CN-121977132-A - In-service additive repairing method and system for buried hydrogen-doped natural gas pipeline

CN121977132ACN 121977132 ACN121977132 ACN 121977132ACN-121977132-A

Abstract

The invention relates to the technical field of oil and gas pipeline maintenance, and discloses an in-service additive repairing method and system for a buried hydrogen-doped natural gas pipeline, wherein the method comprises the following steps: obtaining an outer wall image of a pipeline to determine a defect part, performing minimized excavation on soil near the defect, collecting morphology and wall thickness data, fusing to generate an initial defect three-dimensional model, determining initial polishing parameters and polishing according to the initial polishing parameters, dynamically adjusting the initial polishing parameters according to polishing temperature, judging that polishing is stopped and updating the defect three-dimensional model according to surface defect data, matching additive repairing parameters and repairing, and adjusting the additive repairing parameters in real time until the surface state reaches the standard. According to the invention, through constructing a closed loop flow of multi-loop data linkage, accurate modeling and quantification of defects, dynamic adjustment of polishing and material adding parameters and minimization of excavation operation are realized, so that accurate, safe and efficient repair of the pipeline in a service state is realized, the quality stability and environmental protection requirements of repair are considered, and the stop loss is avoided.

Inventors

MA WEI
CHEN GUOFEI
DAI WEI

Assignees

江苏集萃先进激光科技有限公司

Dates

Publication Date: 20260505
Application Date: 20251219

Claims (10)

1. An in-service additive repair method for a buried hydrogen-doped natural gas pipeline is characterized by comprising the following steps of: acquiring an image of the outer wall of the pipeline, and determining a defect part of the pipeline according to the image; Performing excavation work for minimizing an amount of earth in the vicinity of the defective portion of the pipe; Obtaining morphology data and wall thickness data of a pipeline defect part and a peripheral area after excavation operation, fusing the morphology data and the wall thickness data to obtain fused defect data, and generating an initial defect three-dimensional model according to the fused defect data; Determining initial polishing parameters according to the initial defect three-dimensional model, and polishing a defect part according to the initial polishing parameters; acquiring polishing temperature in the polishing process, and judging whether to adjust the initial polishing parameters according to the polishing temperature and the comparison condition of a preset temperature threshold; If yes, adjusting the initial polishing parameters according to the comparison condition of the polishing temperature and a preset temperature threshold value to obtain final polishing parameters; acquiring actual surface defect data of a defect part polished by final polishing parameters, and judging whether polishing is stopped or not according to the comparison condition of the actual surface defect data and a preset standard surface defect data range; if yes, acquiring polished fusion defect data, and updating an initial defect three-dimensional model according to the polished fusion defect data to obtain a final defect three-dimensional model; determining an additive repairing parameter according to the actual surface defect data, a final defect three-dimensional model and a preset additive repairing database, and carrying out additive repairing on a defect part of the pipeline according to the additive repairing parameter; and acquiring surface state data in the process of additive repairing, and adjusting additive repairing parameters according to the surface state data and a preset surface state data interval until the surface state data reaches a preset surface state standard data value, and stopping additive repairing.
2. The method of claim 1, wherein the acquiring an image of the outer wall of the pipe, determining a pipe defect location from the image, comprises: Acquiring an image of the outer wall of a pipeline through detection equipment arranged on the ground, and preprocessing the image; extracting the pipeline outline and the abnormal region characteristics in the preprocessed image; comparing the abnormal region characteristics with a preset defect characteristic library, and determining a pipeline defect part according to a comparison result; When the similarity between the abnormal region features and certain types of defect features in a preset defect feature library reaches a preset similarity threshold, judging that the abnormal region is a pipeline defect part; And when the similarity between the abnormal region features and all the defect features in the preset defect feature library does not reach the preset similarity threshold, readjusting the image preprocessing parameters, extracting the features again and comparing the features.
3. The method of claim 2, wherein fusing the morphology data and the wall thickness data to obtain fused defect data, and generating an initial defect three-dimensional model from the fused defect data comprises: Establishing a unified coordinate system, and carrying out coordinate registration on the morphology data and the wall thickness data; Integrating the registered morphology data and wall thickness data by adopting a data fusion algorithm to obtain fusion defect data; And constructing an initial defect three-dimensional model by a three-dimensional reconstruction algorithm based on the fusion defect data.
4. A method according to claim 3, wherein the initial sanding parameters include initial sanding strength, sanding speed, and sanding path; the determining initial polishing parameters according to the initial defect three-dimensional model comprises the following steps: extracting feature parameters of defect volume, defect shape and defect position from the initial defect three-dimensional model, and taking the feature parameters as a defect feature parameter set; Determining initial polishing parameters according to the comparison condition of the defect characteristic parameter set and a preset polishing parameter mapping relation library; when the defect characteristic parameter set is matched with a certain preset defect characteristic parameter set, directly taking polishing parameters corresponding to the preset defect characteristic parameter set in a preset polishing parameter mapping relation library as initial polishing parameters; And when the defect characteristic parameter set is not matched with any preset defect characteristic parameter set, calculating the similarity coefficients of the defect characteristic parameter set and all preset defect characteristic parameter sets, acquiring a maximum similarity coefficient, and determining initial polishing parameters according to the preset defect characteristic parameter set corresponding to the maximum similarity coefficient.
5. The method of claim 4, wherein determining initial grinding parameters from the set of preset defect feature parameters corresponding to the maximum similarity coefficient comprises: Selecting a preset defect characteristic parameter set corresponding to any maximum similarity coefficient, and respectively calculating the defect characteristic parameter set and the characteristic deviation value of each parameter in the preset defect characteristic parameter set; Comparing the characteristic deviation value with a preset adjustment coefficient mapping table, and determining an adjustment coefficient of the polishing parameter corresponding to the preset defect characteristic parameter set according to the comparison result; And taking the product value of the adjustment coefficient and the polishing parameter corresponding to the preset defect characteristic parameter set as the initial polishing parameter.
6. The method of claim 5, wherein determining whether to adjust the initial polishing parameters based on the comparison of the polishing temperature and a preset temperature threshold comprises: When the polishing temperature is lower than a first preset temperature threshold, judging that the initial polishing parameters are not adjusted; and when the polishing temperature reaches a first preset temperature threshold, judging to adjust the initial polishing parameters.
7. The method of claim 6, wherein determining the final polishing parameters after adjusting the initial polishing parameters comprises: When the polishing temperature reaches a first preset temperature threshold value and is lower than a second preset temperature threshold value, reducing the initial polishing force and polishing speed to obtain final polishing parameters; when the polishing temperature reaches a second preset temperature threshold, firstly adjusting the polishing temperature to be below the second preset temperature threshold, and then reducing the initial polishing force and the polishing speed to obtain final polishing parameters; the step of reducing the initial polishing force and the polishing speed comprises the following steps: Calculating a temperature difference value between the polishing temperature and a first preset temperature threshold; reducing the initial polishing force and polishing speed according to the temperature difference value and a preset temperature difference corresponding adjustment numerical table to obtain final polishing parameters; The first preset temperature threshold is less than the second preset temperature threshold.
8. The method of claim 7, wherein said determining whether to stop sanding comprises: Collecting data of surface roughness, surface flatness and impurity residue of the polished defect part to form actual surface defect data; comparing the actual surface defect data with a preset standard surface defect data range item by item; Stopping polishing when the actual surface defect data all reach the preset standard surface defect data range; and when any one of the actual surface defect data does not reach the preset standard surface defect data range, continuing polishing until all the actual surface defect data reach the preset standard surface defect data range, and stopping polishing.
9. The method of claim 8, wherein the additive repair parameters include repair path and repair process parameters; determining the additive repairing parameters according to the actual surface defect data, the final defect three-dimensional model and a preset additive repairing database, wherein the method comprises the following steps of: extracting defect characteristic parameters of defect volume, defect shape and defect position from the final defect three-dimensional model; Fusing the actual surface defect data with the defect characteristic parameter data to form a repair characteristic parameter set, and carrying out standard quantization treatment on the repair characteristic parameter set to obtain a repair characteristic parameter value; Determining an additive repairing parameter according to the repairing characteristic parameter value and a preset repairing characteristic parameter threshold; When the repair characteristic parameter value is smaller than a first preset repair characteristic parameter threshold value, determining that the additive repair parameter is a first additive repair parameter; when the repair characteristic parameter value is larger than or equal to a first preset repair characteristic parameter threshold value and smaller than a second preset repair characteristic parameter threshold value, determining the additive repair parameter as a second additive repair parameter; And when the repair characteristic parameter value is larger than a second preset repair characteristic parameter threshold value, determining that the additive repair parameter is a third additive repair parameter.
10. An in-service additive repair system for a buried hydrogen-doped natural gas pipeline, applied to an in-service additive repair method for a buried hydrogen-doped natural gas pipeline as claimed in any one of claims 1 to 9, comprising: The system comprises a defect detection module, an earthwork excavation module, a three-dimensional modeling module, a polishing operation module, an additive repairing module and a central control module; The central control module is respectively in communication connection with the defect detection module, the earthwork excavation module, the three-dimensional modeling module, the polishing operation module and the material adding and repairing module, and is used for controlling the sequential operation of the modules and dynamically adjusting subsequent operation parameters based on the output data of the preamble module; The defect detection module is used for acquiring an image of the outer wall of the pipeline and determining a defect part of the pipeline according to the image; the earthwork excavating module is used for excavating soil nearby the pipeline defect part to minimize the earthwork; the three-dimensional modeling module is used for acquiring fusion defect data of the pipeline defect part after excavation operation and polishing, and generating and updating an initial defect three-dimensional model according to the fusion defect data to obtain a final defect three-dimensional model; The polishing operation module comprises a polishing robot and is used for polishing a defect part of the pipeline; The central control module is used for determining initial polishing parameters according to the initial defect three-dimensional model, acquiring polishing temperature in the polishing process, adjusting the initial polishing parameters according to the comparison condition of the polishing temperature and a preset temperature threshold value, acquiring actual surface defect data of a defect part polished by the final polishing parameters, and judging whether polishing is stopped according to the comparison condition of the actual surface defect data and a preset standard surface defect data range; The central control module is also used for determining an additive repairing parameter according to the actual surface defect data, the final defect three-dimensional model and a preset additive repairing database; The material adding and repairing module comprises a material adding and repairing robot, and is used for carrying out material adding and repairing on the defect part of the pipeline according to the material adding and repairing parameters; The central control module is also used for acquiring surface state data in the process of additive repairing, adjusting additive repairing parameters according to the surface state data and a preset surface state data interval until the surface state data reaches a preset surface state standard data value, and stopping additive repairing.

Description

In-service additive repairing method and system for buried hydrogen-doped natural gas pipeline Technical Field The invention relates to the technical field of oil and gas pipeline maintenance, in particular to an in-service material-increasing repairing method and system for a buried hydrogen-doped natural gas pipeline. Background Along with the transformation of energy structures, the mixed transportation (hydrogen loading) of hydrogen and natural gas has become an important development direction. However, the hydrogen has small molecules and strong permeability, is easy to cause the defects of surface hydrogen embrittlement, corrosion perforation and the like, and seriously threatens the pipeline safety. Compared with the traditional natural gas pipeline, the hydrogen-doped pipeline is more sensitive to defects and has more severe requirements on the repairing process. At present, the buried pipeline is repaired by adopting modes of stopping transportation and excavation, integral pipe replacement or clamp wrapping and the like, and the problems of long operation period, high economic cost, energy supply interruption and the like exist. For in-service hydrogen-doped pipelines, the prior repair technology (such as overlaying welding and the like) is difficult to realize accurate defect positioning and repair, and the problems of deep molten pool, large heat affected zone and the like in the repair process seriously affect the safe service of the pipelines. In addition, the current industry lacks an automated solution for integrating detection, pretreatment and repair of environmental characteristics of hydrogen-doped gas pipelines. Therefore, it is necessary to design an in-service material-increasing repair method and system for buried hydrogen-doped natural gas pipelines, which are used for solving the defects of low defect positioning and repair precision, deep molten pool, large heat affected zone and the like in the prior repair technology, and providing an automatic solution integrating detection, pretreatment and repair for the environmental characteristics of the hydrogen-doped gas pipelines for the hydrogen-doped natural gas pipeline industry. Disclosure of Invention In view of the above, the invention provides an in-service material-increasing repair method and system for a buried hydrogen-doped natural gas pipeline, which aim to solve at least one problem in the background art, and provide the in-service material-increasing repair method and system for the buried hydrogen-doped natural gas pipeline so as to realize the intelligent repair of continuous transportation, less excavation, high precision and hydrogen loss resistance. In one aspect, the invention provides an in-service additive repair method for a buried hydrogen-doped natural gas pipeline, comprising the following steps: acquiring an image of the outer wall of the pipeline, and determining a defect part of the pipeline according to the image; Performing excavation work for minimizing an amount of earth in the vicinity of the defective portion of the pipe; Obtaining morphology data and wall thickness data of a pipeline defect part and a peripheral area after excavation operation, fusing the morphology data and the wall thickness data to obtain fused defect data, and generating an initial defect three-dimensional model according to the fused defect data; Determining initial polishing parameters according to the initial defect three-dimensional model, and polishing a defect part according to the initial polishing parameters; acquiring polishing temperature in the polishing process, and judging whether to adjust the initial polishing parameters according to the polishing temperature and the comparison condition of a preset temperature threshold; If yes, adjusting the initial polishing parameters according to the comparison condition of the polishing temperature and a preset temperature threshold value to obtain final polishing parameters; acquiring actual surface defect data of a defect part polished by final polishing parameters, and judging whether polishing is stopped or not according to the comparison condition of the actual surface defect data and a preset standard surface defect data range; if yes, acquiring polished fusion defect data, and updating an initial defect three-dimensional model according to the polished fusion defect data to obtain a final defect three-dimensional model; determining an additive repairing parameter according to the actual surface defect data, a final defect three-dimensional model and a preset additive repairing database, and carrying out additive repairing on a defect part of the pipeline according to the additive repairing parameter; and acquiring surface state data in the process of additive repairing, and adjusting additive repairing parameters according to the surface state data and a preset surface state data interval until the surface state data reaches a preset surface state standard data value,