CN111948721A - Submarine pipeline positioning method based on active magnetization - Google Patents
Submarine pipeline positioning method based on active magnetization Download PDFInfo
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Abstract
The invention discloses a submarine pipeline positioning method based on active magnetization, which comprises the following steps: constructing a system of the integral magnetic field measuring device, and positioning the submarine pipeline based on the system; the system comprises: a support structure is arranged above the pipeline, a magnet array or a magnetizing coil array is arranged above the support structure, and the array and the support structure are connected through a copper column; the array is provided with a magnetic field measuring device, the plane on which the magnetic field measuring device is arranged is a measuring surface, and linear array magnetic sensor circuits are distributed; the reduced magnetic flux density generated by the pipeline on the measuring surface is measured, the measured data is sent to an upper computer through a serial port, and the upper computer judges the position of the pipeline axis according to the reduced magnetic flux density on the measuring surface. The method for improving the limit detection distance is realized by applying the magnet or the magnetizing coil array near the magnetic field measuring surface and applying active magnetization to the pipeline.
Description
Technical Field
The invention relates to the field of submarine pipeline detection, in particular to a submarine pipeline positioning method based on active magnetization.
Background
Seabed oil and gas pipelines are in a complex service environment for a long time and are easy to damage due to corrosion, displacement, external force impact and the like. The number of submarine pipelines is rapidly increased along with the vigorous development of ocean oil and gas resource development, and the occurrence probability of rupture accidents is greatly increased. The leakage of subsea pipelines, once it occurs, causes very serious economic losses and environmental pollution, so it is important to perform routine inspection and maintenance. The precise positioning and tracking of the buried or exposed pipelines at the sea bottom are the premise for realizing the precise detection, maintenance and reinforcement of the pipelines.
Submarine pipeline positioning methods can be divided into three major categories, visual, acoustic and magnetic. When the pipeline is positioned by using a magnetic method, the magnetic conductivity of the submarine pipeline is far greater than 1, and magnetic distribution characteristics which are obviously different from a background magnetic field are generated inside and outside the pipeline. The magnetic field in the pipeline has definite mathematical relation with the included angle between the pipeline and the geomagnetic field, the pipeline size, the magnetic conductivity and the like, the trend and the track of the pipeline can be measured by means of a detector in the pipeline, but the measurement precision cannot meet the requirements of pipeline maintenance on positioning precision and the requirements on pipeline tracking detection.
In the aspect of positioning the submarine pipeline by using an external magnetic field of the pipeline, the magnetic anomaly distribution generated by the long and straight pipeline under the magnetization effect of geomagnetic fields in different directions can be obtained by deriving through Poisson equation, and the position of the pipeline is judged by using a transverse magnetic anomaly profile, wherein the magnetic anomaly is defined as the difference value between the total magnetic field modulus and the background magnetic field modulus, and the positioning deviation of the pipeline is related to the magnetic declination and the azimuth angle of the pipeline, but the mathematical relationship is unknown. In the aspect of acquiring a magnetic field near a scanned submarine pipeline by using a mobile magnetometer array and positioning the pipeline by using magnetic anomaly gradients, the magnetic anomalies and the gradients of the submarine pipeline are not completely and accurately captured and presented because magnetic sensors are too sparse and few. According to a magnetic gradient formula in the pipeline well, a formula for calculating the buried depth and the horizontal position of the pipeline by the magnetic gradient is obtained through forward simulation and statistical analysis, and the horizontal positioning deviation is found to be large and related to the size of the pipeline.
Analyzing the distribution rule of each component and total amount of the total magnetic field and the reduced magnetic field near the steel pipe, wherein the characteristic peak positions of the total magnetic flux density mode, each component and each component of the reduced magnetic flux density are changed along with the change of the radial magnetization direction; the characteristic peak position of the reduced magnetic flux density mode is always coincident with the projection of the pipeline on the measuring surface and is irrelevant to the radial magnetization direction. Therefore, a method for accurately positioning the submarine pipeline by using the external magnetic field of the pipeline is provided, but the magnetic field strength is weakened when the measurement distance is increased, so that accurate positioning cannot be realized.
Disclosure of Invention
The invention provides a submarine pipeline positioning method based on active magnetization, which realizes a method for improving limit measurement distance by applying a magnet array or a magnetization coil array near a magnetic field measurement surface, and is described in detail as follows:
a method of active magnetization-based subsea pipeline positioning, the method comprising:
constructing a system of the integral magnetic field measuring device, and positioning the submarine pipeline based on the system;
wherein the system comprises:
a support structure is arranged above the pipeline, a magnet array or a magnetizing coil array is arranged above the support structure, and the magnet array or the magnetizing coil array is connected with the support structure through a copper column; a magnetic field measuring device is arranged above the magnet array or the magnetizing coil array, the plane on which the magnetic field measuring device is arranged is a measuring surface, and linear array magnetic sensor circuits are distributed;
and measuring the reduced magnetic flux density generated by the pipeline on the measuring surface, judging the measured limit distance according to the reduced magnetic flux density on the measuring surface, and sending the measured data to the upper computer through a serial port.
Wherein the method further comprises:
during measurement, a measurement mode that the magnet is arranged at the lower part and the measurement surface is arranged at the upper part is selected.
Further, the method further comprises:
acquiring magnetic data of each magnetic sensor at each grid point through a linear array magnetic sensor circuit, recording, keeping for several seconds, averaging to obtain three-dimensional magnetic flux density in a plane above the outside of the pipeline, and calculating a magnetic flux density modulus | B | of each measuring point;
removing or measuring local earth magnetic field B away from the pipelinebCalculating a reduced magnetic flux density mode
The three components represent X, Y and the reduced flux density in the Z direction, respectively, and the sensor data with and without magnets are shown graphically.
The technical scheme provided by the invention has the beneficial effects that:
1. the traditional method for positioning the submarine pipeline by adopting the reduced magnetic flux density can effectively eliminate the deviation between the magnetic field peak value and the actual position of the pipeline, but cannot get rid of the limitation on the measurement distance during magnetic measurement, and when the measurement distance is too far, the reduced field strength at the position of the measurement surface is weaker, so that the position of the pipeline cannot be detected. According to the invention, after the magnet array or the magnetizing coil array is added near the magnetic field measuring surface, the reduced magnetic flux density at the magnet position is obviously higher than that at the non-magnet position by magnetizing the pipeline, and the measuring distance is obviously improved.
2. The method can reduce the use cost of the system and improve the measurement effect of the system. The high-precision magnetometer adopted in the traditional magnetic field measurement greatly increases the measurement cost, and the method can use the magnetic sensor with lower precision to realize the measurement effect far exceeding that of the magnetic sensor with higher precision.
Drawings
FIG. 1 is a schematic view of an integral measurement device based on active magnetization subsea pipeline positioning;
FIG. 2 is a diagram of a magnet array or magnetizing coil array structure;
FIG. 3 is a graph (simulation) of magnetic anomaly measurement results for different measurement distances in the absence of magnet;
FIG. 4 is a graph (simulation) of the magnetic anomaly measurement results for different measurement distances after a single magnet is added;
FIG. 5 is a graph (simulation) of the magnetic anomaly measurement results for different measurement distances after a magnet array or a magnetizing coil array is added;
FIG. 6 is a graph (experiment) of the results of magnetic anomaly measurements for different measurement distances without a magnet array or a magnetizing coil array;
fig. 7 is a graph (experiment) of the measurement result of magnetic anomaly at different measurement distances after a magnet array or a magnetizing coil array is added.
In the figure: the device comprises a ground, 2 pipelines, 3 supporting structures, 4 copper columns, 5 steel plates, 6 magnet arrays or magnetizing coil arrays, 7 magnetic field measuring devices, 8 upper computers and 9 single magnets.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention are described in further detail below.
First, structural aspect
A system for integrally measuring a magnetic field device comprising: the pipeline 2, the magnetic field measuring device 7, the magnet array or the magnetizing coil array 6 and the supporting structure 3 are arranged above the pipeline 2, the reduced magnetic flux density generated by the pipeline on a measuring surface (namely a plane on which the linear array magnetic sensors are arranged and also a measuring surface of a magnetic field) is measured, and a limit distance (namely a critical distance) of the measurement is judged according to the reduced magnetic flux density on the measuring surface, wherein the magnet is arranged below preferentially when the measurement is carried out, and the measuring method with the measuring surface above is arranged, and the schematic diagram of the whole measuring device is shown in fig. 1.
Wherein the magnetic field measuring device 7 comprises: the linear array magnetic sensor circuit comprises a linear array magnetic sensor circuit, a data acquisition chip, a serial port and a corresponding connecting circuit.
Supporting structure 3 places in pipeline 2 top, arrange magnet array or magnetizing coil array 6 in supporting structure 3 top, magnet array or magnetizing coil array 6 and supporting structure 3 pass through copper post 4 and connect, the plane that magnetic field measuring device 7 arranged is for surveying the face, the linear array magnetic sensor circuit is being distributed, arrange in magnet array or magnetizing coil array 6's top, magnetic field measuring device 7 passes through copper post 4 with magnet array or magnetizing coil array 6 and connects, the height can be adjusted through the quantity of copper post 4, the data of surveying are sent to host computer 8 through the serial ports.
Wherein, the measured data are specifically: the magnetic data of each magnetic sensor in the linear array magnetic sensor circuit at each lattice point comprises B when a pipeline is arranged and B after the pipeline is removedbB is the three-component magnetic field vector at the measuring point when the pipeline exists, BbIs the three-component magnetic field vector at the measurement point when there is no pipe or when there is a pipe far away.
Firstly place the pipeline 2 level of awaiting measuring subaerial, place strutting arrangement structure 3 above pipeline 2, place the little table on pipeline 2 during the experiment to add one deck steel sheet and two little stools as bearing structure 3. A magnet array or magnetizing coil array 6 is positioned horizontally above the platform and is configured as shown in fig. 2.
In the experiment, the linear array magnetic sensor circuit is close to the magnet array or the magnetizing coil array 6 as much as possible, so that the distance between the magnet array or the magnetizing coil array 6 and the pipeline 2 can be reduced, and a better measuring effect is obtained. In practical application, the magnet array or the magnetizing coil array 6 can be replaced by an electrified coil which is electrified with alternating current or direct current, and the effect of improving the measurement limit distance can also be achieved.
Second, data processing aspect
Magnetic data of each magnetic sensor at each grid point is acquired by using the arranged linear array magnetic sensor circuit, recorded, kept for several seconds, averaged to obtain a three-dimensional magnetic flux density B in a plane above the outside of the pipeline 2, and a magnetic flux density modulus | B | of each measuring point is calculated. Then removing the pipe 2 or measuring the local earth magnetic field B away from the pipe 2bCalculating a reduced magnetic flux density mode
The three components represent X, Y and the reduced flux density in the Z direction, respectively, and the sensor data with and without magnets are shown graphically.
The feasibility of improving the measurement limit distance in the submarine pipeline positioning method based on active magnetization provided by the above embodiments is verified by combining specific tests and the accompanying drawings, which are described in detail below:
fig. 3 shows the result of the simulated measurement of magnetic anomalies at different measurement distances without magnets, and fig. 4 shows the result of the simulated measurement of magnetic anomalies at different measurement distances after a single magnet is added, and it is found that the method for increasing the limit measurement distance by magnetizing the strong magnet outside the pipeline 2 is theoretically feasible; fig. 5 shows the result of the simulation measurement of the magnetic anomaly at different measurement distances after the magnet array or the magnetizing coil array is added, and the measurement limit distance is obviously improved compared with that of fig. 4. Fig. 6 shows a result of the magnetic anomaly experimental measurement result of different measurement distances without the magnet array or the magnetizing coil array, and fig. 7 shows a result of the magnetic anomaly experimental measurement result of different measurement distances after the magnet array or the magnetizing coil array is added, and it is found by comparison that the peak value of the magnetic anomaly is gradually reduced and the curve is gradually gentle with the increase of the distance. In the case of using a magnet, when the distance reaches 44cm, the maximum value of the measurement line is 23 μ T, and the difference between the maximum value and the minimum value is 8 μ T, and this distance is considered as the limit distance measured in the case of using a magnet. In the absence of magnets, the maximum value was 21. mu.T, and the difference between the maximum value and the minimum value was 8. mu.T, when the distance reached 22 cm. As the distance continues to increase, the peak of the measurement curve continues to decrease below 20 μ T, and the shape of the line distorts more, indicating that the magnetic field variation of adjacent sensors is less than the measurement accuracy of the magnetic sensor. Therefore, 22cm was taken as the measurement limit distance without the magnet. The limit measurement distance is improved by about one time by the magnet relative to the magnet-free magnet.
The total magnetic field and the saturation magnetic field are terms of technical skill in the art, and are not described in detail in the embodiments of the present invention.
In the embodiment of the present invention, except for the specific description of the model of each device, the model of other devices is not limited, as long as the device can perform the above functions.
Those skilled in the art will appreciate that the drawings are only schematic illustrations of preferred embodiments, and the above-described embodiments of the present invention are merely provided for description and do not represent the merits of the embodiments.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (3)
1. A method of active magnetization based subsea pipeline positioning, the method comprising:
constructing a system of the integral magnetic field measuring device, and positioning the submarine pipeline based on the system;
wherein the system comprises:
a support structure is arranged above the pipeline, a magnet array or a magnetizing coil array is arranged above the support structure, and the array and the support structure are connected through a copper column; a magnetic field measuring device is arranged above the array, the plane on which the magnetic field measuring device is arranged is a measuring surface, and linear array magnetic sensor circuits are distributed;
and measuring the reduced magnetic flux density generated by the pipeline on the measuring surface, judging the measured limit distance according to the reduced magnetic flux density on the measuring surface, and sending the measured data to the upper computer through a serial port.
2. The method of active magnetization based subsea pipeline positioning according to claim 1, further comprising:
during measurement, a measurement mode that the magnet or the magnetizing coil is arranged at the lower part and the measuring surface is arranged at the upper part is selected.
3. The method of active magnetization based subsea pipeline positioning according to claim 1, further comprising:
acquiring magnetic data of each magnetic sensor at each grid point through a linear array magnetic sensor circuit, recording, keeping for several seconds, averaging to obtain three-dimensional magnetic flux density in a plane above the outside of the pipeline, and calculating a magnetic flux density modulus | B | of each measuring point;
removing or measuring local earth magnetic field B away from the pipelinebCalculating a reduced magnetic flux density mode
The three components represent X, Y and the reduced flux density in the Z direction, respectively, and the sensor data with and without magnets or magnetized coils are shown as curves, where the extreme points of the curves are located at the position of the pipe.
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103268802A (en) * | 2013-05-24 | 2013-08-28 | 大连康赛谱科技发展有限公司 | Magnetizing device and detecting method for detecting corrosion condition of underground metal pipelines |
| CN207440306U (en) * | 2017-11-10 | 2018-06-01 | 中国石油化工股份有限公司 | A kind of buried abandoned well detection device |
| CN110260044A (en) * | 2019-06-06 | 2019-09-20 | 天津大学 | A kind of submarine pipeline localization method |
| CN110989019A (en) * | 2019-12-26 | 2020-04-10 | 中国科学院电工研究所 | Method for acquiring and processing magnetic characteristic in-situ detection data of seabed sediment |
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- 2020-08-13 CN CN202010813932.3A patent/CN111948721A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103268802A (en) * | 2013-05-24 | 2013-08-28 | 大连康赛谱科技发展有限公司 | Magnetizing device and detecting method for detecting corrosion condition of underground metal pipelines |
| CN207440306U (en) * | 2017-11-10 | 2018-06-01 | 中国石油化工股份有限公司 | A kind of buried abandoned well detection device |
| CN110260044A (en) * | 2019-06-06 | 2019-09-20 | 天津大学 | A kind of submarine pipeline localization method |
| CN110989019A (en) * | 2019-12-26 | 2020-04-10 | 中国科学院电工研究所 | Method for acquiring and processing magnetic characteristic in-situ detection data of seabed sediment |
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