CN101169225B - Long conveyance pipe defect positioning method and positioning system - Google Patents
Long conveyance pipe defect positioning method and positioning system Download PDFInfo
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- CN101169225B CN101169225B CN 200710187426 CN200710187426A CN101169225B CN 101169225 B CN101169225 B CN 101169225B CN 200710187426 CN200710187426 CN 200710187426 CN 200710187426 A CN200710187426 A CN 200710187426A CN 101169225 B CN101169225 B CN 101169225B
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Abstract
The invention relates to a location method for deficiency of long conveying pipe and the location system. In the location method for errors of long-range conveying pipe, a series of abut ring welding line are formed in the installation process of the long conveying pipe which adopts wheel type milemeter to measure the mileage and position. When the wheel type milemeter advances in the long conveying pipe and measures the mileage, a whirlpool detecting device detects out the information about the actual time of passing certain abut ring welding line. The information and the data of the wheel type milemeter are analyzed at the same time, so as to accurately ascertain the position of the error in the pipe. The positing method for errors of long conveying pipe includes a wheel type milemeter and a whirlpool detecting device, wherein, the whirlpool detecting device includes a whirlpool winding and a whirlpool detecting processing module which is connected with the whirlpool winding. The location method and the location system disclosed in the invention can prevent the accumulative measure error of the wheel type milemeter from increasing, improve the positioning accuracy and completely satisfy the requirements in the process of positioning.
Description
Technical field
The present invention relates to a kind of pipe interior detecting method and device, be specifically related to a kind of localization method and navigation system of long conveyance pipe defect.
Background technique
The oil gas long distance pipeline produces burn into influence operation or even jeopardizes environment through operation for many years.Whether therefore, need regularly to detect Corrosion of Pipeline and distortion situation from pipe interior, and information such as the position of record corrosion, the degree of depth, area, the technician carries out the integrity evaluation according to testing result, judge to need repairing or change.
At present, adopt following method to determine the corrosion position that long distance pipeline is interior both at home and abroad usually:
(1) position information of utilizing wheeled odometer to provide is determined the position of corrosion on the conduit axis direction.Its principle is that detection device advances in pipeline, and wheeled odometer contacts with inner tube wall, determines defective locations by all numbers of measuring the odometer rotation.The problem that this method exists is: integrating error are big.Because the precision of odometer has only 1-2 ‰, detect the long distance pipeline of 20km, the defect location error can reach more than the 20m.And, also do not consider the error increase that wheeled odometer skids or dallies and causes.Therefore, only utilize wheeled odometer to be difficult to satisfy the requirement that engineering is used.When only adopting wheeled odometer, system layout mainly as shown in Figure 1 (can be referring to denomination of invention: intelligent detector for submarine pipeline; Patent publication No.: CN1828219A).Wheeled odometer working procedure: when detection system is advanced in pipeline, wheeled odometer and tube wall frictional rotation, the stepping information of rotating is by the record of the counting device in the casing and be real-time transmitted to upper-position unit, ultrasonic measurement data sync packing storage with sending upper-position unit simultaneously to provides defective axial position information during for data analysis.
The ultrasonic measurement data are used for determining that the wall thickness of tested pipeline is so that determine whether to exist corrosion thinning according to the wall thickness change situation.Generally by the ultrasonic probe emission ultrasound of lining up several row, receive the repeatedly reflection supersonic wave from inner-walls of duct and outer wall simultaneously, the ultrasonic signal that ultrasonic probe receives is converted into voltage signal and is gathered in real time and be transferred to upper-position unit by acquisition system and is further processed.
(2) overseas utilization is arranged a series of magnetic devices outside pipeline, detection device in pipe by the time utilize detection device to carry magnetic inductor write down successively by the time and the number of magnetic devices of layout in advance, utilize this information to calibrate the information of having the records of distance by the log of wheeled odometer, and then solve the integrating error problem of wheeled odometer.The problem that this method exists is: require pipeline that magnetic devices is installed in process of deployment; Otherwise needs are cleared up the mud of embedded pipe and are made mounting cost huge.And the number that magnetic devices is installed is limited, and spacing is big, is difficult to significantly improve Location accuracy.Simultaneously, maintaining work is also relatively more difficult.In addition, if section of tubing is multiple pipe, magnetic devices must be transformed to guarantee penetrability.
At present, domestic only have the relevant technologies of utilizing eddy current testing weld seam subsurface defect and discerning the pipeline section port to report.Do not see and utilize vortex principle to carry out the report of long conveyance pipe defect location.
Summary of the invention
The purpose of this method is to solve only utilizes the wheeled odometer error of having the records of distance by the log big and utilize magnetic devices and wheeled odometer to unite the expense costliness of having the records of distance by the log and bringing, be difficult to significantly improve the problem of Location accuracy, a kind of localization method and navigation system that can improve the long conveyance pipe defect of long conveyance pipe defect locating accuracy and degree of accuracy is provided.
The localization method of long conveyance pipe defect of the present invention, described long distance pipeline is formed with a series of butt girth welding seam in installation process, in long distance pipeline, adopt wheeled odometer metering mileage location, when wheeled odometer advances in long distance pipeline and measures mileage, adopt eddy current testing device to detect when passed through which bar butt girth welding seam, the data of having the records of distance by the log of this information and wheeled odometer are analyzed simultaneously, thereby determine the position of defect of pipeline.
The localization method of aforesaid a kind of long conveyance pipe defect, it adopts eddy current testing device to detect when to have passed through which bar pipeline butt girth welding seam, and this information is real-time transmitted to upper-position unit; The data of having the records of distance by the log of wheeled odometer also all are real-time transmitted to upper-position unit and packing storage synchronously; After treating that all detections in long distance pipeline finish, carry out off-line analysis, constantly promptly at t1, through piping butt girth welding seam W1, this moment, the reading of having the records of distance by the log of wheeled odometer was LT1, and then the axial position coordinate of the defective A between pipeline butt girth welding seam W1 and W2 can be expressed as
W1+XA(mm)
Perhaps LT1+XA (mm)
Wherein: W1 represents: a pipeline butt girth welding seam;
XA represents: the difference (mm) of defective A place odometer reading and LT1;
LT1 represents: t1 is the reading of having the records of distance by the log (mm) of odometer constantly.
Long conveyance pipe defect navigation system of the present invention, it comprises a wheeled odometer, it is characterized in that: this system also comprises an eddy current testing device; Described eddy current testing device comprises eddy current coil, and the eddy current testing puocessing module that links to each other with eddy current coil; Described eddy current coil is an inside-through type differential vortex coil; Described eddy current testing puocessing module comprises: oscillator, and it applies the sine voltage signal excitation eddy current coil of characteristic frequency to eddy current coil; Electric bridge, it receives the induced voltage from eddy current coil, thereby electric bridge self voltage is changed; Amplifier, it amplifies the voltage change that the electric bridge that receives produces; Transposer, it transplants to the sinusoidal voltage that oscillator produces; Phase sensitive detector, it receives the signal from amplifier and transposer, extracts to be superimposed upon the maximum perturbation signal on the sinusoidal voltage and to weed out undesired signal on other phase places; Wave filter, it will be from the maximum perturbation target signal filter clutter of Phase sensitive detector; Amplitude comparator, it receives the voltage signal from wave filter, if voltage amplitude surpasses setting threshold, then triggers and form the pulse signal of a Transistor-Transistor Logic level; Scale programmable logic device (CPLD), it receives from the pulse signal of the Transistor-Transistor Logic level of amplitude comparator and counts, and passes to upper-position unit then in real time.
Aforesaid long conveyance pipe defect navigation system, described eddy current coil comprises an eddy current coil skeleton, on two grooves on the eddy current coil skeleton, twine the enameled cable that difference connects respectively, eddy current coil skeleton inboard is provided with a hollow locating stud, three core watertight cables pass the vacancy of hollow locating stud, in the hollow locating stud, realize and being electrically connected of enameled cable joint, twine the enameled cable place and hollow locating stud place adopts the epoxy resin integral embedding at two grooves of eddy current coil skeleton.
Aforesaid long conveyance pipe defect navigation system, described eddy current coil skeleton adopt nylon material to make, and its diameter is at 110mm～860mm; Described hollow locating stud is a stainless steel material, and the hollow locating stud links to each other with the eddy current coil skeleton by outside thread.
Effect of the present invention is: the localization method of long conveyance pipe defect of the present invention is to utilize the eddy current testing principle, identification pipeline butt girth welding seam then utilizes the mileage information of the count information calibration of butt girth welding seam from wheeled odometer, avoid the cumulative error of having the records of distance by the log of wheeled odometer to increase, improve Location accuracy.The inventive method is used for detecting at pipe interior the engineering practice of long distance pipeline corrosion, can overcome the present big problem of long conveyance pipe defect positioning error more than 2 kilometers, general long distance pipeline 10-12m has a butt girth welding seam, wheeled odometer is about 10-12m * 2 ‰ ≈ 24mm in the interior precision of this distance among the present invention, can satisfy positioning requirements (common engineering requires in ± 0.5m) fully, defective can be expressed as the weldering of N bar at ducted axial position and meet+Xmm.Eddy current testing device of the present invention, weld seam counting accurately, defect location precision height (in ± 0.5m scope); Need outside pipeline, not install, simple and convenient, cost saving; It only adopts an inside-through type differential vortex coil to carry out the identification of weld seam, the quantity that helps reducing the complexity of device and reduce watertight cable, and cost is low; Can manufacture and design the eddy current coil of different size according to the difference of bore.System of the present invention applicable elements: ambient temperature≤60 ℃; Water or crude oil are couplant; Static pressure≤2MPa.Eddy current coil adopts differential configuration, and is insensitive to inhomogeneous (as local etching) and the motion jitter of part, eliminated because the interference effect of other factors.Eddy current coil adopts the epoxy resin integral embedding, and the sealing preparation process is simple, and sealing is reliable, and expense is low.The eddy current coil skeleton adopts nylon material to make, and can guarantee insulation and requirement of strength.Circumferential positioning action and protect the eddy current cable when hollow locating stud that the eddy current coil inboard is provided with plays and installs.
Description of drawings
The wheeled odometer structural representation of Fig. 1;
Fig. 2 long conveyance pipe defect navigation system schematic representation.
Fig. 3 eddy current coil structural representation;
Fig. 4 eddy current testing puocessing module schematic representation;
The workflow diagram of Fig. 5 eddy current testing puocessing module;
Fig. 6 utilizes pipeline girth weld information to calibrate wheeled odometer and locatees the fundamental diagram of defective;
Among the figure: 1. long distance pipeline; 2. pipeline butt girth welding seam W1; 3. pipeline butt girth welding seam W2; 4. eddy current coil; 5. defective A; 6. eddy current coil skeleton; 7. hollow locating stud; 8. enameled cable; 9. epoxy resin; 10. three core watertight cables; 11. ultrasonic probe; 12. casing; 13. supporting wheel systems; 14. wheeled odometer.
Embodiment
Be described further below in conjunction with the localization method and the navigation system of accompanying drawing long conveyance pipe defect of the present invention.
The localization method of long conveyance pipe defect of the present invention, described long distance pipeline is formed with a series of butt girth welding seam in installation process, in long distance pipeline, adopt in the wheeled odometer metering mileage location, adopt eddy current testing device to detect when passed through which bar butt girth welding seam, the data of having the records of distance by the log of this information and wheeled odometer are stored simultaneously and are analyzed simultaneously, thereby the Xmm place of meeting is welded for distance N bar in the position of determining defect of pipeline.
The concrete working procedure of long conveyance pipe defect localization method of the present invention is as follows:
(1) in long distance pipeline, adopts wheeled odometer metering mileage, adopt supersonic detection device measuring channel wall thickness simultaneously, when wheeled odometer, supersonic detection device advance in long distance pipeline and measure mileage, measuring channel wall thickness, adopt eddy current testing device to detect identification pipeline butt girth welding seam, and count information is real-time transmitted to upper-position unit; The pipeline wall thickness data of the have the records of distance by the log data and the supersonic detection device of wheeled odometer also all are real-time transmitted to upper-position unit and packing storage synchronously.
(2) treat that all detections in long distance pipeline finish after, carry out off-line analysis.As shown in Figure 2, in long distance pipeline (1), utilize t1 moment weld seam count pulse to calibrate wheeled odometer reading, it is the t1 moment, detection device is through piping butt girth welding seam W1 (2), this moment, the odometer reading of having the records of distance by the log was LT1, and the axial position coordinate that then is positioned at the defective A (5) between pipeline butt girth welding seam W1 (2) and the pipeline butt girth welding seam W2 (3) can be expressed as
W1+XA(mm)
Perhaps LT1+XA (mm)
Wherein: W1 represents: a pipeline butt girth welding seam;
XA represents: the difference (mm) of defective A place odometer reading and LT1;
LT1 represents: t1 is the reading of having the records of distance by the log (mm) of odometer constantly.
At this moment, note journey error is less than (LT2-LT1) * 2 ‰.
(3) need carry out the earth location as defect of pipeline A place, then enter pipeline once more and detect, when accumulative total detected the W1 weld seam, the odometer XA (mm) that continues to creep forward promptly was the position of defective A.
The long conveyance pipe defect navigation system of above-mentioned employing comprises a wheeled odometer and an eddy current testing device.Described eddy current testing device comprises eddy current coil, and the eddy current testing puocessing module that links to each other with eddy current coil.As shown in Figure 2, eddy current coil 4 is arranged on the outer front end of casing 12, the eddy current testing puocessing module is arranged in the casing 12, eddy current coil 4 links to each other by three core cable with the eddy current testing puocessing module, and the processing result of eddy current testing puocessing module is delivered to the upper-position unit of detection system in real time by the signaling line in the casing.Casing 12 is used for sealing, hold relevant parts, form machinery with other casings and be electrically connected etc.Supporting wheel systems 13 is used for rolling and advances, supports the detection casing.Wheeled odometer 14 (two mileage wheels that the figure medium dip is placed) is placed in other casing outsides that link to each other with casing 12, and its collection and the data of handling well are delivered to the upper-position unit of detection system by the signaling line in the casing.
As shown in Figure 3, described eddy current coil is an inside-through type differential vortex coil.Described eddy current coil comprises an eddy current coil skeleton 6, on two grooves on the eddy current coil skeleton 6, twine the enameled cable 8 that difference connects respectively, eddy current coil skeleton 6 inboards are provided with a hollow locating stud 7, three core watertight cables 10 pass the vacancy of hollow locating stud 7, in hollow locating stud 7, realize and being electrically connected of enameled cable 8 joints, twine enameled cable 8 places and hollow locating stud 7 places adopt epoxy resin 9 whole embeddings at two grooves of eddy current coil skeleton.The eddy current coil skeleton adopts nylon material to make, and its diameter is 278mm, is used to detect the pipeline that internal diameter is 297mm, can make the eddy current coil of different diameters in addition according to tested internal diameter of the pipeline, and the optional diameter range of eddy current coil is 110mm～860mm.Hollow locating stud 7 is a stainless steel material, and hollow locating stud 7 links to each other with the eddy current coil skeleton by outside thread.Signaling line in three core watertight cables 10 and the casing 12 is connected by water-joint.
As shown in Figure 4 and Figure 5, described eddy current testing puocessing module comprises
Oscillator, it applies the sine voltage signal excitation eddy current coil of characteristic frequency to eddy current coil;
Electric bridge, it receives the induced voltage from eddy current coil, thereby electric bridge self voltage is changed;
Amplifier, it amplifies the voltage change that the electric bridge that receives produces;
Transposer, it transplants to the sinusoidal voltage that oscillator produces;
Phase sensitive detector, it receives the signal from amplifier and transposer, extracts to be superimposed upon the maximum perturbation signal on the sinusoidal voltage and to weed out undesired signal on other phase places;
Wave filter, it will be from the maximum perturbation target signal filter clutter of Phase sensitive detector;
Amplitude comparator, it receives the voltage signal from wave filter, if voltage amplitude surpasses setting threshold, then triggers and form the pulse signal of a Transistor-Transistor Logic level;
Scale programmable logic device (CPLD), it receives from the pulse signal of the Transistor-Transistor Logic level of amplitude comparator and counts, and then count results is passed to upper-position unit in real time.
When navigation system of the present invention is worked, the detection that in pipeline, moves ahead, this moment, detection speed was not less than 150mm/s usually.At first, the oscillator in the eddy current testing puocessing module applies the sine-wave excitation eddy current coil of characteristic frequency to eddy current coil; The eddy current coil of advancing at pipe interior this moment excites the electromagnetic field of induction at inner-walls of duct; As shown in Figure 6, in pipeline mother metal zone, it is basicly stable that this induction field can be thought, but when eddy current coil passes through pipeline butt girth welding seam W1, because there is significant difference in the electromagnetic property of weld seam and pipeline mother metal, induction field is disturbed, this disturbance makes the changing impedance of eddy current coil, cause the induced voltage of eddy current coil to change, and then make the electric bridge in the eddy current testing puocessing module produce voltage change, this voltage change is exaggerated and compares with Phase sensitive detector after device amplifies, and filtering then send amplitude comparator relatively, if voltage amplitude surpasses setting threshold, then trigger and form the pulse signal of a Transistor-Transistor Logic level, this pulse signal is input to scale programmable logic device (CPLD) and counts, and passes to upper-position unit then in real time.Upper-position unit is had the records of distance by the log data, ultrasonic wall thickness measuring data sync packing storage so that the accurate location of defective is carried out in reprocessing with weld seam enumeration data and wheeled odometer.
Claims (5)
1. the localization method of a long conveyance pipe defect, described long distance pipeline is formed with a series of butt girth welding seam in installation process, in long distance pipeline, adopt wheeled odometer metering mileage location, it is characterized in that: when wheeled odometer advances in long distance pipeline and measures mileage, adopt eddy current testing device to detect when passed through which bar butt girth welding seam, when analyze simultaneously detected by the data of having the records of distance by the log of which bar butt girth welding seam information and wheeled odometer, thus the position of definite defect of pipeline; Be specially and adopt eddy current testing device to detect when passed through which bar pipeline butt girth welding seam, when which bar butt girth welding seam information to be real-time transmitted to upper-position unit by with detected; The data of having the records of distance by the log of wheeled odometer also all are real-time transmitted to upper-position unit and packing storage synchronously; After treating that all detections in long distance pipeline finish, carry out off-line analysis, constantly promptly at t1, through piping butt girth welding seam W1, this moment, the reading of having the records of distance by the log of wheeled odometer was LT1, and then the axial position coordinate of the defective A between pipeline butt girth welding seam W1 and W2 can be expressed as
W1+XA(mm)
Wherein: W1 represents: a pipeline butt girth welding seam;
XA represents: the difference (mm) of defective A place odometer reading and LT1;
LT1 represents: t1 is the reading of having the records of distance by the log (mm) of odometer constantly.
2. the long conveyance pipe defect navigation system that is used for the localization method of the described long conveyance pipe defect of claim 1, it comprises a wheeled odometer, it is characterized in that: this system also comprises an eddy current testing device; Described eddy current testing device comprises eddy current coil, and the eddy current testing puocessing module that links to each other with eddy current coil;
Described eddy current coil is an inside-through type differential vortex coil;
Described eddy current testing puocessing module comprises
Oscillator, it applies the sine voltage signal excitation eddy current coil of characteristic frequency to eddy current coil;
Electric bridge, it receives the induced voltage from eddy current coil, thereby electric bridge self voltage is changed;
Amplifier, it amplifies the voltage change that the electric bridge that receives produces;
Transposer, it transplants to the sinusoidal voltage that oscillator produces;
Phase sensitive detector, it receives the signal from amplifier and transposer, extracts to be superimposed upon the maximum perturbation signal on the sinusoidal voltage and to weed out undesired signal on other phase places;
Wave filter, it will be from the maximum perturbation target signal filter clutter of Phase sensitive detector;
Amplitude comparator, it receives the voltage signal from wave filter, if voltage amplitude surpasses setting threshold, then triggers and form the pulse signal of a Transistor-Transistor Logic level;
Scale programmable logic device (CPLD), it receives from the pulse signal of the Transistor-Transistor Logic level of amplitude comparator and counts, and passes to upper-position unit then in real time.
3. long conveyance pipe defect navigation system according to claim 2, it is characterized in that: described eddy current coil comprises an eddy current coil skeleton (6), on two grooves on the eddy current coil skeleton (6), twine the enameled cable (8) that difference connects respectively, eddy current coil skeleton (6) inboard is provided with a hollow locating stud (7), three core watertight cables (10) pass the vacancy of hollow locating stud (7), in hollow locating stud (7), realize and being electrically connected of enameled cable (8) joint, twine at two grooves of eddy current coil skeleton that enameled cables (8) are located and hollow locating stud (7) locates to adopt the whole embedding of epoxy resin (9).
4. long conveyance pipe defect navigation system according to claim 3 is characterized in that: described eddy current coil skeleton adopts nylon material to make, and its diameter is at 110mm～860mm.
5. long conveyance pipe defect navigation system according to claim 3 is characterized in that: described hollow locating stud (7) is a stainless steel material, and hollow locating stud (7) links to each other with eddy current coil skeleton (6) by outside thread.
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| CN107356245A (en) * | 2017-07-21 | 2017-11-17 | 中国海洋石油总公司 | The auxiliary locator of submarine pipeline wiper based on weld seam recognition |
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