CN100535652C - Self-adapting reconstruction method for defect in pipeline - Google Patents

Abstract

The related adaptive reconstruction method for defect of normal-incidence sensor array can decide the relative position of array in the pipe, auto estimates position error, reproduces the pipe size for both array off center and not, and detects the pipe defect efficiently. This invention is visible and convenient.

Description

The self-adapting reconstruction method of defective in the pipeline

Technical field

The present invention relates to a kind of when being used for ultrasonic sensor array and detecting pipeline, the self-adapting reconstruction method of defective in the pipeline.Utilize the array detection data reconstruction to go out ducted defective, make a large amount of detection data visualizations, be convenient to detection and assessment defective.Simultaneously, among the present invention also to since the sensor array axle center does not overlap with the pipeline axle center and linear transducer array when the bend, the situation that causes defective to judge by accident has proposed the algorithm of automatic judgement off-centre.Can improve effectively defective is differentiated and the reconstruct accuracy rate.

Background technology

External industrially developed country also pays much attention to the detection and the safety evaluation of oil and gas pipes.Since the sixties in last century, states such as the U.S., Britain, Germany, Canada are under government supports, university, scientific research institution and business circles cooperation have dropped into multi-million dollar and carried out the pipe detection Study on Technology.The pipe detector of having developed at present different principle such as Lou taste method, ultrasonic method, eddy-current method, electromagnetic acoustic method reaches kind more than 30.External pipeline company is in long distance pipeline detects, what extensively adopt mainly is second generation leakage field pipe detector and ultrasound wave pipe detector, the oil and gas pipes of accepting the service that detects has in the world reached hundreds thousand of kilometers, and obtained good effect (K.Reber, M.Beller, H.Willems, and O.A.Barbian, A new generation of ultrasonicin-line inspection tools for detecting, sizing and locating metal loss and cracks intransmission pipelines, NDT System ﹠amp; Service AG, Am Hasenbiel 6,76297 Stutensee, Germany, IEEE Ultrasonics Symposium 2002, pp.665-671).

Ultrasonic method automatic pipeline detection system is by means of ultrasonic sensor array, and advanced signal Processing and data storage system are equipped with accurate physical construction and make it can detect the variation of pipeline interior conduit wall thickness, etch pit, crackle and stress situation.Utilize ground interpretive analysis equipment that testing result is understood and analyzed, draw the data of interior various defectives of pipeline and faulted condition parameter.The ultrasound wave pipe detector is owing to measuring accuracy height, data are understood advantages such as distinct, that detection thickness is unrestricted, and development is rapid in the world in recent years.Expection ultrasound wave mode is being still one of main means that long oil and gas pipeline corrosion default detects from now on.

The pipeline Dynamic Non-Destruction Measurement is the new and high technology that pipeline industry developed country competitively develops.This technology only has external a few company to grasp at present, and there are NKK, Pipetronix, TDWilliamson, NKK Corp, NDT Systems in the leading company that develops and produce ultrasonic pipeline detection technique as specialty; Services AG, Tuboscope Pipeline Services Inc, NGKS International Corp etc.

Domestic research to this respect still is in the starting stage, yet there are no to be used for the relevant report of actual petroleum pipe line labour detection machine people.But the leader of domestic association area and expert have fully recognized the importance and the urgency of carrying out Non-Destructive Testing and correlation technique in the pipeline, in succession in some universities and colleges and scientific research institution's investment, carry out the theory and the practical application Study on Technology of pipeline Dynamic Non-Destruction Measurement.

Summary of the invention

The objective of the invention is to and to construct ducted defective according to the test data of ultrasonic sensor array, the deviation and the erroneous judgement that occur when avoiding array axis not overlap with conduit axis.This method can judge whether the location deviation according to test data automatically, and eliminates this deviation, makes the defective of reconstruct that higher confidence level and accuracy rate be arranged.The present invention not only provides the method for utilizing defective in the array test data reconstruction pipeline, and the method for automatic correction position deviation is provided.Be a kind of novelty of defects detection and assessment in the pipeline and effective method.

The present invention includes following concrete steps:

Sensor and acoustic beam point of irradiation locus thereof are to method for determination of amount:

1) method for building up of coordinate system: the starting point of detection system is decided to be true origin, sets up fixedly rectangular coordinate system of a cover on pipeline, the Z axle is consistent with conduit axis, and positive dirction is the working direction of detection system, and the XOY face is the xsect perpendicular to conduit axis; List at sensor array again and set up a cover fixed coordinate system, this cover coordinate system moves with respect to the pipeline coordinate system, true origin is selected in the last end face center of sensor array, Z ' axle and sensor array dead in line, sensor is l apart from the distance of initial point, and X ' O ' Y ' face is the cross section perpendicular to array axis; If sensor array axis and conduit axis coincide, then the Z axle also overlaps with Z ' axle;

2) sensor locus vector is determined: according to the sensor array geometry, determine the locus vector T of each sensor _k

3) sensor acoustic beam point of irradiation locus vector is determined: according to sensing station space vector T _k, determine its corresponding acoustic beam point of irradiation vector P on inner-walls of duct _k

The reconstructing method of defective:

4) with acoustic beam point of irradiation vector P _kAll show in the plane, obtain the bivector figure of caliber, the size of defective and orientation are embodied in vectorial P _kSize and direction on;

The sensor array position judging method:

5) nominal data generates: according to the ultrasonic sensor array and the actual pipe under test of reality, when testing without acceptance of persons zero defect, the distance vector of each sensor and inner-walls of duct as normal data, is stored in the database;

6) the array manifold position is differentiated automatically: according to the measured data sequence vector, the vector that utilizes two couple in this sequence to be mutually 180 ° is set up two straight-line equations, try to achieve the perpendicular bisector equation of two straight-line equations again, when not having off-centre, the intersection point of two perpendicular bisector equations drops on the center of conduit axis; When off-centre was arranged, intersection point dropped on outside the conduit axis heart; For the accuracy that guarantees to judge, adopt multi-group data to be judged;

The self-adapting reconstruction method of defective:

7) according to the test data after not having off-centre or eliminating deviation, again in conjunction with 4) in the defective restructing algorithm, reconstructed off-centre or ducted defective under the situation without acceptance of persons.

The method that the present invention adopts geometric vector to analyze, algorithm is simple, realizes easily, can improve the differentiation accuracy rate to defective effectively, and visual image makes the assessment of defective convenient simultaneously.These good performances have increased its range of application greatly.

Description of drawings

Fig. 1 is a FB(flow block) of the invention process

Fig. 2 is the coordinate system synoptic diagram

Fig. 3 coordinate system when having without acceptance of persons changes synoptic diagram (a) without acceptance of persons; (b) off-centre is arranged

Fig. 4 is the simulation result during zero defect without acceptance of persons

Fig. 5 simulation result Fig. 6 during for defectiveness without acceptance of persons is the simulation result when eccentric zero defect is arranged

Fig. 7 is the simulation result when eccentric defectiveness is arranged

1-array profile, 2-inner-walls of duct, 3-pipeline axle center, 4-array axle center, 5-emulation defective

Embodiment

Below in conjunction with drawings and Examples technical scheme of the present invention is further described.

1) foundation of coordinate system in the pipeline

The starting point of detection system is decided to be true origin, sets up fixedly rectangular coordinate system of a cover on pipeline, the Z axle is consistent with conduit axis, and positive dirction is the working direction of detection system, and the XOY face is the xsect perpendicular to conduit axis.List at sensor array again and set up a cover fixed coordinate system, this cover coordinate system moves with respect to the pipeline coordinate system, true origin is selected in the last end face center of sensor array, Z ' axle and sensor array dead in line, sensor is l apart from the distance of initial point, and X ' O ' Y ' face is the cross section perpendicular to array axis.If sensor array axis and conduit axis coincide, then the Z axle also overlaps with Z ' axle.Coordinate system as shown in Figure 2.

Among the figure, sensor array outline radius is r, and internal diameter of the pipeline is R, and sensor is θ at X ' O ' Y ' plane inner projection and X ' axle positive dirction angle.T point representative sensor, P point representative sensor is radiated at the point on the inner surface of pipeline.

2) sensor locus vector

Sensor T _kThe position vector representation:

T _k＝r _kcosθ _ka _x+rsinθ _ka _y+H _ka _z (1)

3) sensor acoustic beam point of irradiation locus vector

Arbitrary sensor T on the sensor array _kPoint of irradiation P on inner surface of pipeline _kCoordinate vector be:

P _k＝R _kcosθ _ka _x+R _ksinθ _ka _y+H _ka _z (2)

4) reconstructing method of defective:

With acoustic beam point of irradiation vector P _kAll show in the plane, obtain the bivector figure of caliber, the size of defective and orientation are embodied in vectorial P _kSize and direction on.

5) nominal data generates: according to the ultrasonic sensor array and the actual pipe under test of reality, when testing without acceptance of persons zero defect, the distance vector of each sensor and inner-walls of duct as normal data, is stored in the database.

6) self-adapting reconstruction method

In the ordinary course of things, when caliber is reconstructed, should judge at first whether sensor array exists off-centre, if there is not off-centre, then can be according to 4) method directly caliber is reconstructed, if exist eccentric, then must revise, and then carry out the reconstruct of caliber it.

Choose any one sensor T in the sensor array _kAs analytic target, its coordinate synoptic diagram as shown in Figure 3.Set up separate plane right-angle coordinate OXY and the O ' X ' Y ' of two covers among the figure.Coordinate system OXY be based upon on the conduit axis can be along the coordinate system of axial-movement, wherein true origin O is the axle center, OX is a transverse axis and consistent with the earth horizontal direction, OY is the axle that hangs down; And coordinate system O ' X ' Y ' is the fixed coordinate system that is based upon on the ultrasonic probe axis, and it moves with ultrasonic probe array, and wherein O ' is the axle center of ultrasonic probe array, O ' X ' and vectorial O ' T ₁In the same way, O ' Y ' is vertical with it.Among the figure, sensor T _kWith sensor T _K+Q/2On same straight line.When sensor array axis and conduit axis coincide, shown in Fig. 3 (a); When two axial lines does not overlap, shown in Fig. 3 (b).

By the vector analysis of Fig. 3 (b) as can be known,

OP _k＝OO′+O′P _k (3)

In the formula, vectorial O ' P _kCan obtain by hyperacoustic calibration measurements and formula (1) and (2), promptly

O′P _k＝(R _k+r)cosθ _ka _x+(R _k+r)sinθ _ka _y (4)

Wherein, R _kBe the distance of sensor to ultrasonic irradiation point, can be by measuring.

So determine OP _k, also need to know vectorial OO '.Now adopt rectangular coordinate, establish P _k(x _K1, y _K1), P _K+Q/2(x _K2, y _K2), straight line P then _kP _K+Q/2Equation be:

(y _k2-y _k1)x+(x _k1-x _k2)y+(x _k2y _k1-x _k1y _k2)＝0 (5)

Use the same method and set up straight line P _k' P _{K '+Q/2}The equation of (k ≠ k ') is:

(y _k′2-y _k′1)x+(x _k′1-x _k′2)y+(x _k′2y _k′1-x _k′1y _k′2)＝0 (6)

Then cross two straight line P _kP _K+Q/2And P _k' P _{K '+Q/2}The equation of (k ≠ k ') mid point vertical line is respectively:

$\left\{\begin{array}{c}y-A=K_k(x-B)\\ y-C=K_{K^{\′}}(x-D)\end{array}\right.---\left(7\right)$

In the formula, coordinate figure (x _K1, y _K1), (x _K2, y _K2), (x _{K ' 1}, y _{K ' 1}), (x _{K ' 2}, y _{K ' 2}) can try to achieve by formula (4).

$A=\frac{y_{k1}+{\mathrm{<figure-callout\; id="2"\; label="y\; k"\; filenames="C20061004054100111.png,C20061004054100122.png"\; state="\{\{state\}\}">y</figure-callout>}}_k}{2}$

$B=\frac{x_{k1}+x_{\mathrm{<figure-callout\; id="2"\; label="k"\; filenames="C20061004054100111.png,C20061004054100122.png"\; state="\{\{state\}\}">k</figure-callout>}2}}{2}$

$C=\frac{y_{k^{\&prime;}1}+y_{k^{\&prime;}2}}{2}$

$D=\frac{x_{k^{\&prime;}1}+x_{k^{\&prime;}2}}{2}$

$K_k=\frac{x_{k2}-x_{k1}}{y_{k2}-y_{k1}}$

$K_{k^{\&prime;}}=\frac{x_{k^{\&prime;}2}-x_{k^{\&prime;}1}}{y_{k^{\&prime;}2}-y_{k^{\&prime;}1}}$

Select P _kP _K+Q/2And P _k' P _{K '+Q/2}(k ≠ k ') straight line of correspondence when being zero defect, then the intersection point of their perpendicular bisector is exactly the coordinate of pipeline axle center O in coordinate system O ' X ' Y '.Promptly

$\left\{\begin{array}{c}{x_0}^{\&prime;}=\frac{A-C-K_{k}B+K_{k^{\&prime;}}D}{K_{k^{\&prime;}}-{\mathrm{<figure-callout\; id="0"\; label="K\; k\; y"\; filenames="C20061004054100102.png,C20061004054100111.png"\; state="\{\{state\}\}">K</figure-callout>}}_k}& \\ {y_{}}^{}{{}_0}^{\&prime;}=\frac{K_{k^{\&prime;}}A-K_{k}C-K_k{K}_{k^{\&prime;}}(B-D)}{K_{k^{\&prime;}}-K_k}\end{array}\right.---\left(8\right)$

Can determine O ' some coordinate in coordinate system OXY, then O ' (x according to formula (8) ₀, y ₀) be:

$\left\{\begin{array}{c}{x}_0=-{x_0}^{\&prime;}\\ {\mathrm{<figure-callout\; id="0"\; label="y"\; filenames="C20061004054100102.png,C20061004054100111.png"\; state="\{\{state\}\}">y</figure-callout>}}_0=-{{\mathrm{<figure-callout\; id="0"\; label="y"\; filenames="C20061004054100102.png,C20061004054100111.png"\; state="\{\{state\}\}">y</figure-callout>}}_0}^{\&prime;}\end{array}\right.---\left(9\right)$

Then vectorial OO ' can be expressed as:

${\mathrm{OO}}^{\&prime;}=\frac{A-C-K_{k}B+K_{k^{\&prime;}}D}{K_k-K_{k^{\&prime;}}}{a}_x+\frac{K_{k^{\&prime;}}A-K_{k}C-K_k{K}_{k^{\&prime;}}(B-D)}{K_k-K_{k^{\&prime;}}}{a}_y---\left(10\right)$

Can determine P at last _kCoordinate P in coordinate system OXY _k(x _k, y _k)

$\left\{\begin{array}{c}{x}_k=(x_{k1}-{x_0}^{\&prime;})\cos \mathrm{\&alpha;}-(y_{k1}-{{\mathrm{<figure-callout\; id="0"\; label="y"\; filenames="C20061004054100102.png,C20061004054100111.png"\; state="\{\{state\}\}">y</figure-callout>}}_0}^{\&prime;})\sin \mathrm{\&alpha;}\\ y_k=(x_{k1}-{x_0}^{\&prime;})\sin \mathrm{\&alpha;}(y_{k1}-{{\mathrm{<figure-callout\; id="0"\; label="y"\; filenames="C20061004054100102.png,C20061004054100111.png"\; state="\{\{state\}\}">y</figure-callout>}}_0}^{\&prime;})\cos \mathrm{\&alpha;}\end{array}\right.---\left(11\right)$

In the formula, α is the anglec of rotation of coordinate system.

Then vectorial OP _kCan be expressed as:

OP _k＝[(x _k1-x ₀′)cos-(y _k1-y ₀′)sinα]a _x (12)

+[(x _k1-x ₀′)sinα+(y _k1-y ₀′)cosα]a _y

In the formula, coordinate figure (x _K1, y _K1) can try to achieve by formula (11).

Try to achieve the vectorial OP that passes through pipeline center of each sensor correspondence on the array according to formula (12) _k, the internal diameter of the pipeline in the time of just can reconstructing off-centre, thus can judge information such as the having or not of defective, distribution and size.

7) the emulation reconstruction result of defective

In order to verify top algorithm validity, divide four kinds of situations to carry out emulation reconstruct, first kind of situation is without acceptance of persons, zero defect (Fig. 4); Second kind of situation is without acceptance of persons, defectiveness (Fig. 5); The third situation has off-centre, zero defect (Fig. 6).The 4th kind of situation is that off-centre is arranged, defectiveness (Fig. 7).

Claims (1)

1, the self-adapting reconstruction method of defective in a kind of pipeline comprises following concrete steps:

Sensor and acoustic beam point of irradiation locus thereof are to method for determination of amount:

1) method for building up of coordinate system: the starting point of detection system is decided to be true origin, sets up fixedly rectangular coordinate system of a cover on pipeline, the Z axle is consistent with conduit axis, and positive dirction is the working direction of detection system, and the XOY face is the xsect perpendicular to conduit axis; List at sensor array again and set up a cover fixed coordinate system, this cover coordinate system moves with respect to the pipeline coordinate system, true origin is selected in the last end face center of sensor array, Z ' axle and sensor array dead in line, sensor is l apart from the distance of initial point, and X ' O ' Y ' face is the cross section perpendicular to array axis; If sensor array axis and conduit axis coincide, then the Z axle also overlaps with Z ' axle;

2) sensor locus vector is determined: according to the sensor array geometry, determine the locus vector T of each sensor _k

3) sensor acoustic beam point of irradiation locus vector is determined: according to sensing station space vector T _k, determine its corresponding acoustic beam point of irradiation vector P on inner-walls of duct _k

The reconstructing method of defective:

4) with acoustic beam point of irradiation vector P _kAll show in the plane, obtain the bivector figure of caliber, the size of defective and orientation are embodied in vectorial P _kSize and direction on;

The sensor array position judging method:

5) nominal data generates: according to the ultrasonic sensor array and the actual pipe under test of reality, when testing without acceptance of persons zero defect, the distance vector of each sensor and inner-walls of duct as normal data, is stored in the database;

6) the array manifold position is differentiated automatically: according to the measured data sequence vector, the vector that utilizes two couple in this sequence to be mutually 180 ° is set up two straight-line equations, try to achieve the perpendicular bisector equation of two straight-line equations again, when not having off-centre, the intersection point of two perpendicular bisector equations drops on the center of conduit axis; When off-centre was arranged, intersection point dropped on outside the conduit axis heart; For the accuracy that guarantees to judge, adopt multi-group data to be judged;

The self-adapting reconstruction method of defective:

7) according to the test data after not having off-centre or eliminating deviation, again in conjunction with 4) in the defective restructing algorithm, reconstructed off-centre or ducted defective under the situation without acceptance of persons.

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