Oil and gas pipeline pipe cleaner/detector infrasonic sound real-time tracking positioning system and methodTechnical field
The present invention relates to acoustic measurement technical fields, in particular to a kind of for positioning pipe cleaner/inspection in oil and gas pipelineSurvey the system and method for device.
Background technique
Pipe cleaner/detector method for tracking and positioning in traditional oil and gas pipeline is to rely on manpower field work mode,This method is influenced bigger by weather conditions, but also to employ a large amount of manpower and material resources.Once pipe cleaner/detector is on groundBlocking occurs in lower pipeline, it is larger that blocking searches for blind area range, and is not easy accurately to find blocking position.
As shown in Figure 1, pipe cleaner/detector is equivalent to a piston in the duct, its motion state can make conveying pairThe pressure of elephant generates disturbance, and this disturbance can be in the form of sound energy along pipe transmmision, wherein the Infrasonic Frequencies in sound energy are at branchPass farther.Liquid/gas pressure is low in pipe cleaner/detector rear portion height, front in oil and gas pipeline, to push piggingDevice/detector is advanced to the lower direction of pressure.When pipe cleaner/detector and liquid/gas move at the same speed, front is with afterAlthough portion's pressure has difference, but belong to a kind of stable state, will not generate disturbance.But due to the various factors in pipeline,Pipe cleaner/detector can not be able to maintain the state of this stabilization Yu liquid/gas advanced in unison in pipeline.When pipe cleaner/inspectionWhen survey device travel speed changes, the front and rear of ball can all generate disturbance.For example, if pipe cleaner/detectorBecause when tube wall attachment residue stops and slows down suddenly, then the liquid/gas pressure in its front has small decline, andThe pressure of the rear part has a small raising, to form a pair of synchronous reverse phase double sound source.
The sound wave that the double sound source that pipe cleaner/detector generates is radiated along pipeline, according to it with respect to ball (pipe cleaner/detectorAbbreviation) position, be divided into ball prewave and ball postwave two parts.Ball prewave and ball postwave also have that variation phase of double sound sourceSeemingly, the characteristics of opposite in phase.
Summary of the invention
The purpose of the present invention is: it is time-consuming and laborious by manpower search and orientation pipe cleaner/detector in the prior art to solveThe problem of, a kind of oil and gas pipeline pipe cleaner/detector infrasonic sound real-time tracking positioning system and method are provided.
A technical solution of the invention is:
Oil and gas pipeline pipe cleaner/detector infrasonic sound real-time tracking positioning system, it includes: upstream base station, downstream base stationAnd central station；
System and the first data collector when upstream base station includes: the first infrasound sensor, a GPS；First infrasonic sound passesSystem is connect with the first data collector when sensor, a GPS；
System and the second data collector when downstream base station includes: the second infrasound sensor, two GPS；Second infrasonic sound passesSystem is connect with the second data collector when sensor, two GPS；
Central station includes: data communication interchanger, server and data processor；Wherein, data communication interchanger withServer, data processor connection；
Pipe cleaner/detector moves in oil and gas pipeline, and the first infrasound sensor and the second infrasound sensor distinguish clothIt sets in the upstream and downstream of oil and gas pipeline；First infrasound sensor is used to acquire ball postwave caused by pipe cleaner/detector,Second infrasound sensor is for acquiring ball prewave caused by pipe cleaner/detector；System and the 2nd GPS Shi Tongfen when one GPSThe time of the first infrasound sensor acquisition ball postwave, the second infrasound sensor acquisition ball prewave Yong Yu not recorded；First data are adoptedStorage sends out the ball postwave of the time of system record and the acquisition of the first infrasound sensor when a GPS by data communication interchangerIt send to data processor, while being sent to server and being stored；Second data collector by when two GPS system record timeAnd second the ball prewave of infrasound sensor acquisition data processor is sent to by data communication interchanger, while being sent to clothesBusiness device is stored；The received ball postwave of institute, ball prewave are carried out waveform comparison by data processor, by by the phase of opposite in phaseThe pass waveform signal time makes the difference, and pipe cleaner/detector position is calculated.
Another technical solution of the invention is: oil and gas pipeline pipe cleaner/detector infrasonic sound real-time tracking localization method,The following steps are included:
A. ball postwave is acquired, and records the time that ball postwave reaches upstream base station；
B. ball prewave is acquired, and records the time that ball prewave reaches downstream base station；
C. collected ball prewave is carried out waveform with ball postwave to compare, the waveform correlation signal time of opposite in phase is doneDifference obtains the time of ball postwave and ball prewave arrival upstream base station, downstream base station that pipe cleaner/detector at a time issuesPoor Δ t；
D. time difference Δ t is utilized, the moment pipe cleaner/detector distance upstream base station distance l is calculated:
L=L (Δ t/T+1)/2
Wherein: L be upstream base station between the base station of downstream at a distance from, T is ball postwave/ball prewave with speed v propagation distance L instituteIt takes time.
The utility model has the advantages that the infrasonic sound sound wave that the present invention is issued by acquiring pipe cleaner/detector in pipe motion, and according toSound wave reaches the time difference of upstream and downstream base station, infers pipe cleaner/detector position, realizes pipe cleaner/detector and existReal-time tracking positions in oil and gas pipeline, and positioning accuracy is high, strong antijamming capability；Due to time in especially acquisition sound energy of the inventionAudio frequency range, therefore it is suitable for the oil and gas pipeline of long range.
Detailed description of the invention
Fig. 1 is pipe cleaner/detector described in background technology ball prewave due to caused by velocity variations and ball postwaveSchematic diagram；
Fig. 2 is structure composition block diagram of the invention；
Fig. 3 is in embodiment 1, after the first infrasound sensor, the collected waveform diagram of the second infrasound sensor and alignmentWaveform diagram；
Fig. 4 is calculation method schematic diagram of the present invention.
Wherein: 1- pipe cleaner/detector, 2- oil and gas pipeline, the upstream 3- base station, the first infrasound sensor of 31-, 32-System, 43- the when system, the first data collector of 33-, the downstream 4- base station, the second infrasound sensor of 41-, two GPS of 42- when one GPSTwo data collectors, 5- central station, 51- data communication interchanger, 52- server, 53- data processor.
Specific embodiment
The present invention will now be described in detail with reference to the accompanying drawings and examples.
Embodiment 1: referring to attached drawing 2, oil and gas pipeline pipe cleaner/detector infrasonic sound real-time tracking positioning system, it includes:Upstream base station 3, downstream base station 4 and central station 5；
System 32 and the first data collector 33 when upstream base station 3 includes: the first infrasound sensor 31, a GPS；FirstSystem 32 is connect with the first data collector 33 when infrasound sensor 31, a GPS；
System 42 and the second data collector 43 when downstream base station 4 includes: the second infrasound sensor 41, two GPS；SecondSystem 42 is connect with the second data collector 43 when infrasound sensor 41, two GPS；
Central station 5 includes: data communication interchanger 51, server 52 and data processor 53；Wherein, data communication is handed overIt changes planes and 51 is connect with server 52, data processor 53；
Pipe cleaner/detector 1 moves in oil and gas pipeline 2, the first infrasound sensor 31 and the second infrasound sensor 41It is arranged in the upstream and downstream of oil and gas pipeline 2；First infrasound sensor 31 is produced for acquiring pipe cleaner/detector 1Raw ball postwave, the second infrasound sensor 41 is for acquiring ball prewave caused by pipe cleaner/detector 1；Unite 32 when one GPSRecord the first infrasound sensor 31 acquisition ball postwave, the second infrasound sensor 41 acquisition ball are respectively used to system 42 when two GPSThe time of prewave；First data collector 33 acquires the time of 32 record of system and the first infrasound sensor 31 when a GPSBall postwave data processor 53 is sent to by data communication interchanger 51, while being sent to server 52 and being stored；TheThe ball prewave that the time of 42 record of system and the second infrasound sensor 41 acquire when two GPS is passed through number by two data collectors 43It is sent to data processor 53 according to communication switcher 51, while being sent to server 52 and being stored；Data processor 53 is by instituteReceived ball postwave, ball prewave carry out waveform comparison, have that velocity of wave is identical, phase in ball prewave, the ball postwave that synchronization issuesThe opposite characteristic in position, as shown in figure 3, the acquire ball postwave of the first infrasound sensor 31 that dotted line outlines outlined with dotted line secondThe acquired ball prewave of infrasound sensor 41 is issued by synchronization, by doing the waveform correlation signal time of opposite in phaseThe position of pipe cleaner/detector 1 is calculated in difference.
Further, data processor 53 further includes display module, and display module is for showing pipe cleaner/detector 1Real-time position.
Embodiment 2: referring to attached drawing 4, oil and gas pipeline pipe cleaner/detector infrasonic sound real-time tracking localization method, including withLower step:
A. ball postwave is acquired, and records the time that ball postwave reaches upstream base station 3；
B. ball prewave is acquired, and records the time that ball prewave reaches downstream base station 4；
C. collected ball prewave is carried out waveform with ball postwave to compare, the waveform correlation signal time of opposite in phase is doneDifference, obtains ball postwave that pipe cleaner/detector 1 at a time issues and ball prewave reaches upstream base station 3, downstream base station 4Time difference Δ t；
D. time difference Δ t is utilized, distance l of the moment pipe cleaner/detector 1 apart from upstream base station 3 is calculated:
L=L (Δ t/T+1)/2
Wherein: L be upstream base station 3 between downstream base station 4 at a distance from, T be ball postwave/ball prewave with speed v propagation distance LRequired time；
In step D, the specific steps of reckoning are as follows:
Firstly, ignoring the scale of pipe cleaner/detector 1, it is idealized as a particle, i.e., pipe cleaner/detector 1 is producingWhen raw sound source, ball prewave sound source is identical with ball postwave sound source position；
Secondly as ball prewave/ball postwave spread speed is much larger than the movement velocity of pipe cleaner/detector 1, therefore in ballIn the period for the time difference Δ t that postwave and ball prewave reach upstream base station 3, downstream base station 4, it is believed that the position of pipe cleaner/detector 1It sets constant；
Known upstream base station 3 between downstream base station 4 at a distance from be L, ball prewave/wave of the ball postwave in oil and gas pipeline 2Fast v, according to
L=vT
T the time required to ball prewave/ball postwave is obtained with speed v propagation distance L；
The ball postwave that pipe cleaner/detector 1 is issued in a certain position/ball prewave reaches upstream base station 3, downstream base station 4Time is respectively t1、t2, i.e., the ball postwave and ball prewave that at a time issue reach the time of upstream base station 3, downstream base station 4Poor Δ t=t1-t2；
Distance l=vt of the moment pipe cleaner/detector 1 apart from upstream base station 31, pipe cleaner/detector 1 is apart from downstreamThe distance L=vt of base station 42；According to:
L- (L-l)=vt1-vt2=v (t1-t2)=v Δ t=(L/T) Δ t
L=L (Δ t/T+1)/2
Obtain distance l of the moment pipe cleaner/detector 1 apart from upstream base station 3.
To sum up, the above is merely preferred embodiments of the present invention, it is not intended to limit the scope of the present invention.It is allWithin the spirit and principles in the present invention, any modification, equivalent replacement, improvement and so on should be included in protection of the inventionWithin the scope of.