Dresearch On Downhole Intelligent Cutting System Based On Bayesian Information Fusion

Pipeline robot is a special classification of robot application in pipeline inspection.With the development of artificial intelligence,machine learning and other technology,it is a hotspot to improve the intelligence of pipeline robot.For the characteristics of oil and gas pipelines,the pipeline robot can be equipped with a variety of sensors in the process of inspection to replace human check through the complex environment which has higher efficiency during the safety inspection,maintenance and cleaning in pipeline.When the pipeline robots detect and check the pipelines,they will be the first to detect and locate the damage or leak point of the pipeline.And then according to the task needs to do the task of pipeline cutting,slitting work by control the downhole cutting robot,aiming at reducing the reduction of pipeline safety accidents,improving the pipeline safety protection index.In this paper,we mainly focus on oil and gas pipeline leak detection,and proposed a kind of pipeline robot to do some underground cutting operation.And the PID feedforward control method was used to control the downhole cutting robot to achieve the purpose of intelligent cutting underground.And the work in this article mainly from the following three aspects:Firstly,due to existence of a high false alarm rate and low sensitivity of acoustic sensor and pipeline detection data of pipeline leak detection,combined with the multi-sensor information fusion technology based on Bayesian network principle of pipeline leakage incident mathematical description,the establishment of mathematical model,put forward measures for pipeline leak detection based on Bayesian fusion,and improved optimization and improve the pipeline leak detection sensitivity,reduce the rate of false positives per week,making the test results more credible.Seconly,according to the situation of the pipeline robot and the downhole cutting technology we design a kind of underground pipeline robot which combines the characteristics of wheel type of robot is one of the cutting robot,reduce the friction damage of inner pipeline and pipeline robot,accelerates the speed of operation.Through the comparison of the existing pipe cutting technology,we select the high-speed discharge method to carry out intelligent cutting of the pipeline.Finally,according to the needs of operation,the control software of downhole cutting robot was designed,and the robot is controlled by motion.