CN104962925A - Close interval cathodic protection potential of submarine pipeline without tail wire and measurement method of anodic output current - Google Patents

Close interval cathodic protection potential of submarine pipeline without tail wire and measurement method of anodic output current Download PDF

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CN104962925A
CN104962925A CN201510451710.0A CN201510451710A CN104962925A CN 104962925 A CN104962925 A CN 104962925A CN 201510451710 A CN201510451710 A CN 201510451710A CN 104962925 A CN104962925 A CN 104962925A
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pipeline
reference electrode
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rov
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CN104962925B (en
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林守江
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Tianjin Jiaxin Technology Co ltd
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Tianjin Genius Technology & Engineering Co
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Abstract

The invention relates to a close interval cathodic protection potential of a submarine pipeline without a tail wire and a measurement method of anodic output current, applied to measuring important technological parameters, such as the validity of anodic sacrifice protection and output current of an anode, matched with a submarine pipeline detection robot ROV. Equipment for measuring the cathodic protection potential of the submarine pipeline without the tail wire and the anodic output current is composed of a multifunctional probe, an underwater control system, two reference electrodes and the like, wherein the multifunctional probe comprises three measurement electrodes therein; the two reference electrodes are horizontally arranged on the ROV; due to use of an above-water computer system, the real protection potential of a submarine steel pipeline and the output current of a bracelet type sacrificial anode can be detected in a close interval manner; the validity of pipeline cathodic protection, evaluation of anode working states and prediction of anode residual lives can be realized; and in addition, due to the measurement method without the tail wire, in the event of detecting the submarine pipeline, the disadvantages, such as easy breakage of the tail wire, the limited length of the tail wire, great influence by sea conditions and influence of ship passage in a detected region, while dragging the tail wire connected with the pipeline body can be solved.

Description

Current potential and anode outward current measuring method is protected without buttock line submerged pipeline Mi Jianjuyin
Technical field
The present invention relates to the detection implementation method of subsea pipeline cathode protection condition, belong to the applied technical field of corrosion detective, Technique of Subsea Pipeline Inspection.Integrate the technology such as Technique of Subsea Pipeline Inspection, cathode protection technology, pipeline potential measurement method, mathematic calculation.
Background technology
Ocean is the extremely strong environment of a corrodibility, and iron and steel structures very easily corrosion failure occur in ocean environment, and the corrosion of sea-bottom oil-gas steel pipe is much more serious than land buried pipeline.Physical factor in ocean environment, chemical factor and biotic factor all can cause the corrosion of pipeline, and once there is corrosion failure, maintenance is difficulty very, and the harm that dielectric leakage causes is very serious.Corrosion due to submerged pipeline is the process of a long-run development, and along with the prolongation of pipeline active time, the safeguards of pipeline also can be damaged with aging, and the extent of corrosion of body can constantly increase the weight of, the operating safety of serious harm submerged pipeline.Therefore, whether the galvanic protection facility being grasped submerged pipeline by periodic detection is in normal working order, measuring and protecting current density, and then the assessment etch state of body, the residual life of sacrificial anode on pipeline.These parameters for ensureing the safe operation of submerged pipeline, prevent pipeline generation leakage accident all tool be of great significance.
Conventional buried pipeline galvanic protection close spacing potential measurement (CIPS) method is: be connected with pipeline by line on certain detective pole near measuring channel with a long side traverse (being called buttock line); along pipeline route with little spacing on the ground measuring tube to the voltage of the earth, think that when the pipe-to-soil potential recorded is defeated by-0.85V pipeline is in completely under guard mode.Metal tube due to whole piece pipeline can regard the equipotentiality body of a current potential as, and the moon can measuring arbitrfary point on pipeline like this protects potential value, and then obtains the distribution situation of protection potential on whole pipeline.CIPS test set is that the accurate millivoltmeter that use one has a data recording function replaces conventional volt ohm-milliammeter, detects data in addition record, and coordinate analysis software to carry out data processing and analysis to a large amount of.
And carry out in the process of CIPS detection at submerged pipeline, due to the restriction by factors such as ocean environment, sea situation and detecting distance, detect buttock line and can only be connected in less scope (general < 2km).The buttock line that pipeline connects long distance is very difficult and inconvenient.
In addition; due to extra large resistivity of water lower (being 1 ~ 5 Ω ﹒ m); in ocean, electrically interference is comparatively slight for stray current etc.; seawater away from pipeline can be regarded as the equipotentiality body of a current potential in engineering; adopt long-range reference electrode; be engaged in the measuring robots (ROV) of independently advancing in seabed above pipeline; indirectly can measure the pipe-ground potential of pipeline relative to tube circumference soil (ooze, seawater), effective evaluation goes out the validity of galvanic protection on pipeline.In this testing pipes, the method for cathodic protection potential overcomes all inconvenience that traditional close spacing potential measurement process middle and long distance applies buttock line, has good practicality, reliability.
In the external method to pipelines in deep sea Cathode protect testing, usually adopt and have buttock line PRO/T and the RPO/R two kinds of methods without buttock line.Also the hybrid measurement method Hybrid ROV of two kinds is adopted.In the measuring method of application without the PRO/R of buttock line, revising detection data is the key of technology.
Summary of the invention
The present invention seeks in the enforcement in order to solve submerged pipeline close spacing potential measurement CIPS method, the problem of all inconvenience using long distance buttock line to bring.There is provided a kind of without buttock line, by applying long-range reference electrode, realizing submerged pipeline cathodic protection potential and detecting, and to the method that measuring error is revised.
Close spacing cathodic protection potential measuring method without buttock line submerged pipeline of the present invention is applied to, the measurement of the important parameters such as the validity of sacrificial protection coordinating submarine pipeline detecting robot ROV to realize and the outward current of anode.Anury spool road the moon protects potentiometric detection equipment adopts bracelet formula sacrificial protection steel pipe for completing seabed; the true protection potential of galvanic protection on pipeline can be detected with arbitrarily small spacing; and the outward current size of each bracelet formula anode; realize the evaluation to pipeline cathode protection validity, the operating mode of Anode, and the prediction of anode residual life.In addition, by the location to the point not up to standard of cathodic protection potential on whole piece subsea pipeline, the defective locations of pipeline external protection coating can be detected, and evaluation is made to defect severity.Based on such measuring result, conduit running unit can be just the arrangement and method for construction that more science is made in the maintenance of submerged pipeline external anti-corrosion layer and the improvement of galvanic protection fault.
The present invention provide firstly a kind of Multi-functional probe being applied to potential measurement, realizes the measurement to marine pipeline protection current potential and vertical potential gradient; This probe comprises probing shell, and in probing shell, middle part is provided with solid-state silver/two, silver chloride reference electrode, and be arranged vertically up and down, be called reference electrode and lower reference electrode, two electrode tip spacing are 25 centimetres; Be provided with the needle electrode of a stainless steel bottom probing shell, two reference electrodes are connected the preposition metering circuit that probing shell internal upper part is arranged with needle electrode.
Secondly, the invention provides a kind of measuring method without the close spacing cathodic protection potential of buttock line submerged pipeline and bracelet formula sacrificial anode outward current, can be used for the moon guarantor current potential, the anode outward current that realize submerged pipeline, and the detection of pipeline external protection coating defect.
One, the described measuring method of protecting current potential without buttock line submerged pipeline Mi Jianjuyin, apply four electrodes, without buttock line connection pipe body, concrete grammar comprises:
1st, described Multi-functional probe is arranged on the front end of submarine pipeline detecting robot ROV, Multi-functional probe is connected with the main metering circuit of the Subsea Control Systems that ROV installs by the underwater connector on it; ROV is connected with control end computer system on working mother boat by umbilical cable, obtains the electric power of power supply waterborne.Testing staff is navigated by water by the front and back of handle manipulation ROV, is turned to, the actions such as sinking of floating, and realizes the automatic or manual two kinds of metering systems to pipeline.Working mother boat pulls a long-range reference electrode simultaneously.
2nd, the preparatory stage started is being measured, contacted with the bracelet formula anode on body or pipeline by the needle electrode of Multi-functional probe inner bottom part, measure the potential difference V in pipeline and Multi-functional probe between lower reference electrode by the preposition metering circuit in Multi-functional probe lower pipe connects, and upper potential difference Δ V between reference electrode and lower reference electrode when connecting tube in Multi-functional probe probe connects, as the underlying parameter of follow-up detection.
3rd, in formal measuring process, the main metering circuit input terminus in Subsea Control Systems is connected with long-range reference electrode; Lower reference electrode in application Multi-functional probe and long-range reference electrode measure Δ V under-far away, and the potential difference Δ V on Multi-functional probe between reference electrode and lower reference electrode when non-connecting tube probe does not connect.
Following formulae discovery is adopted to go out the true protection potential V of submerged pipeline truly,
In formula, Δ V under-far awayfor the potential difference that lower reference electrode of popping one's head in records relative to long-range reference electrode;
Δ V probe connects, Δ V probe does not connectbe connected with body and upper and lower reference potential difference of popping one's head in when not connecting respectively;
V lower pipe connectsthe potential reference value of the relative body of reference electrode under the probe measured when being connecting tube;
V trulythe pipe-to-soil potential calculated value of probe lower reference electrode when being non-connecting tube.
Two, the measuring method of submerged pipeline bracelet formula anode outward current provided by the invention comprises:
Two vertically arranged reference electrodes in upper two the horizontally disposed reference electrodes of application ROV and Multi-functional probe, and the seawater resistive transducer on ROV is measured, and draws level and vertical potential difference Δ V level, Δ V verticallyand unit length maritime interior waters resistance value R seawater, the electric current in the unit distance of any direction is:
The outward current calculating every bracelet formula anode is:
I always=∑ I iΔ x i(7)
In formula, I alwaysfor the outward current that every bracelet formula anode is total, unit mA, I ifor the unit distance inner anode electric current that application of formula (6) i-th check points calculate, △ x ifor the distance between each current measurement point, unit: m.
When application of formula (6) calculates, the scope of summation in anode paving location both sides, between horizontal potential gradient reversion point.
Cleaning Principle of the present invention and basis:
Definition: set spacing on ROV between horizontal reference electrode as l level, unit: m;
In Multi-functional probe, upper spacing between reference electrode and lower reference electrode is l vertically, unit: m.
1, the method for calculation of the true protection potential of submerged pipeline
When applying the true protection potential of long-range reference method measurement buried pipeline galvanic protection, need to apply buttock line and be connected with body, on pipeline, the calculation formula of true cathodic protection potential (eliminating IR to fall) is:
V truly=V nearly ginseng-(V ginseng far away-V nearly ginseng) (1)
In formula, V nearly ginsengfor at pipeline overhead surface, apply the pipe-to-soil potential numerical value that nearly reference electrode records; V ginseng far awayfor on distance pipeline ground enough far away, apply long-range reference and record pipe-ground potential.
When measuring cathodic protection potential on submerged pipeline, can draw according to principle of cathodic protection, the potential difference (V of far and near reference electrode ginseng far away-V nearly ginseng) be exactly the potential difference that in ROV probe, lower reference electrode records reference electrode far away;
So, when buttock line connection pipe body, the true protection potential of subsea pipeline can be expressed as:
V truly=V lower pipe-Δ V lower far away(2)
In formula, V lower pipefor applying the pipe-to-soil potential that in Multi-functional probe, lower reference electrode records when connecting buttock line, V lower far awayfor applying the pipe-to-soil potential that reference electrode far away records when connecting buttock line.
During long range measurements along the line due to submerged pipeline, buttock line and body keep being connected very difficult, directly cannot measure V lower pipeand V lower far away.
From principle of cathodic protection, at the protective current of the perimeter of body, the current potential near body is changed, the protective current size that difference and the tube circumference of current potential flow is directly proportional.Suppose at whole measuring section, extra large resistivity of water is a definite value, can obtain:
In formula: I connect, I do not connectwhen being respectively by being connected with body and not connecting, the protective current value of flowing near Multi-functional probe; Δ V probe connects, Δ V probe does not connectto be respectively when to be connected with body and not connect upper potential difference between reference electrode and lower reference electrode in Multi-functional probe;
In formula:
V lower pipe connectsthe pipe-to-soil potential benchmark value of reference electrode under the Multi-functional probe measured during for being connected with pipeline;
V lower Guan Wei connectsfor the pipe-to-soil potential calculated value of the lower reference electrode of probe during non-connecting tube;
By formula (2), (4) can when measuring without buttock line:
In formula, Δ V under-far awayfor the potential difference that reference electrode under Multi-functional probe records relative to reference electrode far away.
2. the method for calculation of bracelet formula anode outward current on pipeline
Apply two reference electrodes in upper two the horizontal reference electrodes of ROV and Multi-functional probe, and the seawater resistive transducer on ROV is measured.Draw level and vertical potential difference Δ V level, Δ V verticallyand unit length maritime interior waters resistance value R seawater, the electric current can derived in the unit distance of any direction by formula (3) is:
The outward current calculating every bracelet formula anode is:
I always=∑ I iΔ x i(7)
In formula, I alwaysfor the outward current that every bracelet formula anode is total, unit mA, I ifor the unit distance inner anode electric current that application of formula (6) i-th check points calculate, △ x ifor the distance between each current measurement point, unit: m.
When application of formula (6) calculates, the scope of summation in anode paving location both sides, between horizontal potential gradient reversion point.
Advantage of the present invention and positively effect:
The present invention is applied to the detection engineering of seabed steel pipe corrosion and protection.The technical parameter measured comprises: the outward current etc. of bracelet formula anode on the true protection potential of the cathodic protection potential of pipeline, pipeline, pipeline.The present invention is by being mounted in the proofing unit on submerged pipeline Corrosion monitoring robot ROV in application, the technological methods such as the DC potential gradient DCVG realizing external deficiency of protection coating detects, the close spacing current potential CIPS detection of cloudy guarantor's effect.
This invention integrates the technology such as potential measurement structure and method, signal condition method, measuring result computation model, embedded system.The submarine pipeline system of technological method and formation has, and without the need to pulling the long advantages such as distance detects buttock line, accuracy of detection is high, measuring parameter is complete, measuring method is simple, detection operating range is long, specifically comprises:
1) the present invention adopts measuring without buttock line of submerged pipeline galvanic protection; when eliminating Technique of Subsea Pipeline Inspection, pull the buttock line be connected with pipeline body, buttock line be easily broken, buttock line length limited; affect greatly by sea situation, affect the drawbacks such as other ships in surveyed area pass through.
2) technological method of the present invention, can measure bracelet formula sacrificial anode outward current on submerged pipeline, for assessment of the working condition of sacrificial anode on pipeline, and then draw the consumption degree of anode, the residual life of assessment anode.
3) the present invention can be widely used in the detection of the submerged pipeline corrosion and protection situation under various sea situation.For being embedded in ooze, exposed in seabed, the pipeline even suspended in the seawater, all has good practicality.
Accompanying drawing explanation
Fig. 1 is the measuring sonde structural representation that the present invention adopts;
Fig. 2 is the schematic diagram implementing to measure without buttock line submerged pipeline cathodic protection potential.
In figure, 1 is underwater connector, and 2 is preposition metering circuits, 3 is upper reference electrodes, and 4 is lower reference electrodes, and 5 is needle electrodes, 6 is control end computer systems waterborne, and 7 is the data sent from navigational computer, and 8 is the data transmitted from Subsea Control Systems, 9 is working mother boats, and 10 is reference electrodes far away, and 11 is umbilical cables, 12 is Multi-functional probes, and 13 is Subsea Control Systems, and 14 is ROV, 15 is bracelet formula sacrificial anodes, and 16 is submerged pipelines, 17 horizontally disposed two reference electrodes.
Embodiment
Embodiment 1: the cathodic protection potential of seabed steel pipe corrosion detection system SEA-ROV and the measurement of anode outward current
Seabed steel pipe corrosion detection system SEA-ROV is the proofing unit of the long-range reference electrode being mounted in one group of 5 reference electrode on ROV and a towing is core, implements the specific equipment of submerged pipeline external anti-corrosion layer, galvanic protection validation checking, the operating mode of Anode.The function of equipment is: under the industrial and mineral condition in shallow sea, and the DCVG realizing implementing submerged pipeline external anti-corrosion layer detects, the isoparametric detection method of outward current of bracelet formula anode on the CIPS of the true protection potential of cathodic protection system and pipeline.Testing process is, SEA-ROV testing staff is navigated by water by the front and back of handle manipulation ROV, turned to, the actions such as sinking of floating, and can realize automatic or manual measure two kinds of modes to the measurement of pipeline.Working mother boat pulls a long-range reference electrode, cable material identical with buttock line.By working mother boat, carry computer system waterborne, ROV control system, power-supply system, gps satellite station-keeping system etc.; The submarine pipeline detecting robot ROV of release autonomous navigation under water, is connected with the power supply of system, the computer system of control end waterborne by umbilical cable.Realize the Corrosion monitoring of submerged pipeline.Specific implementation method is:
One. the realization (unless specified or limited otherwise, all hardware is the standardized component that market is bought in the present invention) of hardware:
Multi-functional probe, is mounted in ROV 14 front end.This Multi-functional probe comprises probing shell, 3 electrodes are set in probing shell: the stainless material needle electrode 5 of probing shell bottom apex, and two solid-state silver/silver chloride reference electrodes that in probing shell, middle part up/down is arranged, be called reference electrode 3 and lower reference electrode 4, two electrode tips are apart from 25 centimetres, and structure is shown in Fig. 1.Two solid-state silver/silver chloride reference electrodes 17 that ROV anterior-posterior horizontal is arranged, electrode tip distance 75 centimetres.The long-range solid-state silver pulled by working mother boat/one, silver chloride reference electrode, distance ROV measurement point ground distance > 30 meters;
Control end computer system waterborne, comprise main frame, indicating meter, keyboard, mouse, control handle etc., operating system is Windows 7 professional version;
Subsea Control Systems is the main metering circuit that forms of microprocessor and control subelement, realizes: testing circuit controls, fruitage time calculate, data store, power management, with the function such as the network service of control end computer system waterborne.
The system architecture coordinating long-range reference electrode to measure and layout are shown in Fig. 2.
Realize SEA-ROV design function index:
A, ROV dive full depth 50m.
B, power 4000 watts.
C, umbilical cables length 150m.
D, long-range reference electrode are apart from detecting ROV distance > 30m.
Two. the realization of detection method:
1, without the measuring method of the close spacing cathodic protection potential of buttock line submerged pipeline, concrete grammar comprises:
1st, Multi-functional probe 12 is arranged on the front end of SEA-ROV, Multi-functional probe is connected with main metering circuit in the Subsea Control Systems 13 that ROV installs by the underwater connector 1 on it; ROV is connected with control end computer system 6 on working mother boat 9 by umbilical cable 11 under water, obtains the electric power of power supply waterborne.Testing staff is navigated by water by the front and back of handle manipulation ROV, is turned to, the actions such as sinking of floating, and can realize automatic or manual measure two kinds of modes to the measurement of pipeline.Working mother boat pulls a long-range reference electrode 10 simultaneously.
2nd, the preparatory stage started is being measured, contacted with the bracelet formula sacrificial anode 15 on pipeline 16 or pipeline by the needle electrode 5 in Multi-functional probe, measure the potential difference V in pipeline and Multi-functional probe between lower reference electrode by the preposition metering circuit 2 in Multi-functional probe lower pipe connects, and in Multi-functional probe upper between reference electrode and lower reference electrode have buttock line to connect time potential difference Δ V probe connects, as the underlying parameter of follow-up detection.
3rd, in formal measuring process, the measurement main power circuit input terminus in Subsea Control Systems is connected with long-range reference electrode.Lower reference electrode in application Multi-functional probe and long-range reference electrode measure Δ V under-far away, and potential difference Δ V during connecting without buttock line between Multi-functional probe up/down reference electrode probe does not connect.
Formula (5) is adopted to calculate the true protection potential V of submerged pipeline truly.
2, the measuring method of submerged pipeline bracelet formula anode outward current, comprising:
Two vertically arranged reference electrodes in upper two the horizontally disposed reference electrodes of application ROV and Multi-functional probe, and the seawater resistive transducer on ROV is measured, and draws level and vertical potential difference Δ V level, Δ V verticallyand unit length maritime interior waters resistance value R seawater, the electric current in the unit distance of any direction is calculated by formula (6).
Application of formula (7) calculates the outward current of every bracelet formula anode, the scope of summation in anode paving location both sides, between horizontal potential gradient reversion point.
The technical specification of seabed steel pipe corrosion detection system SEA-ROV is:
Data storage method Computer system SQLserver database waterborne
Upper computer interface Local area network
Data channel Totally 4 passages, 1 channel current, 3 channeling potentials,
Measuring ability Anode outward current, pipe protection current potential
Automatic record period 50mS
The dominant record time > 24 hours
Registration accuracy Anode outward current 1mA, protection potential 2.0mV
Data presentation Upper computer realtime curve
Working temperature 10℃~+50℃
Software Data analysis display and control software design ROV-Dview
Reference:
1. NACE TM0497-2002Measurement Techniques Related to Criteria for Cathodic Protectionon Underground or Submerged Metallic Piping Systems underground or measuring technology relevant to criteria for cathodic protection on metallic conduit under water.
2. buried or that close spacing and direct current surface voltage gradient are measured on the metallic conduit under water enforcement of NACE SP0207-2007Performing Close-Interval Potential Surveys and DC Surface PotentialGradient Surveys on Buried or Submerged Metallic Pipelines.
3. Xiao manages state affairs, submerged pipeline underwater robot detection technique " CNPC and chemical standard and quality " 03 phase in 2014.

Claims (3)

1. be applied to a Multi-functional probe for potential measurement, realize the measurement to marine pipeline protection current potential and vertical potential gradient; This probe comprises: probing shell, and in probing shell, middle part is provided with solid-state silver/two, silver chloride reference electrode, and be arranged vertically up and down, be called reference electrode and lower reference electrode, two electrode tip spacing are 25 centimetres; Be provided with the needle electrode of a stainless steel bottom probing shell, two reference electrodes are connected the preposition metering circuit that probing shell internal upper part is arranged with needle electrode.
2., without the cloudy protection potential measuring method of the close spacing of buttock line submerged pipeline, the method applies four electrodes, and without buttock line connection pipe body, concrete measuring method comprises:
1st, measurement Multi-functional probe according to claim 1 is arranged on the front end of submarine pipeline detecting robot ROV, Multi-functional probe is connected with the main metering circuit of the Subsea Control Systems that ROV installs by the underwater connector on it; ROV is connected with control end computer system on working mother boat by umbilical cable, obtains the electric power of power supply waterborne; Testing staff is navigated by water by the front and back of handle manipulation ROV, is turned to, sinking action of floating, and realizes the automatic or manual two kinds of metering systems to pipeline; Working mother boat pulls a long-range reference electrode simultaneously;
2nd, the preparatory stage started is being measured, contacted with the bracelet formula anode on pipeline or body by the needle electrode of Multi-functional probe inner bottom part, measure the potential difference V in pipeline and Multi-functional probe between lower reference electrode by the preposition metering circuit in Multi-functional probe lower pipe connects, and upper potential difference Δ V between reference electrode and lower reference electrode in Multi-functional probe probe connects, as the underlying parameter of follow-up detection;
3rd, in formal measuring process, the main metering circuit input terminus in Subsea Control Systems is connected with long-range reference electrode; Lower reference electrode in application Multi-functional probe and long-range reference electrode measure △ V lower far away, and the potential difference Δ V between reference electrode on Multi-functional probe/lower reference electrode probe does not connect;
Following formulae discovery is adopted to go out the true protection potential V of submerged pipeline truly,
3. a measuring method for submerged pipeline bracelet formula sacrificial anode outward current, is characterized in that the method comprises:
Two vertically arranged reference electrodes in upper two the horizontally disposed reference electrodes of application ROV and Multi-functional probe according to claim 1, and the seawater resistive transducer on ROV is measured, and draws level and vertical potential difference Δ V level, Δ V verticallyand unit length maritime interior waters resistance value R seawater, in unit distance, the electric current of any direction is:
Then the outward current of every bracelet formula anode is:
I always=Σ I iΔ x i(7)
In formula, I alwaysfor the outward current that every bracelet formula anode is total, unit mA, I ifor the unit distance inner anode electric current that application of formula (6) i-th check points calculate, △ x ifor the distance between each current measurement point, unit: m;
When application of formula (6) calculates, the scope of summation in anode paving location both sides, between horizontal potential gradient reversion point.
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CN113529092A (en) * 2021-07-23 2021-10-22 中海石油(中国)有限公司 Autonomous inspection method and system for submarine pipeline cathodic protection potential detection
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CN114235056A (en) * 2021-12-30 2022-03-25 中国海洋大学 Remote monitoring and early warning station for bay ecological environment and working method thereof
CN115290956A (en) * 2022-08-02 2022-11-04 厦门市特种设备检验检测院 Submarine pipeline stray current detection device and detection method thereof
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CN106248782A (en) * 2016-09-18 2016-12-21 中国石油大学(华东) A kind of deep-sea intelligent storage alternating current field measurement system and method for determining defects
CN106248782B (en) * 2016-09-18 2019-08-23 中国石油大学(华东) A kind of deep-sea intelligent storage alternating current field measurement system and method for determining defects
CN110799839A (en) * 2017-07-05 2020-02-14 沙特阿拉伯石油公司 Underwater vehicle with integrated surface cleaning and inspection
CN111235583A (en) * 2018-11-29 2020-06-05 深圳信息职业技术学院 Method and system for monitoring residual life of sacrificial anode of gas pipeline on line
CN111334804B (en) * 2020-04-26 2021-02-09 中山大学 A kind of intelligent monitoring device for cathodic protection of outer wall of deep-sea oil and gas pipeline and using method thereof
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