CN104923536B - Communication positioning device and method applied to pipe cleaner inside benthal oil pipeline - Google Patents
Communication positioning device and method applied to pipe cleaner inside benthal oil pipeline Download PDFInfo
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- CN104923536B CN104923536B CN201510265174.5A CN201510265174A CN104923536B CN 104923536 B CN104923536 B CN 104923536B CN 201510265174 A CN201510265174 A CN 201510265174A CN 104923536 B CN104923536 B CN 104923536B
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- wiper
- signal
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
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- Laying Of Electric Cables Or Lines Outside (AREA)
Abstract
The invention discloses a communication positioning device and method applied to a pipe cleaner inside a benthal oil pipeline. The communication positioning device and method are characterized in that at the seabed part of an oil conveying double-layer pipeline, the pipe cleaner is arranged in an inner pipe, and an emitter is arranged on the pipe cleaner and used for emitting signals; one end of a communication device in a seabed pipe is connected with the outer wall of the inner pipe, and the other end of the communication device is connected with the inner wall of an outer pipe; at the land part of the oil conveying double-layer pipeline, the inner pipe is connected with the positive electrode of a land power source and the positive electrode of a land circuit board power source, the outer pipe is connected with a land monitoring device, and the land monitoring device is further connected with an upper computer used for monitoring. The communication positioning device and method resolve the problems that seabed communication power supply in the prior art is difficult in construction, high in manufacturing cost and highly risky. Through the structure and method, the novel seabed power supply and communication method is provided while detection accuracy is guaranteed, the manufacturing cost is reduced, application risks are reduced, and the safety and stability of the whole device are improved.
Description
Technical field
The invention is related to a kind of communication locating device and method, and especially one kind is applied in offshore oilfield pipeline clearly
The communication locating device and method of pipe device.
Background technology
Offshore oil pipeline is installed in terminating and running, and will remove the debris or interior in pipeline to clearing up in pipeline
Deposit on wall, it is the important measure for ensureing that pipeline is unimpeded to clear up pipeline, because wiper is run in pipeline, wiper
Blocked by pipeline unavoidably, be now accomplished by finding by the position of card.But, the problem powered under water and communicate is difficult to solve,
Seawater is too big to signal attenuation, and in seabed radio communication can not possibly be done, and also receiving marine stormy waves and fishing boat affects, flat using floating
Platform Sampling techniques cannot be fixed, are easily damaged, operating difficulties, because seawater cannot be operated very much deeply, using powering in submarine laying
And communication cable method, there is the big technical problem of constructional difficulties, cost height, risk, and if a node sealing is lost
Imitating whole engineering will face the risk scrapped.
The content of the invention
In order to solve above-mentioned technical problem, the invention is applied to wiper in offshore oilfield pipeline there is provided a kind of
Communication locating device and method, by being provided with communicator in Submarine Pipeline between the inner tube and outer tube of oil transportation double-skin duct,
Detection and the position of location pipe cleaner, the transmission of signal and the transmission of electric energy are carried out using inner and outer tubes, solve existing skill
The detection positioning hardly possible of wiper present in art, the technical problem that power communications constructional difficulties, cost are high, risk is big.
To achieve these goals, the technical solution used in the present invention is：One kind is applied to pigging in offshore oilfield pipeline
The communication locating device of device, includes oil transportation double-skin duct, and oil transportation double-skin duct passes to seabed by land, oil transportation double-skin duct by
Concrete shield, outer tube, polyurethane foam and inner tube are disposed with outside to inside, it is characterised in that：In oil transportation double-skin duct
Benthic division, wiper is provided with inner tube, transmitter is arranged on wiper, for transmission signal, communication in Submarine Pipeline
Device one end is connected on outer wall of inner tube, and the other end is connected on the inwall of outer tube；It is interior in the land part of oil transportation double-skin duct
The positive pole of land power supply and the positive pole of land circuit board power supply are connected with pipe, outer tube is connected to land supervising device
On, the host computer for monitoring is also associated with the supervising device of land.
Communicator in multiple Submarine Pipelines is uniformly provided with the benthic division of oil transportation double-skin duct.
Receiving circuit is provided with described Submarine Pipeline in communicator, is sequentially connected on the signal output part of receiving circuit
There are software filtering process circuit and modem, modem is transferred signals in the supervising device of land by outer tube,
Seabed circuit board power supply is also associated with receiving circuit, the other end of seabed circuit board power supply is connected to inner tube
On.
The communication board being connected with outer tube is provided with described land supervising device, the other end of communication board passes through serial ports
It is electrically connected on host computer.
Between described outer tube and land supervising device, connected by overland cable.
Inductance is connected between described overland cable and land supervising device.
A kind of application process for being applied to the communication locating device of wiper in offshore oilfield pipeline, it is characterised in that：
1）, transmitter installation：Transmitter is arranged on wiper is used for transmission signal；
2）, in Submarine Pipeline communicator installation：By communicator in Submarine Pipeline using the method for aluminum weld, it is welded on
Between the inner tube and outer tube of oil transportation double-skin duct, in the benthic division in oil transportation double-skin duct N number of Submarine Pipeline is uniformly provided with
Interior communicator, communicator is provided with different numberings in each Submarine Pipeline, and numbering is arranged in order from 1-N；
3）, land equipment installation：Land supervising device is connected on outer tube by overland cable, for receiving seabed
The signal that communicator transmits out by inner tube in pipe, land power supply is connected to inner tube with land circuit board power supply
On, power to be arranged on communicator in the Submarine Pipeline of inner tube benthic division, it is upper on the supervising device of land using being connected to
Machine is monitored to whole system；
4）, wiper position detection：The wiper moved in pipeline is provided with inner tube, when wiper is through sea
In the pipe of bottom during communicator, communicator in Submarine Pipeline is sent a signal to by transmitter；
5）, wiper position signalling transmission：After communicator receives the signal of transmitter transmission in Submarine Pipeline, Jing
Analyzing and processing is crossed, land supervising device is given by outer tube real-time Transmission by the signal after process, through the transmission of land supervising device
To in host computer, the difference that communicator is numbered according to it in Submarine Pipeline sends different signals to land supervising device；
6）, wiper position judgement：
6a), when wiper is in normal operating conditions, communicator can be sequentially received transmitting in multiple Submarine Pipelines
The signal that device sends, and the signal for receiving is passed sequentially through into land supervising device be sent to host computer；
6b), when wiper is in abnormal condition, both wiper blocking was stuck during a certain position, is not blocking in pipeline
Its communicator in Submarine Pipeline can receive the signal of transmitter transmission when dead, and will be believed by land supervising device
Number host computer is transferred to, communicator can't accept the signal of transmitter transmission in the Submarine Pipeline after its stuck position, cause
Host computer do not receive after Submarine Pipeline in communicator send signal, now can be according to the different signal for receiving
The numbering of communicator in corresponding Submarine Pipeline is inquired about, the stuck position of wiper is found.
Mounting distance in each described Submarine Pipeline between communicator is 50-2000 rice.
The beneficial effect of the invention is：The invention adopts said structure and method, by double-deck in oil transportation
Be provided with communicator in Submarine Pipeline between the inner tube and outer tube of pipeline, the position of detection and location pipe cleaner, using inner tube and
Outer tube carries out the transmission of signal and the transmission of electric energy, solves the detection positioning hardly possible of wiper present in prior art, communication and supplies
Electric constructional difficulties, cost are high, the technical problem that risk is big, and the invention is ensureing detection accuracy by said structure
Simultaneously, there is provided a kind of new seabed powers and communication means, greatly reduces manufacturing cost, reduce using when wind
Danger, improves single unit system safety and stability.
Description of the drawings
Fig. 1：For the integrated engineering structure chart of the invention.
Fig. 2：For the entire block diagram of the invention.
Fig. 3：For the circuit theory diagrams of the invention.
Fig. 4：For the structural representation of oil transportation double-skin duct in the invention.
Fig. 5：The invention is applied to the first kind of way structural representation of individual layer petroleum pipeline.
Fig. 6：The invention is applied to the second way structural representation of individual layer petroleum pipeline.
Specific embodiment
A kind of communication locating device for being applied to wiper in offshore oilfield pipeline as Figure 1-3, including just like Fig. 4
Shown oil transportation double-skin duct 1, oil transportation double-skin duct 1 passes to seabed by land, and oil transportation double-skin duct ecto-entad sets gradually
There are concrete shield 101, outer tube 102, polyurethane foam 103 and inner tube 104, structure is：In the seabed of oil transportation double-skin duct 1
Wiper 2 is provided with part, inner tube 104, transmitter 3 is arranged on wiper 2, for communication in transmission signal, Submarine Pipeline
The one end of device 4 is connected on the outer wall of inner tube 104, and the other end is connected on the inwall of outer tube 102；In the land of oil transportation double-skin duct 1
Ground part, is connected with the positive pole and land circuit board power supply 7 output end of the output end of land power supply 6 in inner tube 104
Positive pole, outer tube 102 is connected on land supervising device 8, and the host computer 9 for monitoring is also associated with land supervising device 8.
Communicator 4 in multiple Submarine Pipelines, each Submarine Pipeline are uniformly provided with the benthic division of oil transportation double-skin duct 1
Interior communicator 4 is provided with communicator 4 in different numberings, and each Submarine Pipeline and sends different letters according to different numberings
Cease to land supervising device 8.Such as：The numbering of communicator 4 is respectively 1,2,3 in N number of Submarine Pipeline ... ..., N, in No. 1 Submarine Pipeline
The communicator sending signal 011 ... of sending signal 010,3 of 4 sending signal 001,2, by that analogy.
Receiving circuit 401 is provided with described Submarine Pipeline in communicator 4, on the signal output part of receiving circuit 401
It is connected with software filtering process circuit 402 and modem 403 in turn, modem 403 is passed signal by outer tube 102
Defeated that seabed circuit board power supply 404 is also associated with receiving circuit 401 in land supervising device 8, seabed circuit board is supplied
The other end of power supply 404 is connected in inner tube 104.80C51F410 cores are included in described software filtering process circuit 402
Piece, carries out software filtering and analyzing and processing, by the signal transmission after process to modulatedemodulate to the signal that receiving circuit 401 is received
Device 403 is adjusted, described modem 403 is ad558, and modem is played a part of in this circuit arrangement, is made up of ad558
The modem modem more general than on the market output frequency it is lower, more stable, transmission range is longer.
Be provided with the communication board 801 being connected with outer tube 102 in described land supervising device 8, communication board 801 it is another
End is connected on host computer 9 by serial port circuit 802, model MSM7512S of communication board 801, the model of serial port circuit 802
For MAX232, host computer 9 is integrally monitored and controls as monitoring system to device.
Because submarine pipeline is changed to single internal tube to land outlet by bimetallic tube, need to connect outside overland cable replacement bimetallic tube
Pipe 102, so between outer tube 102 and land supervising device 8, connecting by overland cable 10, specifically there is two methods, Yi Zhongyao
Need to lay feed cable to station, be permanent cable.Another kind needs connection feed cable to supervise near pipeline marine outfall
Control equipment, can be interim installation, using under recession.Laying overland cable scheme is determined as the case may be.Overland cable 10
Inductance 5 is also associated between land supervising device 8.
Can be that transformer is set between communicator 4 in communicator 4 and Submarine Pipeline in Submarine Pipeline in practical application,
Communicator 4 in each Submarine Pipeline is isolated, it is ensured that in indivedual Submarine Pipelines communicator 4 using when there is short circuit or open circuit
The work of communicator 4 is not interfered with other Submarine Pipelines during etc. bad phenomenon and is used, the peace of whole system can be improved
Entirely, stability.While the reliability in order to ensure whole engineering, can be monitored in one, seabed control point using installing two
Device, one of supervising device work, another standby preparation.Basic skills is that have electric current in the supervising device being currently in use
Transformer, real-time sampling operating current size.When the problematic electric current of device is excessive, another is automatically switched to by relay
Devote oneself to work.And it is upper to send out alarm signal.Land monitoring device is according to the numbering localization of faults.Apparatus ' of standby has over current protection
Protection circuit.The connection with pipeline can be automatically cut off when faulty.
The application process of said apparatus, step is：
1）, transmitter 3 installation：Transmitter 3 is arranged on wiper 2 is used for transmission signal.
2）, in Submarine Pipeline communicator 4 installation：By communicator in Submarine Pipeline 4 using the method for aluminum weld, weld
Between the inner tube 104 and outer tube 102 of oil transportation double-skin duct 1, uniformly it is provided with the benthic division in oil transportation double-skin duct 1
Communicator 4 in N number of Submarine Pipeline, communicator 4 is provided with different numberings in each Submarine Pipeline, and numbering is arranged in order from 1-N.
Make welded pipe line unfailing performance high using the method for aluminum weld, to pipeline not damaged, it is simple to operation, meet National Pipe
Welding requirements standard.Again polyurethane foam 103 is filled into into inner tube 104 and outer after communicator in Submarine Pipeline 4 is installed
Between pipe 102, the sending signal of communicator 4 in Submarine Pipeline is transferred to land supervising device 8, each Submarine Pipeline by outer tube 102
Mounting distance between interior communicator 4 is 50-2000 rice.
3）, land equipment installation：Land supervising device 8 is connected on outer tube 102 by overland cable 10, for connecing
Receive the signal that communicator 4 transmits out by inner tube 104 in Submarine Pipeline, land power supply 6 and land circuit board are powered electricity
Source 7 is connected in inner tube 104, is powered to be arranged on communicator 4 in the Submarine Pipeline of the benthic division of inner tube 104, is adopted and is connected to
Host computer 9 on land supervising device 8 is monitored to whole system.
4）, the position of wiper 2 detection：The wiper 2 moved in pipeline is provided with inner tube 104, when wiper 2
In Submarine Pipeline during communicator 4, by transmitter（3）Send a signal to communicator 4 in Submarine Pipeline.
5）, the position signalling of wiper 2 transmission：When communicator 4 receives the signal of the transmission of transmitter 3 in Submarine Pipeline
Afterwards, process by analysis, by the signal after process by the real-time Transmission of outer tube 102 to land supervising device 8, through land monitoring
Device 8 is transferred in host computer 9, the difference that communicator 4 is numbered according to it in Submarine Pipeline, is sent different signals and is supervised to land
Control device 8.
6）, the position of wiper 2 judgement：
6a), when wiper 2 is in normal operating conditions, communicator 4 can be sequentially received and send out in multiple Submarine Pipelines
The signal that emitter 3 sends, and the signal for receiving is passed sequentially through into land supervising device 8 be sent to host computer 9；
6b), when wiper 2 is in abnormal condition, both wiper 2 was blocked and stuck during a certain position, not had in pipeline
Its communicator 4 in Submarine Pipeline can receive the signal of the transmission of transmitter 3 when stuck, and by land supervising device
8 transmit a signal to host computer 9, and communicator 4 can't accept the letter of the transmission of transmitter 3 in the Submarine Pipeline after its stuck position
Number, the signal that communicator 4 sends in the Submarine Pipeline after causing host computer 9 not receive now can be according to receiving
Different signals inquires about the numbering of communicator 4 in corresponding Submarine Pipeline, finds the stuck position of wiper 2.
When submarine pipeline engineering design length it is shorter, in Submarine Pipeline during 50 meters of 4 spacing distance of communicator, such sea
Communicator 4 can receive at any time the signal that wiper 2 sends in the pipe of bottom.Just can be shown clearly by host computer 9
Pipe device 2 reaches the purpose of monitor in real time in the position of each point of pipeline.
As seen in figs. 5-6, apparatus of the present invention and method apply also for oil-transportation monolayer pipeline.When being entered using oil transportation one way pipeline
During row, there are two kinds using the method for apparatus of the present invention：
First method：As shown in figure 5, replace a pipe as power cathode application by the use of seawater, specifically by individual layer
Pipe carries out insulation processing, and 2 lead-out wire good seals of receiving circuit 401, installed in tube outside, add concrete cover covering
In good seal above, in Submarine Pipeline outside the positive source welding mono-layer tube of communicator 4.Power cathode connection has anticorrosive conjunction
Golden pole plate cylinder, corrosion-resisant alloy pole plate cylinder will be enclosed within pipeline coagulation protective soil layer outside.Alloy can as the case may be increased
The length of pole plate cylinder, thus equivalent to the area of the contact seawater that improve alloy sheets, improves electrical conductivity, increased communication
Distance, increases the length of alloy pole plate cylinder especially at pipeline marine outfall.Principle is if using seawater as a wire, pipeline
It is exactly one end of wire at marine outfall.The length of alloy pole plate cylinder equivalent to wire square, the length of alloy pole plate cylinder is longer,
It is square bigger equivalent to wire.Communicator 4 in multiple Submarine Pipelines is installed on the extended line of pipeline, quantity is more,
Gauge is close to more, and communication efficiency is better.Communicator 4 and corrosion-resisant alloy pole plate cylinder can be before pipes laying in Submarine Pipeline
Complete, the positive pole of receiving circuit 401 in communicator in Submarine Pipeline 4 is welded on outside pipeline, golden pole plate jacket casing is born on pipeline
The golden pole plate cylinder of pole connection.Golden pole plate cylinder and contact with sea water.Other local good seals, are then covered above, construction with insulating cement
The insulating properties and seawater for ensureing pipeline are kept apart.
Second method：As shown in fig. 6, replacing a pipeline using the earth, mono-layer tube is carried out into insulation processing, will
2 lines of power positive cathode of receiving circuit 401 are drawn, and wherein outside positive source welding mono-layer tube, are added concrete cover and are covered
Cover in good seal above, another is power cathode connection the earth.So one is needed beside each device and connect the earth
Earthing or grounding means, the design of grounding is wrapped up using the buried method of drilling, steel pipe or steel circle using electrically conductive concrete, when using
Need frogman's operation under water that power cathode is welded to into earthing or grounding means, perform anti-seawater corrosion process etc..
Claims (7)
1. a kind of communication locating device for being applied to wiper in offshore oilfield pipeline, includes oil transportation double-skin duct（1）, oil transportation
Double-skin duct（1）Seabed is passed to by land, oil transportation double-skin duct ecto-entad is disposed with concrete shield（101）, it is outer
Pipe（102）, polyurethane foam（103）And inner tube（104）, it is characterised in that：In oil transportation double-skin duct（1）Benthic division, it is interior
Pipe（104）Inside it is provided with wiper（2）, transmitter（3）It is arranged on wiper（2）On, for communication in transmission signal, Submarine Pipeline
Device（4）One end is connected to inner tube（104）On outer wall, the other end is connected to outer tube（102）Inwall on；In oil transportation double-skin duct
（1）Land part, inner tube（104）On be connected with land power supply（6）Positive pole and land circuit board power supply（7）'s
Positive pole, outer tube（102）It is connected to land supervising device（8）On, in land supervising device（8）On be also associated with for monitoring
Position machine（9）；In described oil transportation double-skin duct（1）Benthic division be uniformly provided with communicator in multiple Submarine Pipelines（4）.
2. a kind of communication locating device for being applied to wiper in offshore oilfield pipeline according to claim 1, its feature
It is：Communicator in described Submarine Pipeline（4）In be provided with receiving circuit（401）, receiving circuit（401）Signal output part
On be connected with software filtering process circuit in turn（402）And modem（403）, modem（403）By outer
Pipe（102）Transfer signals to land supervising device（8）In, in receiving circuit（401）On be also associated with seabed circuit board and power
Power supply（404）, seabed circuit board power supply（404）The other end be connected to inner tube（104）On.
3. a kind of communication locating device for being applied to wiper in offshore oilfield pipeline according to claim 1, its feature
It is：Described land supervising device（8）In be provided with and outer tube（102）The communication board being connected（801）, communication board（801）
The other end pass through serial port circuit（802）It is connected to host computer（9）On.
4. a kind of communication locating device for being applied to wiper in offshore oilfield pipeline according to claim 1, its feature
It is：Described outer tube（102）With land supervising device（8）Between, by overland cable（10）Connection.
5. a kind of communication locating device for being applied to wiper in offshore oilfield pipeline according to claim 4, its feature
It is：Described overland cable（10）With land supervising device（8）Between be connected with inductance（5）.
6. the application process of communication locating device according to claim 1, it is characterised in that：
1）, transmitter（3）Installation：By transmitter（3）It is arranged on wiper（2）It is upper to be used for transmission signal；
2）, communicator in Submarine Pipeline（4）Installation：By communicator in Submarine Pipeline（4）Using the method for aluminum weld, welding
In oil transportation double-skin duct（1）Inner tube（104）With outer tube（102）Between, in oil transportation double-skin duct（1）Benthic division it is uniform
It is provided with communicator in multiple Submarine Pipelines（4）, communicator in each Submarine Pipeline（4）Be provided with different numberings, number from
1-N is arranged in order；
3）, land equipment installation：Land supervising device（8）By overland cable（10）It is connected to outer tube（102）On, it is used for
Receive communicator in Submarine Pipeline（4）By inner tube（104）Transmission signal out, land power supply（6）With land circuit
Plate power supply（7）It is connected to inner tube（104）On, to be arranged on inner tube（104）Communicator in the Submarine Pipeline of benthic division（4）
Power supply, adopts and is connected to land supervising device（8）On host computer（9）Whole system is monitored；
4）, wiper（2）The detection of position：In inner tube（104）Inside it is provided with the wiper moved in pipeline（2）, work as pigging
Device（2）The communicator in Submarine Pipeline（4）When, by transmitter（3）Send a signal to communicator in Submarine Pipeline（4）；
5）, wiper（2）The transmission of position signalling：When communicator in Submarine Pipeline（4）Receive transmitter（3）The signal of transmission
Afterwards, process by analysis, the signal after process is passed through into outer tube（102）Real-time Transmission gives land supervising device（8）, through land
Supervising device（8）It is transferred to host computer（9）In, communicator in Submarine Pipeline（4）According to the difference that it is numbered, different letters are sent
Number to land supervising device（8）；
6）, wiper（2）The judgement of position：
6a), wiper is worked as（2）In normal operating conditions when, communicator in multiple Submarine Pipelines（4）Can be sequentially received and send out
Emitter（3）The signal of transmission, and the signal for receiving is passed sequentially through into land supervising device（8）It is sent to host computer（9）；
6b), wiper is worked as（2）In abnormal condition, both wipers（2）Blocking is stuck during a certain position, not to be had in pipeline
Its communicator in Submarine Pipeline when stuck（4）Transmitter can be received（3）The signal of transmission, and monitored by land
Device（8）Transmit a signal to host computer（9）, communicator in the Submarine Pipeline after its stuck position（4）Can't accept transmitting
Device（3）The signal of transmission, causes host computer（9）Communicator in Submarine Pipeline after not receiving（4）The signal of transmission, now
Communicator in corresponding Submarine Pipeline can be inquired about according to the different signal for receiving（4）Numbering, find wiper（2）
Stuck position.
7. the application process of communication locating device according to claim 6, it is characterised in that：In Submarine Pipeline described in each
Communicator（4）Between mounting distance be 50-2000 rice.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510265174.5A CN104923536B (en) | 2015-05-22 | 2015-05-22 | Communication positioning device and method applied to pipe cleaner inside benthal oil pipeline |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510265174.5A CN104923536B (en) | 2015-05-22 | 2015-05-22 | Communication positioning device and method applied to pipe cleaner inside benthal oil pipeline |
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| CN104923536A CN104923536A (en) | 2015-09-23 |
| CN104923536B true CN104923536B (en) | 2017-05-10 |
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| CN109306864A (en) * | 2018-11-27 | 2019-02-05 | 美钻深海能源科技研发（上海）有限公司 | Subsea pig operation real-time monitoring device based on fiber laser arrays |
| CN113050097B (en) * | 2021-03-26 | 2024-06-07 | 西京学院 | Submarine vacuum pipeline sonar system and working method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US7222549B2 (en) * | 2004-11-19 | 2007-05-29 | Halliburton Energy Services, Inc. | Systems and methods for determining the location of a pig in a pipeline |
| CN101220893A (en) * | 2005-04-30 | 2008-07-16 | 中国科学院金属研究所 | Inservice underground pipe line on-line internal coating protection construction equipment |
| CN201845087U (en) * | 2010-06-04 | 2011-05-25 | 中国石油天然气股份有限公司 | Multifunctional tracking positioning receiver for pipeline cleaner |
| CN102269825A (en) * | 2010-06-04 | 2011-12-07 | 中国石油天然气股份有限公司 | Online tracking and locating system of pipeline cleaner |
| CN203689098U (en) * | 2013-06-06 | 2014-07-02 | 中国石油天然气集团公司 | Tube cleaner positioning device and remote monitoring system |
| CN104019326B (en) * | 2014-06-11 | 2016-03-30 | 中国石油大学(北京) | A kind of pipeline cleaner navigation system, device and method |
| CN204116627U (en) * | 2014-09-12 | 2015-01-21 | 中国石油天然气股份有限公司 | A kind of tracing-positioning system of rabbit |
| CN104392592A (en) * | 2014-11-18 | 2015-03-04 | 中国石油天然气股份有限公司 | Pipeline pig remote locating system and method |
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