CN105987285B - A kind of rapid detection method of pipeline abnormal point - Google Patents
A kind of rapid detection method of pipeline abnormal point Download PDFInfo
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- CN105987285B CN105987285B CN201610485906.6A CN201610485906A CN105987285B CN 105987285 B CN105987285 B CN 105987285B CN 201610485906 A CN201610485906 A CN 201610485906A CN 105987285 B CN105987285 B CN 105987285B
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F17—STORING OR DISTRIBUTING GASES OR LIQUIDS
- F17D—PIPE-LINE SYSTEMS; PIPE-LINES
- F17D5/00—Protection or supervision of installations
- F17D5/02—Preventing, monitoring, or locating loss
Abstract
The invention discloses a kind of rapid detection methods of pipeline abnormal point, three-component Magnetic Sensor and acceleration transducer the following steps are included: is fixed on any position in spherical internal detector by the rapid detection method, spherical internal detector is thrown into pipe inspection, measure magnetic field and acceleration in pipeline, inspection finishes, the magnetic field signal that spherical internal detector records is downloaded into host computer, carries out data processing；The transition matrix constructed using the data subset of acceleration signal；Coordinate transform is done to rotating excitation field using magnetic field signal, transition matrix；Elbow, girth joint, stress concentration, valve chamber, scratch, the drilling hole of oil stolen valve abnormal point of pipeline are identified using the magnetic field after conversion.The present invention is especially suitable for submarine pipelines, and convenient in real time, and detection cycle is short, and < 48 hours/100km.Part abnormal point is had identified on processed oil pipeline using this method.
Description
Technical field
The present invention relates to pipeline inspection technology field more particularly to a kind of rapid detection methods of pipeline abnormal point.
Background technique
It is of great significance to the detection of oil-gas pipeline abnormal point.Oil-gas pipeline abnormal point generally includes: elbow, boxing
Seam, stress concentration, scratch, drilling hole of oil stolen valve and valve chamber standpipe etc..It wherein can be to pipe for the identification of elbow and girth joint
The mileage positioning of channel detector provides accurate reference point and calibration point, to improve the positioning accuracy of defect of pipeline.To stress
The detection of the early defects such as concentration, scratch in advance can repair pipeline before pipe leakage generation, replace, and can avoid
The generation of disaster.State-owned assets loss can reduce to the detection of drilling hole of oil stolen valve and reduce the security risk of conduit running.
Following two categories oil-gas pipeline abnormal point detecting method exists in the prior art:
The first kind is outer detection method, that is, is detected from tube outside.For submarine pipeline abnormal point (elbow, boxing
Seam, stress concentrate, scratch) detection need to carry out by diver or ROV (Remote Operated Vehicle), but
It is that the depth of water range that diver works only has 0m~50m, the depth of water range of ROV work only has 50m~500m.For terrestrial pipeline
It is detected outside the progress of abnormal point (elbow, girth joint, stress concentration, valve chamber, scratch, stolen valve) and needs to excavate pipeline earthing.
Second class is interior detection method, that is, by in-pipeline detector (Pipeline Inspection Gauge,
PIG it) is detected inside pipeline, is not only suitable for submarine pipeline and is also applied for terrestrial pipeline, comprising: based on ultrasonic principle
PIG and PIG based on magnetic flux leakage theory.Existing ultrasound or magnetic flux leakage theory internal detector are usually cylindrical, the pressure difference in front and back
Effect is lower to advance, and burn into defect and the weld seam situation etc. of inner wall of the pipe are obtained by analysis ultrasonic signal and magnetic leakage signal, is led to
Wall surface defect is crossed to determine whether there is leakage.
In the implementation of the present invention, discovery at least has the following disadvantages in the prior art and deficiency by inventor:
1, outer detection method enforcement difficulty is very big, at high cost, detection cycle is very long, detection efficiency is low, cannot expire well
Sufficient requirement of engineering, especially for deep water sea pipe and ultra-deep-water sea pipe detection difficulty it is bigger, almost without implement a possibility that.
2 and traditional PI G is bulky, and fitted closely with tube wall, very sensitive to pipe deforming, there are high blocking wind
Danger.Ultrasound and leakage field PIG detection process need to have good couple with tube wall.
3, leakage field PIG needs to carry out saturated magnetization to pipeline, can eliminate the magnetic memory signal of stress concentration region, have certain
Limitation.The early-stage preparations time detected using PIG to pipeline is very long, and the service time is also very long, so substantially 1 pipe
Road could detect 1 time for 1 year.
Therefore, it is badly in need of a kind of full pipeline, short cycle, low cost, implements convenient and fast pipeline abnormal point detecting method.
Summary of the invention
The present invention provides a kind of rapid detection method of pipeline abnormal point, the present invention is for reflecting the rotating excitation field measured
Be mapped to the magnetic field under static pipeline coordinate system, identified using the magnetic field after conversion pipeline elbow, girth joint, stress concentrate,
The abnormal points such as valve chamber, scratch, drilling hole of oil stolen valve, described below:
A kind of rapid detection method of pipeline abnormal point, the rapid detection method the following steps are included:
Three-component Magnetic Sensor and acceleration transducer are fixed on any position in spherical internal detector, it will be in spherical shape
Detector throws pipe inspection, measures magnetic field and acceleration in pipeline, and inspection finishes, will be under the magnetic field signal of spherical internal detector record
It is downloaded to host computer, carries out data processing；
The transition matrix constructed using the data subset of acceleration signal；
Coordinate transform is done to rotating excitation field using magnetic field signal, transition matrix；
Elbow, girth joint, stress concentration, the valve chamber, scratch, drilling hole of oil stolen valve of pipeline are identified using the magnetic field after conversion
Abnormal point.
Wherein, the step of transition matrix that the data subset using acceleration signal constructs specifically:
Median filtering is carried out to data subset respectively, obtains filtered signal subset；Pass through filtered signal subset
Obtain intermediate variable data subset；The amplitude of intermediate variable data subset is calculated, set of matrices is constructed.
Wherein, described the step of coordinate transform is done to rotating excitation field using magnetic field signal, transition matrix specifically:
By B2x(k)、B2y(k)、B2z(k) it is divided into volume of data subset, each data subset points are N0；
Utilize R12jTo Exj,Eyj,EzjMake following operation, the magnetic field data subset G after obtaining coordinate transformxj,Gyj,GzjIf
Gxj={ gxj(i) | i=1,2 ..., N0},Gyj={ gyj(i) | i=1,2 ..., N0},Gzj={ gzj(i) | i=1,2 ..., N0},1
≤j≤N1, and meet
Wherein, gxjIt (i) is GxjElement；gyjIt (i) is GyjElement；gzjIt (i) is GzjElement；exjIt (i) is ExjMember
Element；eyjIt (i) is EyjElement；ezjIt (i) is EzjElement.
The beneficial effect of the technical scheme provided by the present invention is that: the present invention can use the spherical internal detector for being not easy blocking
The abnormal points such as elbow, girth joint, stress concentrations of pipeline, valve chamber, scratch, drilling hole of oil stolen valve, spy are identified by measurement magnetic field
Not Shi Yongyu submarine pipeline, and in real time it is convenient, detection cycle is short, < 48 hours/100km.Using this method in finished product oil pipe
Part abnormal point is had identified on road.
Detailed description of the invention
Fig. 1 is a kind of flow chart of the rapid detection method of pipeline abnormal point；
Fig. 2 is to have arrived barley pool valve chamber using the magnetic field detection of transformation；
(a) primitive pipeline rotating excitation field (b) does the magnetic field after coordinate transform to rotating excitation field.
Fig. 3 is to have a molten iron pipe to pass through below the magnetic field detection to pipeline using transformation, similar to stolen valve；
(a) there are the rotating excitation fields in pipeline original when external iron pipe；(b) there are do when external iron pipe to rotating excitation field
Magnetic field after coordinate transform；(c) photo: there is one thin molten iron pipe outside oil-gas pipeline.
Fig. 4 is to utilize the magnetic field detection converted to girth joint；
(a) rotating excitation field in pipeline original at girth joint；(b) after doing coordinate transform to rotating excitation field at girth joint
Magnetic field；(c) the girth joint photo of live oil-gas pipeline.
Fig. 5 display utilizes the elbow of transformed magnetic field detection different direction at A, B, C tri-.
(a) it is original include 3 elbows a segment pipe in rotating excitation field, (b) rotating excitation field in the segment pipe is done
Magnetic field after coordinate transform.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, embodiment of the present invention is made below further
Ground detailed description.
The design principle of the embodiment of the present invention is as follows: three axle magnetometer and acceleration are equipped with inside spherical internal detector
Meter.Three axis of magnetometer are parallel with three axis of accelerometer respectively.Spherical internal detector fluid in submarine pipeline pushes away
Dynamic lower roll is advanced, while recording surveyed magnetic field and acceleration.The acceleration measured can be used to construct spin matrix, and being used for will
The rotating excitation field measured is mapped to the magnetic field under static pipeline coordinate system.Identified using the magnetic field after conversion pipeline elbow,
The abnormal points such as girth joint, stress concentration, valve chamber, scratch, drilling hole of oil stolen valve.
Embodiment 1
A kind of rapid detection method of pipeline abnormal point, referring to Fig. 1, the rapid detection method the following steps are included:
101: three-component Magnetic Sensor and acceleration transducer being fixed on any position in spherical internal detector, by ball
Shape internal detector throws pipe inspection, measures magnetic field and acceleration in pipeline, and inspection finishes, and the magnetic field of spherical internal detector record is believed
Host computer number is downloaded to, data processing is carried out；
102: the transition matrix constructed using the data subset of acceleration signal；Using magnetic field signal, transition matrix to rotation
Turn magnetic field and does coordinate transform；
103: elbow, girth joint, stress concentration, the valve chamber, scratch, punching robber of pipeline are identified using the magnetic field after conversion
Oil valve abnormal point.
Wherein, the step of transition matrix constructed using the data subset of acceleration signal specifically:
Median filtering is carried out to data subset respectively, obtains filtered signal subset；Pass through filtered signal subset
Obtain intermediate variable data subset；The amplitude of intermediate variable data subset is calculated, set of matrices is constructed.
Wherein, the step of coordinate transform being done to rotating excitation field using magnetic field signal, transition matrix specifically:
By B2x(k)、B2y(k)、B2z(k) it is divided into volume of data subset, each data subset points are N0；
Utilize R12jTo Exj,Eyj,EzjMake following operation, the magnetic field data subset G after obtaining coordinate transformxj,Gyj,GzjIf
Gxj={ gxj(i) | i=1,2 ..., N0},Gyj={ gyj(i) | i=1,2 ..., N0},Gzj={ gzj(i) | i=1,2 ..., N0},1
≤j≤N1, and meet
Wherein, gxjIt (i) is GxjElement；gyjIt (i) is GyjElement；gzjIt (i) is GzjElement；exjIt (i) is ExjMember
Element；eyjIt (i) is EyjElement；ezjIt (i) is EzjElement.
In conclusion the embodiment of the present invention realizes the rotating excitation field that will be measured through the above steps 101 to step 103
It is mapped to the magnetic field under static pipeline coordinate system, the elbow, girth joint, stress collection of pipeline are identified using the magnetic field after conversion
In, the abnormal points such as valve chamber, scratch, drilling hole of oil stolen valve.This method is especially suitable for submarine pipeline, and convenient, detection cycle in real time
It is short.
Embodiment 2
The scheme in embodiment 1 is further introduced below with reference to specific calculation formula, described below:
201: data collection section；
Three-component Magnetic Sensor and Three-component accelerometer are fixed on any position in spherical internal detector, obtained
The acceleration signal of the magnetic field signal and spherical internal detector in pipeline is taken, and magnetic field signal and acceleration signal are transmitted to
Position machine；
The detailed operation of the step are as follows: three-component Magnetic Sensor and acceleration transducer are fixed in spherical internal detector
Any position, spherical internal detector is thrown into pipe inspection, measures magnetic field and acceleration in pipeline, inspection finishes, will examine in spherical shape
The magnetic field signal for surveying device record downloads to host computer, carries out data processing.
Wherein, the embodiment of the present invention to the model of three-component Magnetic Sensor and Three-component accelerometer with no restrictions,
Only require that three axis of Magnetic Sensor are parallel with three axis difference of acceleration transducer respectively, such as: three-component Magnetic Sensor and
Three-component acceleration can be encapsulated in a chip, can also be individually enclosed in two chips.If three of Magnetic Sensor
The signal of axis is respectively B2(k)={ (B2x(k),B2y(k),B2z(k)) | k=1,2,3 ... }, distinguish with these three axis parallel
Component of acceleration signal is then denoted as a2(k)={ (a2x(k),a2y(k),a2z(k)) | k=1,2,3 ... }, k is discrete sampling point sequence
Number.
202: building transition matrix；
The form of the transition matrix constructed using j-th of data subset of acceleration signal is shown below:
Following (1)-(3) step calculates r12j(i) the third line, (4) step calculate r12j(i) the first row, (5)-
(7) step calculates the second row.
(1) by a2x(k)、a2y(k)、a2z(k) it is divided into volume of data subset, if each data subset points are N0, this
N is taken in secondary test0=260, if j-th of data subset is expressed as Sxj={ a2xj(i) | i=1,2 ..., N0},Syj={ a2yj(i)|
I=1,2 ..., N0},Szj={ a2zj(i) | i=1,2 ..., N0},1≤j≤N1, a2xjIt (i) is j-th of x-component acceleration information
The element of subset；a2yjIt (i) is the element of j-th of y-component acceleration information subset；a2zj(i) accelerate degree for j-th of z-component
According to the element of subset.
(2) respectively to Sxj、Syj、SzjMedian filtering is carried out, the order of median filtering is 1；Mean filter, mean value filter are carried out again
The order of wave is 4；Obtain filtered signal subset Wxj、Wyj、Wzj.Order is 1, order be 4 be not it is fixed, this test in
Take this value effect preferable.
(3) output numerical value of the corresponding acceleration transducer of 1 acceleration of gravity is set as g0, then by Wxj、Wyj、WzjRespectively
Divided by g0And then respective average value is subtracted, obtain intermediate variable data subset Vxj={ vxj(i) | i=1,2 ..., N0},Vyj=
{vyj(i) | i=1,2 ..., N0},Vzj={ vzj(i) | i=1,2 ..., N0},1≤j≤N1, vxjIt (i) is intermediate variable data
Collect VxjElement；vyjIt (i) is intermediate variable data subset VyjElement；vzjIt (i) is intermediate variable data subset VzjElement
(4) 3/4ths PA in the rolling period of spherical internal detector are calculatedj=0.75*fj/fsIf PAjInteger part
For PA1j, to VxjIt does following linear interpolation arithmetic and obtains intermediate variable data subset Uxj:
Uxj=Vxj(i+PAj)
={ uxj(i)=vxj(i+PA1j)+(PAj-PA1j)(vxj(i+1+PA1j)-vxj(i+PA1j)) i=1,2 ..., N0}
Wherein, vxjIt is intermediate variable data subset VxjElement, uxjIt (i) is intermediate variable data subset UxjElement.It is right
Vyj、VzjIt does similar linear interpolation arithmetic and obtains Uyj、Uzj。
(5) U is calculatedxj、Uyj、UzjAmplitude, be denoted as A respectivelyxj、Ayj、Azj, it calculates:
Wherein, x22jFor the x-component of the rotary shaft of spherical internal detector；y22jIt is y points of the rotary shaft of spherical internal detector
Amount；z22jFor the z-component of the rotary shaft of spherical internal detector.
Take four kinds of combinations:
[x22j y22j z22j]=[β1|x22j|β2|y22j|β3|z22j],
Wherein, (β1 β2 β3) ∈ { (1 1 1), (- 11 1), (1-1 1), (- 1-1 1) }, β1、β2、β3For in spherical shape
The symbol of the x, y, z component of the rotary shaft of detector.
(6) following transition matrix set is constructed:
Wherein, vyjIt (i) is intermediate variable data subset VyjElement；vzjIt (i) is intermediate variable data subset VzjMember
Element；uyjIt (i) is intermediate variable data subset UyjElement；uzjIt (i) is intermediate variable data subset UzjElement.Because second
Symbol value that there are four types of rows, therefore R12jThere are four types of configurations.
(7) four kinds of situation R are calculated12jQuadrature error ER12j:
ER12j={ er12j(i)=| | r12j(i)T·r12j(i)-diag(1,1,1)||2| i=1,2 ..., N0}
Wherein, diag (1,1,1) indicates that the element on diagonal line is all 3 × 3 matrix that 1, remaining element is all 0,
er12jIt (i) is orthogonal error E R12jElement；r12jIt (i) is transition matrix R12jElement；r12j(i)TFor r12j(i) transposition；|
|·||2Indicate not this black norm of Luo Beini, such as:
Choose the lesser group code combination of error: as shown in the figure as (β1,β2,β3)=(- 1,1,1) when R12jOrthogonal mistake
Poor ER12jMuch smaller than other three kinds of situations, R is excluded12jOther three kinds of situations, R12jIt uniquely determines.
203: coordinate transform is done to rotating excitation field；
(1) by B2x(k)、B2y(k)、B2z(k) it is divided into volume of data subset, each data subset points are N0, this
N is taken in test0=260, if the magnetic field data subset before j-th of coordinate transform is expressed as Exj={ e2xj(i) | i=1,2 ...,
N0},Eyj={ e2yj(i) | i=1,2 ..., N0},Ezj={ e2zj(i) | i=1,2 ..., N0 }, 1≤j≤N1, e2xjIt (i) is coordinate
Magnetic field data subset E before transformationxjElement；e2yjIt (i) is the magnetic field data subset E before coordinate transformyjElement；e2zj(i)
For the magnetic field data subset E before coordinate transformzjElement.
(2) R is utilized12jTo Exj,Eyj,EzjMake following operation, the magnetic field data subset G after obtaining coordinate transformxj,Gyj,
GzjIf Gxj={ gxj(i) | i=1,2 ..., N0},Gyj={ gyj(i) | i=1,2 ..., N0},Gzj={ gzj(i) | i=1,
2,…,N0},1≤j≤N1, and meet
Wherein, gxjIt (i) is GxjElement；gyjIt (i) is GyjElement；gzjIt (i) is GzjElement；exjIt (i) is ExjMember
Element；eyjIt (i) is EyjElement；ezjIt (i) is EzjElement.
204: identified using the magnetic field after conversion elbow, girth joint, the stress concentration of pipeline, scratch, drilling hole of oil stolen valve,
The abnormal points such as valve chamber.
Identification for valve chamber: the magnetic signal of valve chamber will not change throughout the year, can be in valve chamber tracking ball when detecting for the first time
At the time of shape internal detector passes through, the magnetic field after the conversion at this moment is known as the later sample for finding valve chamber by comparing
Other valve chamber does not have to track spherical internal detector in valve chamber again when detecting again later.
Identification for elbow: when step-like features occurs in any component after inverting when magnetic field, it can judgement pipe
Sudden change has occurred in road trend, that is, elbow occurs.
Identification for girth joint: the magnetic field after the conversion of commissure will appear spike, which occurs every 12m or so
One, if there is spike not at girth joint, then can suspect it is other kinds of magnetic anomaly.
Identification for drilling hole of oil stolen valve: the magnetic field after conversion at drilling hole of oil stolen valve will appear spike, which will not
Present in girth joint, i.e., it will not fall in every on the position of 12m or so.Best bet is manually to manufacture multiple stolen valves to stand
Pipe acquires stolen valve magnetic anomaly sample by test.
Stress collection can be classified as the magnetic field after other conversions extremely and neutralize scratch, if repeated detection, surely
It makes now, then can arrange abnormal point from high to low according to intensity, preceding ten are excavated one by one and is checked.By repeatedly existing
Field experiment, cumulative stress collection neutralize the sample of the magnetic anomaly at scratch.
In conclusion the embodiment of the present invention realizes the rotating excitation field that will be measured through the above steps 201 to step 204
It is mapped to the magnetic field under static pipeline coordinate system, the elbow, girth joint, stress collection of pipeline are identified using the magnetic field after conversion
In, the abnormal points such as valve chamber, scratch, drilling hole of oil stolen valve.This method is especially suitable for submarine pipeline, and convenient, detection cycle in real time
It is short.
Embodiment 3
Feasibility verifying is carried out to the scheme in Examples 1 and 2 below with reference to Fig. 2, Fig. 3, Fig. 4 and Fig. 5, it is as detailed below to retouch
It states:
1) three-component Magnetic Sensor and Three-component accelerometer are mounted in spherical internal detector, are opened in spherical shape
The power supply of detector, electronic system starts data acquisition and storage magnetic field signal and acceleration signal, and spherical internal detector is close
Envelope fastens.
2) spherical internal detector is emitted in oil-gas pipeline from the service cylinder at oil-gas pipeline beginning, spherical internal detector exists
Under the promotion of fluid in pipeline, rolls and advance, while recording magnetic field signal and acceleration signal.
3) when spherical internal detector reaches oil-gas pipeline end, spherical internal detector is taken out out of ball collecting chamber, with dry cloth
Wiped clean spherical internal detector.
4) spherical internal detector is opened, spherical internal detector and host computer computer is connected with data line, downloads the data to
Position machine carries out data processing to magnetic field data and acceleration information using aforementioned algorism.
Fig. 2 shows the magnetic field in the valve chamber interior conduit of the transformation front and back barley pool.(a) primitive pipeline rotating excitation field, (b) to rotation
Turn magnetic field and does magnetic field after coordinate transform.It can be seen that the feature of x magnetic-field component is brighter than before transformation after transformation
It is aobvious.
Fig. 3, which is shown below the magnetic field detection to pipeline using transformation, has a molten iron pipe to pass through, similar to stolen valve.(a)
There are the rotating excitation fields in pipeline original when external iron pipe；(b) there are when external iron pipe to rotating excitation field do coordinate transform it
Magnetic field afterwards；(c) photo: there is one thin molten iron pipe similar to stolen valve outside oil-gas pipeline.It can be seen that being only capable of before transformation
Exception is found out from z-component, can find out exception from y-component and z-component after transformation.
Fig. 4 is to utilize the magnetic field detection converted to girth joint: (a) rotating excitation field in pipeline original at girth joint；(b)
The magnetic field after coordinate transform is done at girth joint to rotating excitation field；(c) the girth joint photo of live oil-gas pipeline.It can be seen that
It before transformation, is only capable of finding out exception from x-component, can find out exception from x-component, z-component, total amount after transformation.
Fig. 5 display utilizes the elbow of transformed magnetic field detection different direction at A, B, C tri-.(a) original includes 3 curved
Rotating excitation field in one segment pipe of head, (b) does the magnetic field after coordinate transform to the rotating excitation field in the segment pipe.It can see
It arrives, before transformation, is only capable of identifying elbow from A, B two from x-component, can then be identified from x-component from A, B, C tri- after transformation
Elbow.
In conclusion the embodiment of the present invention identifies the elbow, girth joint, stress collection of pipeline using the magnetic field after conversion
In, the abnormal points such as valve chamber, scratch, drilling hole of oil stolen valve.This method is especially suitable for submarine pipeline, and convenient, detection cycle in real time
It is short.
The embodiment of the present invention to the model of each device in addition to doing specified otherwise, the model of other devices with no restrictions,
As long as the device of above-mentioned function can be completed.
It will be appreciated by those skilled in the art that attached drawing is the schematic diagram of a preferred embodiment, the embodiments of the present invention
Serial number is for illustration only, does not represent the advantages or disadvantages of the embodiments.
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all in spirit of the invention and
Within principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (3)
1. a kind of rapid detection method of pipeline abnormal point, which is characterized in that the rapid detection method the following steps are included:
Three-component Magnetic Sensor and acceleration transducer are fixed on any position in spherical internal detector, the three of Magnetic Sensor
A axis is parallel with three axis difference of acceleration transducer respectively, by spherical internal detector throw pipe inspection, measure pipeline in magnetic field and
Acceleration, inspection finish, and the magnetic field signal that spherical internal detector records is downloaded to host computer, carries out data processing；
The transition matrix constructed using the data subset of acceleration signal；
Coordinate transform is done to rotating excitation field using magnetic field signal, transition matrix；
Elbow, girth joint, stress concentration, valve chamber, scratch, the drilling hole of oil stolen valve exception of pipeline are identified using the magnetic field after conversion
Point.
2. a kind of rapid detection method of pipeline abnormal point according to claim 1, which is characterized in that described to utilize acceleration
The step of spending the transition matrix of data subset building of signal specifically:
Median filtering is carried out to data subset respectively, obtains filtered signal subset；It is obtained by filtered signal subset
Intermediate variable data subset；The amplitude of intermediate variable data subset is calculated, set of matrices is constructed.
3. a kind of rapid detection method of pipeline abnormal point according to claim 1, which is characterized in that described to utilize magnetic field
The step of signal, transition matrix do coordinate transform to rotating excitation field specifically:
By the signal B of three axis of Magnetic Sensor2x(k)、B2y(k)、B2z(k) volume of data subset, each data are divided into
Integrate points as N0；
The transition matrix R constructed using j-th of data subset of acceleration signal12jTo the magnetic field data before j-th of coordinate transform
Subset Exj,Eyj,EzjMake following operation, the magnetic field data subset G after obtaining coordinate transformxj,Gyj,GzjIf Gxj={ gxj(i)|i
=1,2 ..., N0},Gyj={ gyj(i) | i=1,2 ..., N0},Gzj={ gzj(i) | i=1,2 ..., N0},1≤j≤N1, and it is full
Foot
Wherein, gxjIt (i) is GxjElement；gyjIt (i) is GyjElement；gzjIt (i) is GzjElement；exjIt (i) is ExjElement；
eyjIt (i) is EyjElement；ezjIt (i) is EzjElement；
Wherein, vxjIt (i) is intermediate variable data subset VxjElement, vyjIt (i) is intermediate variable data subset VyjElement；vzj
It (i) is intermediate variable data subset VzjElement；uxjIt (i) is intermediate variable data subset UxjElement, uyj(i) become to be intermediate
Measure data subset UyjElement；uzjIt (i) is intermediate variable data subset UzjElement, x22jFor the rotary shaft of spherical internal detector
X-component；y22jFor the y-component of the rotary shaft of spherical internal detector；z22jFor the z-component of the rotary shaft of spherical internal detector.
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| CN106644302A (en) * | 2017-02-20 | 2017-05-10 | 广东工业大学 | Pipeline leak detection method and device and spherical system |
| CN107040269B (en) * | 2017-04-11 | 2019-04-30 | 中国人民解放军海军工程大学 | Pole based on variance median filtering/ultralow frequency channel atmospheric noise suppressing method |
| CN111060058B (en) * | 2019-12-28 | 2021-04-13 | 天津大学 | Vertical bending detection method for submarine pipeline |
| CN113155007B (en) * | 2021-03-10 | 2023-04-21 | 北京航空工程技术研究中心 | Monitoring method for wall thickness change of aviation kerosene pipeline |
| CN112835109A (en) * | 2021-03-17 | 2021-05-25 | 华孚油气工程技术成都有限公司 | Pipeline weak magnetic positioning method for detector in long-distance pipeline |
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