Determination method for driving pressure difference of pipeline in-line inspection tool, and apparatus

Abstract

A determination method for driving a pressure difference of a pipeline in-line inspection tool, an apparatus, a device, a medium, and a computer program product. The method comprises the following steps: acquiring the outer diameter and wall thickness of a pipeline to be inspected; acquiring a driving force required by an in-line inspection tool when passing through said pipeline; and acquiring a driving pressure difference on the basis of the outer diameter and wall thickness of said pipeline and the driving force required by the in-line inspection tool when passing through said pipeline. The method has high prediction accuracy and low costs, is simple and easy to implement, and can reduce the blockage risk of an in-line inspection tool.

Description

Method and device for determining driving differential pressure of in-pipe detector

[0001] The present application claims priority to the Chinese patent application No. 202410465594.7, filed on April 17, 2024, and entitled "Method and device for determining driving differential pressure of in-pipe detector", the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0002] The present application belongs to the technical field of pipeline detection, and particularly relates to a method and device for determining driving differential pressure of an in-pipe detector. BACKGROUND

[0003] With the increasing efforts of oil and gas exploration and development, a large number of oil and gas pipelines have been built. The oil and gas pipelines are affected by internal conveying medium, such as H2S, CO2, O2, etc. corrosive gas, SRB bacteria, Cl - strongly corrosive liquid, and external soil corrosion, stray current interference, etc. The risk of internal and external corrosion failure of the pipeline is high. In addition to the influence of third-party damage, geological disasters, and pipeline aging, the integrity of the oil and gas pipeline is under great threat. Safety and environmental accidents occur frequently, which poses a serious threat to the surrounding people and the environment. It is necessary to carry out detection on the pipeline body to evaluate its applicability and take safety protection measures in a timely manner.

[0004] Currently, in-pipe detection technology is the most commonly used pipeline body state detection technology, especially the magnetic flux leakage in-pipe detection technology and the eddy current in-pipe detection technology, which have been widely used in the field of oil and gas pipeline detection and evaluation due to their high detection accuracy. Most in-pipe detectors rely on skin bowl differential pressure driving when operating in the pipeline. Due to the influence of factors such as pipeline geometric size, construction level, operating pressure, and inaccurate evaluation of the required driving differential pressure of the in-pipe detector, in-pipe detector jamming occurs from time to time. Once jammed, the pipeline needs to be cut by fire, which is risky and has a serious impact on oil and gas production and transportation. Accurate evaluation of the required driving differential pressure of the in-pipe detector, understanding of pipeline construction information and operating conditions, and scientific and reasonable development of in-pipe detection schemes are very important to avoid in-pipe detector jamming.

[0005] Currently, the required driving differential pressure of the in-pipe detector is mainly obtained by pulling test, which is not only complex and costly, but also does not consider the state of the pipeline to be detected, resulting in large errors, which is one of the reasons for in-pipe detector jamming.

[0006] Therefore, when developing an in-pipe detection scheme, it is urgent to conveniently and accurately determine the required driving differential pressure of the in-pipe detector when passing through a specific pipeline to be detected. SUMMARY

[0007] The application provides a method and device for determining driving pressure difference of an in-pipe detector, which is used to solve the problem that the driving pressure difference required by the in-pipe detector when passing through a specific to-be-detected pipe cannot be accurately determined in the prior art, and the method is simple.

[0008] In a first aspect, the application provides a method for determining driving pressure difference of an in-pipe detector, comprising the following steps:

[0009] obtaining an outer diameter and a wall thickness of a to-be-detected pipe;

[0010] obtaining a driving force required by the in-pipe detector when passing through the to-be-detected pipe;

[0011] obtaining the driving pressure difference according to the outer diameter and the wall thickness of the to-be-detected pipe and the driving force required by the in-pipe detector when passing through the to-be-detected pipe.

[0012] Further, the driving pressure difference is obtained according to the outer diameter and the wall thickness of the to-be-detected pipe and the driving force required by the in-pipe detector when passing through the to-be-detected pipe, comprising: obtaining the driving pressure difference through formula (1):

[0013] In the formula, ΔP is the driving pressure difference, and the unit is Pa; F is the driving force required by the in-pipe detector when passing through the to-be-detected pipe, and the unit is N; D is the outer diameter of the to-be-detected pipe, and the unit is m; and d is the wall thickness of the to-be-detected pipe, and the unit is m.

[0014] Further, the driving force required by the in-pipe detector when passing through the to-be-detected pipe is obtained through formula (2): c , F z ) Formula (2)

[0015] In the formula, F c is the driving force required by the in-pipe detector when passing through an elbow, and the unit is N; and F z is the driving force required by the in-pipe detector when passing through a straight pipe, and the unit is N.

[0016] Further, the driving force required by the in-pipe detector when passing through the elbow is obtained through formula (3): c =F0e fα Formula (3)

[0017] In the formula, F c is the driving force required by the in-pipe detector when passing through the elbow, and the unit is N; F0 is the starting force of the in-pipe detector, and the unit is N; f is the friction coefficient of the in-pipe detector and the to-be-detected pipe; and α is the elbow included angle of the to-be-detected pipe.

[0018] Further, the driving force required for the inner detector to pass through the horizontal straight pipe is obtained by formula (5): F z = MAX(F zh , F zv ) Formula (4)

[0019] In formula (5), F zh is the driving force required for the inner detector to pass through the horizontal straight pipe, in N; F zv is the driving force required for the inner detector to pass through the vertical straight pipe, in N.

[0020] Further, the driving force required for the inner detector to pass through the horizontal straight pipe is obtained by formula (5): F zh = S h ρf Formula (5)

[0021] In formula (5), F zh is the driving force required for the inner detector to pass through the horizontal straight pipe, in N; S h is the maximum length of the horizontal straight pipe between two adjacent elbows, in m; ρ is the radius of curvature of the elbow, in m; f is the friction coefficient of the inner detector and the pipe to be detected.

[0022] Further, the driving force required for the inner detector to pass through the vertical straight pipe is obtained by formula (6): F zv = S v ρ Formula (6)

[0023] In formula (6), F zv is the driving force required for the inner detector to pass through the vertical straight pipe, in N; S v is the maximum length of the vertical straight pipe between two adjacent elbows, in m; ρ is the radius of curvature of the elbow, in m.

[0024] In the second aspect, the application provides a determination device for driving pressure difference of a pipeline inner detector, which is used to execute the determination method in the first aspect, and comprises:

[0025] A first obtaining module is configured to obtain the outer diameter and wall thickness of the pipe to be detected.

[0026] A second obtaining module is configured to obtain the driving force required for the inner detector to pass through the pipe to be detected.

[0027] A third obtaining module is configured to obtain the driving pressure difference according to the outer diameter and wall thickness of the pipe to be detected and the driving force required for the inner detector to pass through the pipe to be detected.

[0028] In a third aspect, the present application provides an electronic device, comprising: a memory, a processor;

[0029] The memory stores computer-executable instructions.

[0030] The processor executes the computer-executable instructions stored in the memory, so that the processor executes the determination method as described in the first aspect.

[0031] In a fourth aspect, the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are executed by a processor to implement the determination method as described in the first aspect.

[0032] In a fifth aspect, the present application provides a computer program product, comprising a computer program, wherein the computer program is executed by a processor to implement the determination method as described in the first aspect.

[0033] The present application provides a determination method for driving pressure difference of a pipeline internal detector, which can obtain the driving pressure difference according to the outer diameter of the to-be-detected pipeline, the wall thickness, and the driving force required when the internal detector passes through the to-be-detected pipeline, so as to accurately determine the driving pressure difference required when the internal detector passes through a specific to-be-detected pipeline. The method considers both the passing performance of the internal detector itself and the state of the to-be-detected pipeline body, has high prediction accuracy, low cost, is simple and easy to implement, effectively solves the prediction problem of the driving pressure difference of the internal detector, and can reduce the risk of blockage of the internal detector, thereby providing a strong guarantee for internal detection field operation. BRIEF DESCRIPTION OF DRAWINGS

[0034] FIG. 1 is a flowchart of a determination method for driving pressure difference of a pipeline internal detector according to the present application;

[0035] FIG. 2 is a structural schematic diagram of a determination device for driving pressure difference of a pipeline internal detector according to the present application;

[0036] FIG. 3 is a structural schematic diagram of an electronic device according to the present application. DETAILED DESCRIPTION

[0037] In order to make the purpose, technical scheme and advantages of the present application clearer, the technical scheme in the embodiments of the present application will be described clearly and completely below in conjunction with the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0038] In a first aspect, the application provides a method for determining driving pressure difference of an in-pipe detector, and Fig. 1 is a flowchart of the method for determining driving pressure difference of an in-pipe detector according to the application. As shown in Fig. 1, the method comprises the following steps:

[0039] S01: obtaining the outer diameter and wall thickness of the pipe to be measured;

[0040] S02: obtaining the driving force required for the in-pipe detector to pass through the pipe to be measured;

[0041] S03: obtaining the driving pressure difference according to the outer diameter and wall thickness of the pipe to be measured and the driving force required for the in-pipe detector to pass through the pipe to be measured.

[0042] In the application, the type of the in-pipe detector is not limited, which can be a magnetic flux leakage in-pipe detector, an eddy current in-pipe detector, etc. Any in-pipe detector that can perform in-pipe detection to obtain information about the state of the pipe to be measured, including damage type, damage location, damage size, etc.

[0043] Specifically, the outer diameter and wall thickness of the pipe to be measured are obtained.

[0044] The driving force required for the in-pipe detector to pass through the pipe to be measured is obtained.

[0045] The driving pressure difference is obtained according to the outer diameter and wall thickness of the pipe to be measured and the driving force required for the in-pipe detector to pass through the pipe to be measured.

[0046] The application provides a method for determining driving pressure difference of an in-pipe detector, which can obtain the driving pressure difference according to the outer diameter and wall thickness of the pipe to be measured and the driving force required for the in-pipe detector to pass through the pipe to be measured, so as to accurately determine the driving pressure difference required for the in-pipe detector to pass through a specific pipe to be measured. The method takes into account both the passing performance of the in-pipe detector itself and the state of the pipe to be measured, has high prediction accuracy, low cost, and is simple and easy to implement. The method effectively solves the problem of predicting the driving pressure difference of the in-pipe detector and reduces the risk of blockage of the in-pipe detector, thereby providing strong support for in-pipe detection operations on site.

[0047] Further, the driving pressure difference is obtained according to the outer diameter and wall thickness of the pipe to be measured and the driving force required for the in-pipe detector to pass through the pipe to be measured, comprising: obtaining the driving pressure difference by formula (1):

[0048] In the formula, ΔP is the driving pressure difference, with the unit of Pa; F is the driving force required for the in-pipe detector to pass through the pipe to be measured, with the unit of N; D is the outer diameter of the pipe to be measured, with the unit of m; and d is the wall thickness of the pipe to be measured, with the unit of m.

[0049] The outer diameter and wall thickness of the pipe to be measured can be obtained by querying the design data of the pipe to be measured or by direct measurement.

[0050] The driving pressure difference obtained by formula (1) can further improve the accuracy of the determination method and improve the safety of the internal detector when performing internal detection on the pipeline to be detected.

[0051] To further improve the accuracy of the determination method, the driving force required for the internal detector to pass through the pipeline to be detected is obtained by formula (2): F = MAX (F c , F z ) Formula (2)

[0052] In the formula, F c is the driving force required for the internal detector to pass through the elbow, with the unit of N; and F z is the driving force required for the internal detector to pass through the straight pipe, with the unit of N.

[0053] It can be understood that, since the internal detector operates in the pipeline to be detected, the resistance experienced by the internal detector when passing through the elbow and the straight pipe of the pipeline to be detected is different, and therefore the driving pressure difference for providing power for the operation of the internal detector is closely related to the driving force required for the internal detector to pass through the elbow and the straight pipe of the pipeline to be detected. The driving force required for the internal detector to pass through the pipeline to be detected needs to meet the maximum driving force required by the internal detector. Therefore, the driving force required for the internal detector to pass through the pipeline to be detected can be further obtained by formula (2).

[0054] In a specific embodiment, the driving force required for the internal detector to pass through the elbow is obtained by formula (3): F c = F0e fα Formula (3)

[0055] In the formula, F c is the driving force required for the internal detector to pass through the elbow, with the unit of N; F0 is the starting force of the internal detector, with the unit of N; f is the friction coefficient of the internal detector and the pipeline to be detected; and a is the elbow wrap angle of the pipeline to be detected.

[0056] The starting force F0 of the internal detector can be obtained according to the design data of the internal detector; and the friction coefficient of the internal detector and the pipeline to be detected can be obtained according to the design data of the internal detector.

[0057] Since the driving force required for the internal detector to pass through the elbow is related to the shape angle of the elbow, the friction coefficient of the internal detector and the pipeline to be detected, and other factors, the starting force of the internal detector, the friction coefficient of the internal detector and the pipeline to be detected, and the elbow wrap angle of the pipeline to be detected are obtained, and the driving force required for the internal detector to pass through the elbow is obtained by formula (3), further considering the geometric size of the pipeline to be detected, which can make the determination method more accurate.

[0058] Alternatively, the driving force required for the internal detector to pass through the straight pipe is obtained by formula (4): Fz = MAX(F zh , F zv ) Formula (4)

[0059] In the formula, F zh is the driving force required for the inner detector to pass through the horizontal straight pipe, with the unit of N; and F zv is the driving force required for the inner detector to pass through the vertical straight pipe, with the unit of N.

[0060] It can be understood that the arrangement of the pipeline to be measured can be generally approximated as horizontal arrangement and vertical arrangement, and thus the driving force required for the inner detector to pass through the horizontal straight pipe and the vertical straight pipe is different in the actual operation of the inner detector in the pipeline to be measured. The driving force of the inner detector passing through the straight pipe of the pipeline to be measured is further obtained by Formula (4), which considers the actual state of the straight pipe and can further improve the accuracy of the determination method.

[0061] In a specific embodiment, the driving force required for the inner detector to pass through the horizontal straight pipe is obtained by Formula (5): F zh = S h ρf Formula (5)

[0062] In the formula, F zh is the driving force required for the inner detector to pass through the horizontal straight pipe, with the unit of N; S h is the maximum length of the horizontal straight pipe between two adjacent elbows, with the unit of m; ρ is the radius of curvature of the elbow, with the unit of m; and f is the friction coefficient of the inner detector and the pipeline to be measured.

[0063] Specifically, the driving force required for the inner detector to pass through the horizontal straight pipe is not only affected by the maximum length of the horizontal straight pipe between two adjacent elbows, but also affected by the radius of curvature of the elbow part where the horizontal straight pipe is about to enter the elbow and the elbow part connected with the next horizontal straight pipe, as well as the friction force of the inner detector and the pipeline to be measured. Therefore, Formula (5) comprehensively considers the above-mentioned influences, and the driving force required for the inner detector to pass through the horizontal straight pipe can be further improved by Formula (5), further improving the accuracy of the determination method.

[0064] In another specific embodiment, the driving force required for the inner detector to pass through the vertical straight pipe is obtained by Formula (6): F zv = S v ρ Formula (6)

[0065] In the formula, F zv is the driving force required for the inner detector to pass through the vertical straight pipe, with the unit of N; S vis the maximum length of the vertical straight pipe between two adjacent elbows, in meters; and p is the radius of curvature of the elbow, in meters.

[0066] Likewise, the driving force required for the inner detector to pass through the vertical straight pipe is related to many influencing factors, including the maximum length of the vertical straight pipe between two adjacent elbows and the radius of curvature of the elbow, and the driving force required for the inner detector to pass through the vertical straight pipe can be further accurately determined by formula (6), and the driving force required for the inner detector to pass through the straight pipe is further obtained, so as to further improve the accuracy of the determination method.

[0067] In a second aspect, the present application further provides a determination device for the driving pressure difference of a pipeline inner detector, which is used for the determination method in the first aspect, as shown in FIG. 2, and includes:

[0068] A first acquisition module 21 is configured to acquire the outer diameter and the wall thickness of the pipeline to be measured.

[0069] A second acquisition module 22 is configured to acquire the driving force required for the inner detector to pass through the pipeline to be measured.

[0070] A third acquisition module 23 is configured to acquire the driving pressure difference according to the outer diameter and the wall thickness of the pipeline to be measured and the driving force required for the inner detector to pass through the pipeline to be measured.

[0071] The determination device for the driving pressure difference of a pipeline inner detector provided by the present application is used to execute the determination method in the first aspect, and has similar implementation principles and technical effects, which will not be described here.

[0072] In a third aspect, as shown in FIG. 3, the present application further provides an electronic device 30, which includes a memory 302 and a processor 301.

[0073] The memory 302 stores computer execution instructions.

[0074] The processor 301 executes the computer execution instructions stored in the memory, so that the processor executes the determination method in the first aspect.

[0075] The electronic device provided by the present application includes at least one processor 301 and a memory 302.

[0076] Optionally, the electronic device further includes a communication component 303. The processor 301, the memory 302 and the communication component 303 are connected through a bus.

[0077] In the specific implementation process, the at least one processor executes the computer execution instructions stored in the memory, so that the at least one processor executes the above-mentioned method.

[0078] The specific implementation process of the processor 301 can refer to the above-mentioned method embodiments, and has similar implementation principles and technical effects, which will not be described here.

[0079] In the above embodiments, it should be understood that the processor can be a central processing unit (CPU), and can also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), etc. The general-purpose processor can be a microprocessor or any conventional processor, etc. The steps of the method disclosed in combination with the application can be directly embodied as hardware processor execution, or executed by a combination of hardware and software modules in the processor.

[0080] The memory can include a random access memory (RAM), and can also include a non-volatile memory (NVM), such as at least one disk memory.

[0081] The bus can be an industry standard architecture (ISA) bus, a peripheral component (PCI) bus, an extended industry standard architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, the bus in the drawings of the present application does not limit to only one bus or one type of bus.

[0082] In a fourth aspect, the present application provides a computer readable storage medium, and the computer readable storage medium stores computer execution instructions. When the computer execution instructions are executed by a processor, the computer execution instructions are used to implement the determination method of the first aspect.

[0083] The above readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk. The readable storage medium can be any available medium that can be accessed by a general-purpose or special-purpose computer.

[0084] An example readable storage medium is coupled to the processor such that the processor can read information from the readable storage medium and can write information to the readable storage medium. Of course, the readable storage medium can also be a part of the processor. The processor and the readable storage medium can be located in an application specific integrated circuit (ASIC). Of course, the processor and the readable storage medium can also exist as discrete components in the device.

[0085] The division of units is only a logical functional division, and in actual implementation, there can be another division manner, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the units shown or discussed can be indirect coupling or communication connection through some interfaces, devices or units, and can be electrical, mechanical or other forms.

[0086] The units described as separate components can or can not be physically separated, and the components shown as units can or can not be physical units, that is, can be located in one place, or can be distributed on a plurality of network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the embodiment scheme.

[0087] In addition, the functional units in each embodiment of the present application can be integrated in one processing unit, or each unit can be physically present separately, or two or more units can be integrated in one unit.

[0088] If the functions are realized in the form of software function units and sold or used as independent products, they can be stored in a computer readable storage medium. Based on this understanding, the technical solutions of the present application or the essential part or part of the technical solutions that make contributions to the prior art can be embodied in the form of a software product. The computer software product is stored in a storage medium, and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the embodiments of the present application. The foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various program code storage media.

[0089] Those skilled in the art can understand that all or part of the steps of the above-mentioned method embodiments can be completed by program instruction related hardware. The foregoing program can be stored in a computer readable storage medium. The program executes to perform the steps of the above-mentioned method embodiments; and the foregoing storage medium includes ROM, RAM, magnetic disc or optical disc and various storage medium that can store program codes.

[0090] In a fifth aspect, the present application provides a computer program product comprising a computer program which, when executed by a processor, implements the determination method of the first aspect.

[0091] Finally, it should be noted that other embodiments of the present application will be readily apparent to those skilled in the art upon considering the description set forth hereinabove and the appended claims. The present application is intended to cover any variations, uses or adaptations of the application including departures from the precise methods and / or formulations described herein and falling within the scope of the application as defined by the appended claims and their equivalents, and is intended to cover modifications obvious to those skilled in the art upon considering the description set forth hereinabove and the appended claims. The scope of the application should, therefore, be determined not with reference to the above description, but instead with reference to the appended claims, alongside their equivalents. It is intended and should be appreciated that all consi stent combinations of elements, variations and adaptations thereof, falling within the scope of the application, as defined by the appended claims and their equivalents, are to be embraced by the description and examples set forth hereinabove and are within the scope of the application.

[0092] Hereinafter, a determination method of driving pressure difference of a pipeline internal detector provided by the present application is described in detail through specific embodiments.

[0093] Embodiment 1

[0094] The pipeline to be detected is a crude oil pipeline, the outer diameter of the pipeline is 114 mm, the wall thickness of the pipeline is 6 mm, the curvature radius of the pipeline elbow is 1.5D, the pipeline has been in service for 15 years, and the safety risk is high. In order to understand the state of the pipeline body, it is necessary to carry out magnetic flux leakage internal detection operation; the determination method of driving pressure difference of pipeline internal detection provided by the present application comprises the following steps:

[0095] (1) Obtain the outer diameter and wall thickness of the pipeline to be detected; wherein the outer diameter of the pipeline to be detected is 114 mm, and the wall thickness of the pipeline to be detected is 6 mm;

[0096] (2) Obtain the driving force required when the internal detector passes through the pipeline to be detected;

[0097] The internal detector is a magnetic flux leakage internal detector;

[0098] Through the inquiry of the internal detector design data, the starting force F0 of the internal detector is obtained as 8000N; the curvature radius of the pipeline elbow to be detected is ρ = 1.5D = 171mm, the elbow angle of the pipeline to be detected is α = π / 2, the maximum length of the horizontal straight pipe between the adjacent two elbows is S h = 3000m, and the maximum length of the vertical straight pipe between the adjacent two elbows is S v= 5m, the friction coefficient f between the inner detector and the pipeline = 0.15;

[0099] The driving force F required for the inner detector to pass through the elbow is obtained by formula (3) c : F c = F0e fα = 8000 x e 0.15×π / 2 ≈ 10130 N formula (3)

[0100] The driving force F required for the inner detector to pass through the horizontal straight pipe with the maximum length of 3000m between two adjacent elbows is obtained by formula (5) zh : F zh = S h = 3000 x 0.171 x 0.15 ≈ 77 N formula (5)

[0101] The driving force F required for the inner detector to pass through the vertical straight pipe with the maximum length of 5m between two adjacent elbows is obtained by formula (6) zv : F zv = S v = 5 x 0.171 ≈ 1 N formula (6)

[0102] The driving force F required for the inner detector to pass through the straight pipe is obtained by formula (4) z : F z = MAX(F zh , F zv ) = 77 N formula (4)

[0103] The driving force F required for the inner detector to pass through the pipeline to be detected is obtained by formula (2): F = MAX(F c , F z ) = 10130 N formula (2)

[0104] (3) According to the outer diameter, wall thickness of the pipeline to be detected and the driving force required for the inner detector to pass through the pipeline to be detected, the driving pressure difference is obtained by formula (1):

[0105] That is, the minimum driving pressure difference required for the magnetic flux leakage inner detector to smoothly pass through the pipeline to be detected for internal detection is about 1.24Mpa.

[0106] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for determining driving pressure difference of an in-pipe detector, comprising the following steps: obtaining the outer diameter and wall thickness of a pipe to be detected; obtaining the driving force required for the in-pipe detector to pass through the pipe to be detected; obtaining the driving pressure difference according to the outer diameter and wall thickness of the pipe to be detected and the driving force required for the in-pipe detector to pass through the pipe to be detected.

2. The determination method according to claim 1, wherein the driving pressure difference is obtained according to the outer diameter of the pipe to be measured, the wall thickness and the driving force required when the inner detector passes through the pipe to be measured, comprising: The driving pressure difference is obtained by formula (1): wherein ΔP is the driving pressure difference, F is the driving force required for the in-pipe detector to pass through the pipe to be detected, D is the outer diameter of the pipe to be detected, d is the wall thickness of the pipe to be detected, f is the friction coefficient between the in-pipe detector and the pipe to be detected, and α is the bend angle of the pipe to be detected. wherein ρ is the radius of curvature of the bend.

3. The determination method according to claim 2, wherein the driving force required for the inner detector to pass through the pipeline under test is obtained by formula (2): F = MAX (F c , F z ) formula (2) F = 0.5 * (1 - (D / 2)2 / (D / 2 + L)2) * (D / 2 + L)2 c F = 0.5 * (1 - (D / 2)2 / (D / 2 + L)2) * (D / 2 + L)2 z F = 0.5 * (1 - (D / 2)2 / (D / 2 + L)2) * ( 4. The determination method according to claim 3, wherein the driving force required when the inner detector passes through the bend is obtained by formula (3): F c = F0e fα Formula (3) In the formula, F c F is the required driving force for the inner detector to pass through the elbow, in N; wherein f is the friction coefficient between the in-pipe detector and the pipe to be detected. 8.A device for determining driving pressure difference of an in-pipe detector, configured to execute the method according to any one of claims 1-7, comprising:

5. The determination method according to claim 3 or 4, wherein the driving force required when the inner detector passes through the straight pipe is obtained by formula (4): F z = MAX (F zh , F zv ) formula (4) where F zh is the required driving force for the inner detector to pass through the horizontal straight pipe, in N; F zv is the required driving force for the inner detector to pass through the vertical straight pipe, in N.

6. The determination method according to claim 5, wherein the driving force required when the inner detector passes through the horizontal straight pipe is obtained by formula (5): F zh = S h pf formula (5) F = 0.5 * (D - d) * (D + d) * (D + d) / (4 * L) zh S = F / (D * L) h L = 0.5 * (D - d) / tan(α) a first obtaining module, configured to obtain the outer diameter and wall thickness of a pipe to be detected; a second obtaining module, configured to obtain the driving force required for the in-pipe detector to pass through the pipe to be detected; 7. The determination method according to claim 5, wherein the driving force required for the inner detector to pass through the vertical straight pipe is obtained by formula (6): F zv = S v p formula (6) wherein F zv is the driving force required for the inner detector to pass through the vertical straight pipe, in N; S v is the maximum length of the vertical straight pipe between two adjacent elbows, in m; and p is the radius of curvature of the elbow, in m. a third obtaining module, configured to obtain the driving pressure difference according to the outer diameter and wall thickness of the pipe to be detected and the driving force required for the in-pipe detector to pass through the pipe to be detected. a memory and a processor. The memory stores computer-executable instructions. The processor executes the computer-executable instructions stored in the memory, so that the processor executes the method according to any one of claims 1-7.

9. An electronic device comprising: 10.A computer-readable storage medium, wherein the computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are executed by a processor to implement the method according to any one of claims 1-7. 11.A computer program product, comprising a computer program, and the computer program is executed by a processor to implement the method according to any one of claims 1-7. ​ ​ ​

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