine pipeline and send it to the computer node; The positioning transmitter is fixed to the detector body, and is used to generate a position signal of the stress concentration area on the inner surface, and send the position signal to the computer node; The computer node is arranged in the middle of the detector body and is electrically connected to the data processing device.

5. The submarine pipeline stress detection system according to claim 4, characterized in that: The in-pipe detector further comprises a supporting leather cup, a driving leather cup and an odometer wheel, wherein: One supporting leather cup and one driving leather cup form a set of leather cup assemblies, and one set of leather cup assemblies is arranged at both ends of the detector body respectively; The supporting leather cup and the driving leather cup are arranged on the outer periphery of the detector body; The supporting leather cup is used to support the in-pipe detector; The driving leather cup is used to drive the in-tube detector to move; The odometer wheel is electrically connected to the computer node and is used to send a relative position signal of the in-pipe detector and the submarine pipeline to the computer node.

6. The submarine pipeline stress detection system according to claim 5, characterized in that: The in-pipe detector further comprises a bracket, which is used to connect the mileage wheel and the driving leather cup, and the mileage wheel is obliquely rotatably arranged on the end surface of the driving leather cup.

7. The submarine pipeline stress detection system according to any one of claims 1 to 6, characterized in that: The data processing device includes a receiving module, a processing unit and a storage module. The receiving module is used to receive the electrical signals sent by the detection robot and the in-pipe detector. The processing unit is used to process the electrical signals and form detection results. The storage module is used to store the detection results.

8. The submarine pipeline stress detection system according to claim 7, characterized in that: The processing unit includes a calculation and statistical analysis module, a simulation module and a visualization presentation module. The calculation and statistical analysis module is used to receive and record the electrical signal received by the receiving module, the simulation module is used to form stress information data of the submarine pipeline, and the visualization presentation module is used to convert the stress information data into a digital image and / or video.

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