CN111958175A - Method for positioning intersection point of spiral weld joint and circumferential weld joint of pipeline - Google Patents

Method for positioning intersection point of spiral weld joint and circumferential weld joint of pipeline Download PDF

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CN111958175A
CN111958175A CN202010776847.4A CN202010776847A CN111958175A CN 111958175 A CN111958175 A CN 111958175A CN 202010776847 A CN202010776847 A CN 202010776847A CN 111958175 A CN111958175 A CN 111958175A
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spiral
weld
pipeline
spherical
detector
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CN111958175B (en
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黄新敬
王垣
李健
封皓
张宇
李明泽
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Tianjin University
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Tianjin University
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
    • B23K37/053—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work aligning cylindrical work; Clamping devices therefor
    • B23K37/0538—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work aligning cylindrical work; Clamping devices therefor for rotating tubes, e.g. rollers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
    • B23K37/0426—Fixtures for other work
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K2101/00—Articles made by soldering, welding or cutting
    • B23K2101/04—Tubular or hollow articles
    • B23K2101/06—Tubes

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  • Optics & Photonics (AREA)
  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
  • Investigating Or Analyzing Materials By The Use Of Magnetic Means (AREA)

Abstract

The invention discloses a method for positioning the intersection point of a spiral weld joint and a circumferential weld joint of a pipeline, which comprises the following steps: firstly, putting a spherical detector SD in a spiral pipeline; secondly, taking the middle vertical circular section of the SD along the axial direction of the spiral pipeline as a measuring plane, and establishing a spherical coordinate system; thirdly, acquiring the obtained X according to SD2Axis and Z2Determining the axial position x of each helical weld in the helical pipe from the acceleration signal in the axial directioni(ii) a Fourthly, according to the rotation direction of the spiral welding seams in the spiral pipeline and the axial position x of each spiral welding seam in the spiral pipelineiAnd axial position s of the inlet girth weld of the helical pipeIAnd axial position of the outlet girth weldsoDetermining the intersection theta of the inlet helical weld and the inlet circumferential weld of the helical pipeIAnd the intersection point theta of the outlet spiral weld and the outlet circumferential weldo. The invention is based on the spherical internal detector SD, and can reliably detect the position of the intersection point of the spiral weld joint and the circumferential weld joint in the spiral pipeline.

Description

Method for positioning intersection point of spiral weld joint and circumferential weld joint of pipeline
Technical Field
The invention relates to the technical field of detection of intersection points of a pipeline spiral weld joint and a circumferential weld joint, in particular to a method for positioning the intersection points of the pipeline spiral weld joint and the circumferential weld joint.
Background
The pipeline transportation oil gas has the advantages of low cost, high efficiency, high safety and the like. The oil and gas transportation industry develops rapidly all over the world, so that the number of pipelines is greatly increased. Among them, the spiral steel pipe is popular in pipeline transportation application because of its lower cost than seamless steel pipe and higher strength than straight welded steel pipe.
One spiral pipeline is formed by welding a plurality of sections of pipelines, and each section of spiral pipeline is provided with a plurality of spiral welding seams, so that intersection points of the spiral welding seams and the circumferential welding seams exist between adjacent spiral steel pipes. Each section of spiral pipeline is provided with two spiral welding seams and a circumferential welding seam intersection point which are respectively a spiral starting point at an inlet and a spiral starting point at an outlet. Compared with other parts of the spiral steel pipe, the strength of the intersection point is lower, so that the cracking phenomenon is easy to occur. Therefore, the on-site spiral steel pipe needs to be excavated and detected at the intersection point of the spiral and the circumferential weld. In order to accurately excavate and reduce the construction cost, the position of the intersection point in the circumferential direction is required to be determined.
At present, there are many techniques suitable for detecting and locating pipeline weld defects, which can be classified into the following four categories: radiological, ultrasonic, eddy current and magnetic techniques. The ray detection technology is to detect whether the weld is cracked or not by using the intensity of rays penetrating through the spiral weld. The ultrasonic detection technology is used for detecting the welding seam and the defect of the pipeline by measuring the time difference of ultrasonic waves to and from the inner surface and the outer surface of the pipeline. The eddy current detection technology is based on electromagnetic induction and utilizes secondary eddy current generated by a pipeline to detect the properties of pipeline defects, welding seams and the like. The magnetic detection technology is to detect and position the welding seam and the defect by utilizing the magnetic field change of the welding seam and the defect of the pipeline or utilizing the magnetic flux leakage principle.
However, the above methods almost entirely focus on detecting defects of the weld, rather than the intersection positions of the spiral weld and the girth weld. Also, the above methods all need to be implemented by means of a line Inspection Gauge (PIG). In order to enable the detection probe of the cylindrical inner detector to contact the pipe wall and obtain thrust by means of front-back pressure difference, the cylindrical inner detector PIG needs to be tightly attached to the pipe wall, and is large in size and high in blocking risk.
For cylindricality internal Detector PIG, Spherical internal Detector (SD) diameter is less than the pipe diameter, can roll quietly in the pipeline under promoting and advance, has advantages such as difficult stifled, signal to noise ratio height, convenient to use of blocking up, is the accurate real-time detection instrument of a very promising novel pipeline. The spherical internal detector SD has been used for magnetic anomaly detection in pipes, which enables identification of a girth weld but not a helical weld from the magnetic signal measured by it.
The existing spherical internal detector SD cannot measure the intersection point position of the spiral weld joint and the circumferential weld joint. This is because, the size of the current spherical internal detector SD and the number and layout of the magnetic sensors are not specifically optimized for spiral weld detection, and weak magnetic anomaly signals and the rotation direction of the spiral weld cannot be measured.
Disclosure of Invention
The invention aims to provide a method for positioning the intersection point of a spiral weld joint and a circumferential weld joint of a pipeline aiming at curves in the prior art.
Therefore, the invention provides a method for positioning the intersection point of a spiral weld joint and a circumferential weld joint of a pipeline, which comprises the following steps:
the method comprises the following steps that firstly, a spherical detector SD is placed in a spiral pipeline, and the spherical detector SD rolls forwards around a horizontal rotating shaft of a sphere center in a fixed shaft manner under the pushing of fluid in the spiral pipeline;
secondly, establishing a spherical coordinate system by taking the middle vertical circular section of the spherical detector SD along the axial direction of the spiral pipeline as a measuring plane;
on-ballIn a rectangular coordinate system, X2The direction of the shaft is the advancing direction of the spherical detector, namely the direction in the measuring plane is the same as the axial direction of the spiral pipeline; z2The axial direction is the direction which is vertical to the axial direction of the spiral pipeline in the measuring plane; y is2The axial direction is the direction which is outside the measuring plane and is vertical to the measuring plane; origin O2In the center of the measurement plane;
wherein, Y2The shaft is a spherical center horizontal rotating shaft;
thirdly, acquiring X according to the spherical detector SD2Axis and Z2Determining the axial position x of each helical weld in the helical pipe from the acceleration signal in the axial directioni；
Fourthly, according to the rotation direction of the spiral welding seams in the spiral pipeline and the axial position x of each spiral welding seam in the spiral pipelineiAnd axial position s of the inlet girth weld of the helical pipeIAnd axial position s of the outlet girth weld of the helical pipeoDetermining the intersection theta of the helical weld and the girth weld at the inlet of the helical pipeIAnd the intersection point theta of the exit spiral weld and the girth weldO。
Wherein the spherical detector comprises a sealed spherical detector spherical shell in the shape of a sphere;
a tungsten cake is fixed on the middle vertical circular section of the spherical shell of the spherical detector along the radial direction;
the center of gravity of the tungsten cake is positioned at the center of the sphere of the spherical shell of the spherical detector;
the first magnetometer and the second magnetometer are symmetrically arranged on the left side and the right side of the tungsten cake;
an accelerometer is arranged at the upper end of the right side of the tungsten cake;
the lower end of the left side of the tungsten cake is provided with a data recorder;
the accelerometer, the first magnetometer and the second magnetometer are respectively connected with the data recorder through signal lines.
Wherein the weight of the tungsten cake accounts for 90 percent of the weight of the whole spherical detector.
Wherein in a third step, acceleration is performed using ax and azCalculating the rolling mileage of the spherical detector SD and determining the axial position x of each spiral weld in the spiral pipeline by the degree signali；
Where ax and az respectively indicate the accelerometer recordings at X for a spherical detector2And Z2An acceleration signal in an axial direction;
the specific method for calculating the rolling mileage comprises the following steps: respectively carrying out short-time Fourier transform (STFT) on ax and az component signals of the accelerometer, and extracting the rotation frequency f of the spherical detector1(t), then substituting the formula v (t) ═ pi Dbf1(t), where v (t) is the rotational linear velocity of the housing of the spherical detector, DbDiameter of a spherical detector, f1(t) is the frequency of rotation of the spherical detector, and then the calculated v (t) is substituted into the formula
Figure BDA0002618730190000031
Where s (t) is the calculated rolling range of the sphere detector.
Wherein, in the fourth step, the axial position s of the inlet girth weld of the helical pipe is determinedIIntersection theta of inlet helical weld and inlet circumferential weld of the helical pipe brought belowIFormula (c) of (a):
Figure 100002_1
Figure 100002_DEST_PATH_IMAGE001
calculating and obtaining the intersection point theta of the inlet spiral weld joint and the inlet circumferential weld joint of the spiral pipeline according to the formulaI；
In the above formula, p is the pitch;
Figure BDA0002618730190000042
to round down;
xifor each helical weld in the helical pipe to be in position relative to the inlet circumferential weldPlacing;
taking-/+, correspondingly indicating that the pipeline is in left-handed or right-handed rotation;
and n is the number of identified spiral welds.
Wherein, in the fourth step, the axial position s of the outlet girth weld of the spiral pipe is determinedoIntersection theta of the outlet spiral weld and the outlet circumferential weld of the spiral pipe brought belowOThe calculation formula of (2):
Figure 100002_2
Figure DEST_PATH_IMAGE002
calculating and obtaining the intersection point theta of the outlet spiral welding line and the outlet circumferential welding line of the spiral pipeline according to the formulaO；
In the above formula, p is the pitch;
Figure BDA0002618730190000045
to round down; x is the number ofiThe position of each helical weld in the helical pipe relative to the inlet girth weld;
wherein, the plus or minus is plus or minus, correspondingly indicates that the pipeline is in left-handed rotation or right-handed rotation;
and n is the number of identified spiral welds.
Compared with the prior art, the method for positioning the intersection point of the spiral weld joint and the circumferential weld joint of the pipeline is based on the spherical internal detector SD, can reliably detect the position of the intersection point of the spiral weld joint and the circumferential weld joint in the spiral pipeline, and has great practical significance.
Drawings
FIG. 1 is an overall flow chart of a method for positioning the intersection point of a helical weld and a circumferential weld of a pipeline according to the present invention;
FIG. 2 is a schematic structural diagram of a spherical detector with a built-in tungsten cake used in the method for positioning the intersection point of a helical weld and a circumferential weld of a pipeline according to the present invention;
FIG. 3 is a schematic diagram of a spherical detector advancing in a pipe in the method for positioning the intersection point of the spiral weld and the circumferential weld of the pipe according to the present invention;
FIG. 4 is a schematic diagram illustrating a principle of detecting an intersection point of a spiral weld and a circumferential weld in the method for positioning an intersection point of a spiral weld and a circumferential weld of a pipeline according to the present invention;
FIG. 5 is an acceleration signal recorded when a spherical detector moves in a pipeline in the method for positioning the intersection point of the spiral weld and the circumferential weld of the pipeline provided by the invention;
FIG. 6a is a schematic curve diagram of the internal magnetic component By of the spiral pipe corresponding to four rotation directions when the spiral weld starting point at the entrance of the spiral pipe is 270 °, the length of the spiral pipe is 2m, and the pitch of the spiral pipe is 425mm according to the method for locating the intersection point of the spiral weld and the circumferential weld of the pipe provided By the present invention;
FIG. 6b is a schematic diagram of a result curve of cubic enhancement of internal magnetic components By of a spiral pipeline corresponding to four rotation directions when the spiral weld start points at the inlet of the spiral pipeline are 270 degrees, the length of the spiral pipeline is 2m, and the thread pitch is 425mm according to the method for positioning the intersection point of the spiral weld and the circumferential weld of the pipeline provided By the invention;
FIG. 7a is a schematic curve diagram of the internal magnetic component By of the spiral pipe corresponding to four rotation directions when the spiral weld starting points at the entrance of the spiral pipe are respectively 180 degrees, the length of the spiral pipe is 2m, and the thread pitch is 425mm according to the method for positioning the intersection point of the spiral weld and the circumferential weld of the pipe provided By the present invention;
FIG. 7b is a schematic diagram of a result curve of cubic enhancement of internal magnetic components By of a spiral pipeline corresponding to four rotation directions when the spiral weld starting points at the inlet of the spiral pipeline are respectively 180 degrees, the length of the spiral pipeline is 2m, and the thread pitch is 425mm according to the method for positioning the intersection point of the spiral weld and the circumferential weld of the pipeline provided By the present invention;
FIG. 8a is a schematic curve diagram of the internal magnetic component By of the spiral pipe corresponding to four rotation directions when the spiral weld starting points at the entrance of the spiral pipe are 90 degrees, the length of the spiral pipe is 2m, and the pitch of the spiral pipe is 425mm according to the method for positioning the intersection point of the spiral weld and the circumferential weld of the pipe provided By the present invention;
FIG. 8b is a schematic diagram of a result curve of cubic enhancement of internal magnetic components By of a spiral pipeline corresponding to four rotation directions when the spiral weld start points at the inlet of the spiral pipeline are 90 degrees, the length of the spiral pipeline is 2m, and the thread pitch is 425mm according to the method for positioning the intersection point of the spiral weld and the circumferential weld of the pipeline provided By the present invention;
FIG. 9a is a schematic curve diagram of the internal magnetic component By of the spiral pipe corresponding to four rotation directions when the starting points of the spiral weld at the inlet of the spiral pipe are respectively 0 °, the length of the spiral pipe is 2m, and the pitch of the spiral pipe is 425mm according to the method for positioning the intersection point of the spiral weld and the circumferential weld of the pipe provided By the present invention;
fig. 9b is a schematic diagram of a result curve of cubic enhancement of internal magnetic components By of the spiral pipeline corresponding to four rotation directions when the starting points of the spiral weld at the inlet of the spiral pipeline are respectively 0 °, the length of the spiral pipeline is 2m, and the thread pitch is 425mm, according to the method for positioning the intersection point of the spiral weld and the circumferential weld of the pipeline provided By the invention.
Detailed Description
In order that those skilled in the art will better understand the technical solution of the present invention, the following detailed description of the present invention is provided in conjunction with the accompanying drawings and embodiments.
Referring to fig. 1 to 9b, the present invention provides a method for positioning an intersection point of a helical weld and a circumferential weld of a pipeline, comprising the steps of:
the method comprises the following steps that firstly, a spherical detector SD is placed in a spiral pipeline, and the spherical detector SD rolls forwards in a fixed axis mode around a horizontal rotating shaft of a sphere center under the pushing of fluid (such as petroleum) in the spiral pipeline;
secondly, taking the middle vertical circular section of the spherical detector SD along the axial direction (namely the axial direction) of the spiral pipeline as a measuring plane, and establishing a spherical coordinate system;
referring to FIG. 3, in a spherical coordinate system, X2The direction of the axis is the advancing direction of the spherical detector, i.e. the direction of the axis of the helical pipe (i.e. the direction of the axis) in the measuring planeToward) the same direction; z2The axial direction is a direction perpendicular to the axial direction (i.e., the axial direction) of the spiral pipe in the measurement plane; y is2The axial direction is the direction which is outside the measuring plane and is vertical to the measuring plane; origin O2In the center of the measurement plane;
wherein, Y2The shaft is a spherical center horizontal rotating shaft;
thirdly, acquiring X according to the spherical detector SD2Axis and Z2Determining the axial position x of each helical weld in the helical pipe from the acceleration signal in the axial directioni；
Fourthly, according to the rotation direction of the spiral welding seams in the spiral pipeline and the axial position x of each spiral welding seam in the spiral pipelineiAnd axial position s of the inlet girth weld of the helical pipeIAnd axial position s of the outlet girth weld of the helical pipeoDetermining the intersection theta of the helical weld and the girth weld at the inlet of the helical pipeIAnd the intersection point theta of the exit spiral weld and the girth weldo。
In the fourth step, it should be noted that the spiral welds in the spiral pipe have the same spiral direction.
In the present invention, referring to fig. 2, in a first step, embodied, the spherical detector 6 comprises a sealed, sphere-shaped spherical detector shell;
a tungsten cake 5 is fixed on the middle vertical circular section (namely a large circular plane) of the spherical shell of the spherical detector along the radial direction;
the gravity center of the tungsten cake 5 is positioned at the spherical center of the spherical shell of the spherical detector;
the first magnetometer 2 and the second magnetometer 3 are symmetrically arranged on the left side and the right side of the tungsten cake 5;
an accelerometer 1 is arranged at the upper end of the right side of the tungsten cake 5;
the lower end of the left side of the tungsten cake 5 is provided with a data recorder 4;
the accelerometer 1, the first magnetometer 2 and the second magnetometer 3 are respectively connected with the data recorder 4 through signal lines.
It should be noted that, for the present inventionObviously, the design principle of the spherical detector is that most of the weight of the spherical detector should be concentrated on the vertical circular section of the spherical detector, so that the moment of inertia of the spherical detector around the vertical circular section through the normal of the circle center is much larger than that around other axes, and the spherical detector can stably surround the normal of the large circular plane (namely Y) in a pipeline2The shaft is also a spherical center horizontal rotating shaft and is also the axial direction of the cylindrical tungsten cake 5) to perform fixed-shaft rolling.
In the present invention, it should be noted that the accelerometer 1 is a three-component accelerometer of an MEMS (micro-electronic system), and has a mass block supported by a rigid body in its interior by a piezoelectric effect, and the mass block generates pressure and strain under the condition of motion, and converts the acceleration into an electrical signal for output, so as to calculate the acceleration of the device, and the accelerometer 1 is used to record the acceleration signal of the spherical detector 6 during the operation in the spiral pipeline, and obtain the distance traveled by the spherical detector 6 in the spiral pipeline by two integral operations.
In the invention, the two magnetometers, namely the first magnetometer 2 and the second magnetometer 3, specifically use vector magnetic resistance sensors, through the magnetic resistance effect, when the magnetic field changes, the resistance value of metal or semiconductor placed in the magnetic field changes, so as to generate electric signal change, and the magnetic field size is obtained through calculation of the electric signal change. The sensitive axis refers to the measuring direction of the sensor, and the vector magnetic resistance sensor has three sensitive axes, wherein one sensitive axis is connected with the rotating shaft (namely Y) of the spherical detector2Axis, which is the horizontal rotation axis of the sphere center), the magnetic field measurement result obtained By defining the sensitive axis of the two magnetometers which is in the same direction as the rotation axis of the spherical detector 6 is By, and the By indicates that the spherical detector 6 moves to the same axial position of the pipeline as the spiral weld at the trough position.
In the invention, two magnetometers are used for judging the rotation direction of the spiral weld, and the rotation direction of the weld is judged according to the time difference of the spiral weld obtained by analyzing the left magnetometer and the right magnetometer.
In the invention, the data recorder 4 reads data through a serial bus by using a single chip microcomputer and then stores the data into an SD card, and the data recorder 4 is connected with two magnetometers, namely a first magnetometer 2 and a second magnetometer 3, and the accelerometer 1 through a wire in a physical connection mode.
In the invention, when the spherical detector 6 moves in the spiral pipeline, under the control of the single chip microcomputer, the data recorder 4 respectively reads the magnetic field size of the two magnetometers, namely the first magnetometer 2 and the second magnetometer 3 and the acceleration value of the accelerometer 1, and stores the data into the SD card, and the spherical detector 6 runs to the other end of the spiral pipeline, so that the SD card can be taken out, and the data can be transmitted to the upper computer for analysis.
In the first step, embodied in a way that the weight of the tungsten cake 5 is 90% of the weight of the whole spherical detector.
It should be noted that, referring to fig. 2, for the present invention, a heavy tungsten cake is fixed on the large circular plane of the spherical detector, the tungsten cake concentrates 90% of the weight of the spherical detector, and the magnetometer, the accelerometer and the data logger are fixed on the tungsten cake. When the spherical detector 6 operates in a moving way in the spiral pipe 8, the moving process is as shown in fig. 3 under the pushing of the oil flow 7 (fluid).
Referring to FIG. 3, the coordinate system of the spiral pipe is O1-X1Y1Z1Spherical coordinate system of O2-X2Y2Z2, the spherical detector 6 being able to roll substantially stably around Y when the spherical detector 6 rolls forward in the helical duct 82The shaft performs a movement, in fig. 3, ω1Representing the angular frequency of rotation of the spherical detector.
In the invention, a spiral pipeline coordinate system is established, and in the spiral pipeline coordinate system, the radial section of the spiral pipeline is taken as a detection plane, X1The axial direction is the axial direction (namely the axial direction) of the spiral pipeline and is equal to the advancing direction of the spherical detector;
Z1the axial direction is a direction perpendicular to the axial direction (i.e., the axial direction) of the spiral pipe in the detection plane;
Y1the axial direction is in the detection plane and is vertical to the axial direction of the spiral pipeline; origin O1For detecting the center of the plane。
In the present invention, the position of the intersection of the spiral weld and the girth weld is defined as: with Y1The axis is the starting point and the angle theta of rotation about the axis of the helical pipe is defined as shown in figure 4. Namely: y in the helical tube coordinate system1Axis being starting point, around X1The angle theta through which the shaft is rotated.
It should be noted that, at present, according to the existing method, the position of the girth weld can be identified from the magnetic signal measured by the spherical detector SD. Therefore, in order to obtain the specific position of the intersection point of the spiral weld joint and the circumferential weld joint, only the specific angle of the intersection point of the spiral weld joint and the circumferential weld joint in the circumferential direction of the circumferential weld joint needs to be obtained, so that the specific position of the intersection point of the spiral weld joint and the circumferential weld joint in the circumferential direction of the circumferential weld joint can be obtained.
According to the records of the existing documents of analysis of magnetic field in spiral pipe, the magnetic field distribution of spiral steel pipes with different magnetization intensities is firstly analyzed by using an equivalent magnetic charge method, and the magnetic field distribution is verified by experiments, so that the internal magnetic field of the spiral pipe is relatively uniform, the local magnetic field mutation (LMASW) at the spiral weld joint is small, and the local magnetic field change (MINPE) near the pipe end is large, so that the circumferential weld joint can be identified by using the magnetic field in the spiral pipe.
For the present invention, the position of the girth weld is in the pipe coordinate system O1-X1Y1Z1In the middle, the circle center of the girth weld is in the axial direction X of the spiral pipeline1The coordinate on the shaft is distributed at the position where one section of pipeline is connected with the other section of pipeline, and the local change of the magnetic field is large at the position of the circumferential weld. The limited range of one spiral welding seam is in the axial direction X of the spiral pipeline1The length of one screw pitch in the limited range in the axial direction is detected, the number of the spiral welding lines is distinguished by detecting the number of contact points of the spiral welding lines and the ground, and the magnetic field measurement result shows that the number of the spiral welding lines is one wave trough. The simultaneous joining of the circumferential weld with the plurality of helical welds means: the projection of the detected contact point of the corresponding spiral weld joint and the ground in the plane of the circumferential weld joint is used, and the projection point is used as Y1About the axis X of the pipe with the axis as a starting point1Angle of rotation of the shaft theta, definingIs the intersection point of the circumferential weld and the spiral weld.
For the purposes of the present invention, it is to be noted that the sensitivity axis Y, which coincides with the rotation axis of the spherical detector, can be determined by theoretical calculations2The acceleration component of the shaft is 0, and the displacement information of the spherical detector 6 in the spiral pipeline 8 is formed by the other two sensitive shafts (namely X)2Axis and Z2Axis) direction.
It should be noted that when the spherical detector 6 passes through the spiral weld in the spiral pipe 8, the magnetic field environment in the pipe has obvious magnetic defect signals, for the present invention, on one hand, the axial position of the spiral weld can be analyzed and identified by using the collected magnetic anomaly characteristics and the collected acceleration information, and on the other hand, the rotation direction of the spiral weld can be identified by using the multi-channel magnetic signals, and finally, the intersection point θ of the spiral weld and the girth weld can be calculated by combining the axial coordinates of the starting point and the ending point of a section of pipe.
The magnetic anomaly characteristics refer to trough signals in the acquired By signals (magnetic field measurement signals obtained By a sensitive shaft in the same direction as the rotating shaft of the spherical detector 6 in the magnetometer), the acquisition method is to measure the magnetic field signals By using a magnetometer and record the magnetic field signals By using a data recorder, the spherical detector is taken out after the measurement is finished, the obtained magnetic field data is transmitted to an upper computer, and the found trough signals are the magnetic anomaly characteristics.
According to the method, the magnetic anomaly characteristics are analyzed and found, the corresponding time of the magnetic anomaly characteristics is obtained, and ax and az acceleration signals (ax and az respectively represent that the spherical detector recorded by the accelerometer is in X position) are processed in a time range corresponding to the two times by combining the time of the spherical detector in the circumferential weld joint2And Z2Acceleration signals in the axial direction) to obtain the axial movement path of the pipeline from the movement of the spherical detector to the spiral weld in the pipeline, and determining the position of the spiral weld relative to the circumferential weld.
For the purposes of the present invention, the direction of rotation of the spiral weld can be identified by using a multi-channel magnetic signal, which is a magnetic field signal recorded by two magnetometers and includes magnetic field signals in three directionsUsed in conjunction with a spherical detector axis (i.e. Y)2Axis, horizontal axis of rotation of the center of sphere) in the same direction. Wherein the direction of rotation of the helical weld is from O1To X1When the axial distance is increased when the positive half shaft is seen, the track of the projection point of the corresponding spiral welding line on the section of the pipeline shaft is along the counterclockwise direction, and the left-hand direction is called at the moment; if clockwise, it is called right-handed rotation.
For the invention, in a concrete implementation, the pipeline magnetic field signals collected By the two magnetometers are used for judgment, when the spherical detector moves in the spiral pipeline, because the two magnetometers are not completely on a plane determined By a 12 o' clock bus and an axis of the pipeline, the collected magnetic characteristic signals have a certain time delay, and the time delay is obtained through the corresponding moment of the magnetic abnormal characteristics in a By-time result diagram of the two magnetometers. If the pipeline is a left-handed pipeline, the magnetic characteristic signal measured by the right magnetometer is ahead of the magnetic characteristic signal of the left magnetometer; and if the pipeline is a right-handed pipeline, the magnetic characteristic signal measured by the left magnetometer is ahead of the magnetic characteristic signal measured by the right magnetometer.
Through specific experimental verification, the smaller the distance between the magnetometer and the bottom of the spiral pipeline, the larger the magnetic anomaly characteristic value at the spiral welding seam, and two magnetometers should be installed on a horizontal rotating shaft passing through the sphere center (namely Y in a spherical coordinate system)2Shaft, in particular Y2Axially distributed tungsten cakes 5) so that the lift-off value is equal to the radius of the sphere and at a constant position.
It should be noted that the lift-off value of the magnetometer refers to the distance from the bottom of the pipe. The magnetic anomaly characteristic is measured by selecting a proper lift-off value according to the experimental verification, wherein the larger the lift-off value is, the smaller the amplitude of the magnetic anomaly characteristic at the spiral weld joint is. Because the spherical detector rolls in the spiral pipeline, in order to ensure that the lift-off value of the magnetometer is unchanged, the lift-off value of the magnetometer is required to be equal to the radius.
According to the invention, the spiral direction of the spiral weld can be judged according to the time difference of the magnetic signals measured by the two magnetometers, and the smaller the distance between the two magnetometers is, the smaller the time difference of the magnetic signals is, so that the horizontal distance between the two magnetometers is reasonably designed when the design requirement of the spherical detector is met, and the spiral direction of the spiral weld can be distinguished.
For the specific implementation of the present invention, in order to determine the rotation direction of the spiral weld according to the time difference between the magnetic signals measured by the two magnetometers, the specific operations are as follows: the pipeline magnetic field signals collected By the two magnetometers are used for judgment, when the spherical detector moves in the spiral pipeline, the two magnetometers are not completely on a plane determined By a 12 o' clock bus and an axis of the pipeline, the collected magnetic anomaly characteristic signals have a certain time delay, and the time delay is obtained through the corresponding moment of the magnetic anomaly characteristics in a By-time result diagram of the two magnetometers. If the pipeline is a left-handed pipeline, the magnetic anomaly characteristic signal measured by the right magnetometer is ahead of the magnetic anomaly characteristic signal of the left magnetometer; if the pipeline is a right-handed pipeline, the magnetic anomaly characteristic signal measured by the left magnetometer is ahead of the magnetic anomaly characteristic signal measured by the right magnetometer.
Here, the magnetic signal time refers to a time corresponding to the magnetic anomaly characteristic, that is, a time corresponding to the trough of the magnetic signal. And identifying the peak value of the measured By at the moment of the magnetic abnormal characteristic to determine the moment corresponding to the magnetic abnormal characteristic. In particular implementation, the specific method for determining the peak value is as follows: and fitting a quadratic curve for the signal at the magnetic anomaly characteristic, wherein the curve symmetry axis obtained by fitting is used as the corresponding moment of the magnetic anomaly characteristic signal. Firstly, calculating the average sampling point number of the magnetic anomaly characteristic identification of a welding line by the formula
Figure BDA0002618730190000121
Wherein a is the average sampling point number of the magnetic anomaly characteristic identification of a welding line, t is the time corresponding to a known distance of the spherical detector moving in the pipeline, p is the thread pitch of the pipeline, l is the distance of the spherical detector moving in the pipeline, a section of pipeline is used in the experiment without welding, and f refers to the sampling frequency of the data recorder; according to the actual measured data, a threshold value T is set in advance when the integer i is from 0 to
Figure BDA0002618730190000122
In a variation wherein
Figure BDA0002618730190000123
Indicates rounding down if
Figure BDA0002618730190000124
Wherein By [ i ]]Refers to the size of the discrete collected By, pair (By i],By[i+a]) Performing quadratic curve fitting on the data to obtain a quadratic function By of time of By which is mt2+ nt + q, m, n and q represent quadratic curve coefficients obtained by fitting, first and second derivatives of the obtained quadratic function are obtained, and a trough peak value is determined according to a preset rule, wherein the preset rule comprises the following rules:
rule 1: { By ═ 2mt + n, m ≠ 0} -, 0;
rule 2: { By is 2m, m is not equal to 0} > 0;
rule 3:
Figure BDA0002618730190000125
in the third step of the method, specifically, the By magnetic signal is firstly analyzed to identify the spiral weld, the rolling mileage of the spherical detector SD is calculated By utilizing the ax and az acceleration signals, and the axial position x of each spiral weld in the spiral pipeline is determinedi。
It should be noted that, among the three sensitive axes of the magnetometer (vector magnetoresistive sensor), the magnetic field measurement result obtained By the sensitive axis in the same direction as the rotating shaft of the spherical detector is By, and the position of the spiral weld is obtained By finding the trough of the By signal.
For the present invention, the position of the weld seam can be obtained By analyzing the By signal. Firstly, reading a magnetic field signal in a middle SD acquisition card of the spherical detector, wherein the acquired magnetic field signal comprises magnetic field signals of three components, separating a By signal from the magnetic field signals, identifying a peak value, and finding out a moment corresponding to a trough.
According to the invention, two times of integral operation are carried out on the acceleration signal between the corresponding time of the trough of the magnetic field measurement signal By and the starting time of the spherical detector to obtain the axial position x of the spiral weld relative to the inletiWill be identifiedAnd the result is introduced into a calculation formula of the intersection point of the inlet circumferential weld and the spiral weld, and the intersection point of the spiral weld and the circumferential weld is calculated.
In the present invention, the ax and az signals refer to acceleration component signals on two sensitive axes of the accelerometer 1 other than the rotation axis (i.e., ax and az respectively represent the X-axis of the spherical detector recorded by the accelerometer2And Z2Acceleration signals in the axial direction), measured using an accelerometer, and recorded using a data recorder, and the specific method for calculating the mileage is as follows: respectively carrying out short-time Fourier transform (STFT) on ax and az component signals of the accelerometer, and extracting the rotation frequency f of the spherical detector1(t) substituting the formula v (t) ═ pi Dbf1(t), where v (t) is the rotational linear velocity of the housing of the spherical detector, DbDiameter of a spherical detector, f1(t) is the frequency of rotation of the spherical detector, and then the calculated v (t) is substituted into the formula
Figure BDA0002618730190000131
Wherein s (t) is a calculated value of the rolling mileage of the spherical detector, and s (t) needs to be corrected because the spherical detector has a sliding condition during actual movement, and the specific calculation method is as follows,
Figure BDA0002618730190000132
wherein L is0Means the total length of the pipe under test, tendRefers to the end time of the measurement, s1(t) is a correction value for the rolling range of the spherical detector. Since one acceleration component signal can extract one rotation frequency, the calculated correction values of the two rolling ranges are averaged to obtain the rolling range of the final spherical detector.
It should be noted that, for the present invention, when the spherical detector moves to a position right above the position where the spiral weld seam contacts the ground, the resultant graph of the measured magnetic field signal By and the time is just at the trough, the corresponding moment at this time is determined, and the rolling mileage of the spherical detector at the corresponding moment, that is, the rolling mileage of the spiral pipe at the corresponding moment is calculated By combining the acceleration signal recorded By the accelerometer 1Position x of each helical weld in the track relative to the inlet girth weldi。
After the third step, a fourth step is performed in which the axial position s of the inlet girth weld of the helical pipe is determinedIIntersection theta of inlet helical weld and inlet circumferential weld of the helical pipe brought belowIFormula (c) of (a):
Figure 4
Figure DEST_PATH_IMAGE003
according to the formula, the intersection point theta of the inlet spiral weld joint and the inlet circumferential weld joint of the spiral pipeline can be calculated and obtainedI；
In the above formula, p is the pitch;
Figure BDA0002618730190000143
to round down;
xithe position of each helical weld in the helical pipe relative to the inlet girth weld;
taking-/+, correspondingly indicating that the pipeline is in left-handed or right-handed rotation, which can be determined by using the phase difference of the side-by-side multichannel magnetic signals;
and n is the number of identified spiral welds.
It is noted that the axial position s of the inlet girth weld of the helical pipe is referred toIIn order to obtain the position, the position is obtained by a known method, for example, according to the records of the prior document "analysis of magnetic field in spiral pipe", the magnetic field distribution of spiral steel pipes with different magnetization is firstly analyzed by using an equivalent magnetic charge method, and the magnetic field inside the spiral pipe is verified by experiments to be uniform, the local magnetic field sudden change (LMASW) at the spiral weld is small, and the local magnetic field change (MINPE) near the pipe end is large, so that the circular weld can be identified by the magnetic field in the spiral pipe, and the spiral pipe is obtainedAxial position s of the inlet girth weldI. In the experiment link, a section of pipeline is used, so the initial position sI＝0。
It should be noted that the rotation direction of the pipeline is determined according to the time sequence of the magnetic anomaly characteristic signals recorded by the two magnetometers, if the determination is left-handed, a minus is used in the formula, and if the determination is right-handed, a plus is used in the formula.
As mentioned above, for the present invention, the number of the magnetic anomaly signature signals in the By signal (the magnetic field measurement signal obtained from the sensitive axis of the magnetometer in the same direction as the axis of rotation of the spherical detector 6) is counted, i.e. the number of the spiral welds.
In the present invention, in the fourth step, the axial position s of the outlet girth weld of the helical pipe is setoIntersection theta of the outlet spiral weld and the outlet circumferential weld of the spiral pipe brought belowOThe calculation formula of (2):
Figure 3
Figure DEST_PATH_IMAGE004
according to the formula, the intersection point theta of the outlet spiral welding line and the outlet circumferential welding line of the spiral pipeline can be calculated and obtainedO；
In the above formula, p is the pitch;
Figure BDA0002618730190000153
to round down; x is the number ofiThe position of each helical weld in the helical pipe relative to the inlet girth weld;
wherein, taking +/-is +/-, correspondingly indicates that the pipeline is in left-handed rotation or right-handed rotation, and the left-handed rotation or right-handed rotation can be determined by utilizing the phase difference of the side-by-side multichannel magnetic signals;
and n is the number of identified spiral welds.
It is noted that the axial position s of the outlet girth weld of the helical pipe is referred tooIn order to obtain the position, the position is obtained by a known method, for example, according to the records of the prior document "analysis of magnetic field in spiral pipe", the magnetic field distribution of spiral steel pipes with different magnetization is firstly analyzed by using an equivalent magnetic charge method, and the magnetic field inside the spiral pipe is verified by experiments to be uniform, the local magnetic field sudden change (LMASW) at the spiral weld is small, and the local magnetic field change (MINPE) near the pipe end is large, so that the circumferential weld can be identified by the magnetic field in the spiral pipe, and the axial position s of the outlet circumferential weld of the spiral pipe can be obtainedo. In the experiment link, as a section of pipeline is used, the position s of the outlet girth weld joint isoL is the length of the pipe.
It should be noted that the rotation direction of the pipeline is determined according to the time sequence of the magnetic anomaly characteristic signals recorded by the two magnetometers, if the determination is left-handed, a plus is used in the formula, and if the determination is right-handed, a minus is used in the formula.
As mentioned above, for the present invention, the number of the magnetic anomaly signature signals in the By signal (the magnetic field measurement signal obtained from the sensitive axis of the magnetometer in the same direction as the axis of rotation of the spherical detector 6) is counted, i.e. the number of the spiral welds.
It should be noted that, for the invention, when the By magnetic component is actually measured, since the spherical detector slightly shakes when moving along the spiral pipeline, the measured By magnetic component signal has an interference defect, so that the cubic processing is performed on the By magnetic component signal, which can suppress the interference signal and enhance the weld signal, and in addition, the interference signal can be further eliminated By using the known prior condition that the period of the weld appears is fixed. It should be noted that, in an ideal state, when the spherical detector moves stably in the pipeline to the position of the intersection point of the spiral weld and the ground, the magnetic anomaly characteristic signal is obvious, but actually, when the spherical detector moves in the pipeline, the movement position of the spherical detector will shake due to the existence of liquid in the pipeline, and the measurement position of the magnetometer will also deviate, so that the measured By magnetic component signal will have an interference defect. The interference signal refers to the interference defect of the measured By magnetic component signal, and the weld signal refers to the By magnetic anomaly characteristic signal for solving the position of the spiral weld.
The inventor discovers through practical experiments that the size of a module of a By magnetic component signal generated By shaking of the spherical detector is smaller than 10uT, the module of the By magnetic anomaly characteristic at the spiral weld joint is about 15uT, and the difference between the interference defect of the By magnetic component signal and the module of the By magnetic anomaly characteristic at the spiral weld joint can be more obvious By processing the By magnetic component signal in a cubic mode, so that the spiral weld joint can be identified conveniently.
Compared with the prior art, the upper gasket of the lithium ion battery provided by the invention has the following beneficial effects:
1. the spherical detector designed in the invention can rotate in a spiral pipeline in a fixed axis manner, has a strong immune effect on sudden disturbance, and does not influence the result when the spherical detector is transmitted at various angles. FIG. 5 shows the acceleration signals recorded by the spherical probe as it moves within the pipe, ax, ay and az respectively representing the acceleration signals recorded by the accelerometer at X for the spherical probe2、Y2And Z2The acceleration signals in the axial direction, ax, az, have much larger amplitudes than ay, indicating that the spherical detector is along Y2The shaft rotates.
2. The positioning method designed by the invention can effectively measure the intersection point position of the spiral welding line and the circumferential welding line. Fig. 6a to 9b show the result curves of the internal magnetic component By of the spiral pipeline corresponding to four rotation directions and the cubic enhancement thereof when the starting point of the spiral weld at the inlet of the spiral pipeline is 270 °, 180 °, 90 ° and 0 °, respectively, the length of the pipeline is 2m, and the pitch of the pipeline is 425 mm. As can be seen from the following Table 1, after the cubic operation, the magnetic characteristics of both channels at the weld position are obvious concave characteristics. The position of the spiral welding line and the intersection point position of the spiral welding line and the girth welding line at the inlet and the outlet of the spiral pipeline can be measured by combining the acceleration signals, the measurement error of the intersection point position of the spiral welding line and the girth welding line is not more than 30 degrees at most and is less than 20 degrees on average, namely, the measurement error is not more than a clock angle, and the requirement of field maintenance excavation on the intersection point positioning accuracy is met.
Table 1: the positions of the spiral welds of the pipes with different spiral starting points and the intersection angle with the end part.
Figure BDA0002618730190000181
In summary, compared with the prior art, the method for positioning the intersection point of the spiral weld joint and the circumferential weld joint of the pipeline, provided by the invention, is based on the spherical internal detector SD, can reliably detect the position of the intersection point of the spiral weld joint and the circumferential weld joint in the spiral pipeline, and has great practical significance.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.

Claims (6)

1. A method for positioning the intersection point of a spiral weld and a circumferential weld of a pipeline is characterized by comprising the following steps:
the method comprises the following steps that firstly, a spherical detector SD is placed in a spiral pipeline, and the spherical detector SD rolls forwards around a horizontal rotating shaft of a sphere center in a fixed shaft manner under the pushing of fluid in the spiral pipeline;
secondly, establishing a spherical coordinate system by taking the middle vertical circular section of the spherical detector SD along the axial direction of the spiral pipeline as a measuring plane;
in a spherical coordinate system, X2The direction of the shaft is the advancing direction of the spherical detector, namely the direction in the measuring plane is the same as the axial direction of the spiral pipeline; z2The axial direction is the direction which is vertical to the axial direction of the spiral pipeline in the measuring plane; y is2The axial direction is the direction which is outside the measuring plane and is vertical to the measuring plane; origin O2In the center of the measurement plane;
wherein, Y2The shaft is a spherical center horizontal rotating shaft;
thirdly, acquiring X according to the spherical detector SD2Axis and Z2Determining the axial position x of each helical weld in the helical pipe from the acceleration signal in the axial directioni；
Fourthly, according to the rotation direction of the spiral welding seams in the spiral pipeline and the axial position x of each spiral welding seam in the spiral pipelineiAnd axial position s of the inlet girth weld of the helical pipeIAnd axial position s of the outlet girth weld of the helical pipeoDetermining the intersection theta of the inlet and outlet girth welds of the helical pipeIAnd the intersection point theta of the outlet spiral weld and the outlet circumferential weldo。
2. The method of locating the intersection of a helical weld and a circumferential weld of a pipe according to claim 1, characterized in that the spherical detector (6) comprises a sealed, sphere-shaped spherical detector spherical shell;
a tungsten cake (5) is fixed on the middle vertical circular section of the spherical shell of the spherical detector along the radial direction;
the center of gravity of the tungsten cake (5) is positioned at the center of the sphere of the spherical shell of the spherical detector;
the left side and the right side of the tungsten cake (5) are symmetrically provided with a first magnetometer (2) and a second magnetometer (3);
an accelerometer (1) is arranged at the upper end of the right side of the tungsten cake (5);
the lower end of the left side of the tungsten cake (5) is provided with a data recorder (4);
the accelerometer (1), the first magnetometer (2) and the second magnetometer (3) are respectively connected with the data recorder (4) through signal lines.
3. The method of claim 2, wherein the weight of the tungsten cake (5) is 90% of the total weight of the spherical detector.
4. The method of claim 2, wherein in the third step, the ax and az acceleration signals are used to calculate the ballRolling mileage of shape detector SD, determining axial position x of each helical weld in helical pipei；
Wherein ax and az respectively indicate that the spherical detector recorded by the accelerometer (1) is at X2And Z2An acceleration signal in an axial direction;
the specific method for calculating the rolling mileage comprises the following steps: respectively carrying out short-time Fourier transform (STFT) on ax and az component signals of the accelerometer, and extracting the rotation frequency f of the spherical detector1(t), then substituting the formula v (t) ═ pi Dbf1(t), where v (t) is the rotational linear velocity of the housing of the spherical detector, DbDiameter of a spherical detector, f1(t) is the frequency of rotation of the spherical detector, and then the calculated v (t) is substituted into the formula
Figure FDA0002618730180000021
Where s (t) is the calculated rolling range of the sphere detector.
5. The method of claim 2 or 4, wherein in the fourth step, the axial position s of the helical pipe inlet girth weld is determinedIIntersection theta of inlet helical weld and inlet circumferential weld of the helical pipe brought belowIFormula (c) of (a):
Figure 1
Figure DEST_PATH_IMAGE001
calculating and obtaining the intersection point theta of the inlet spiral weld joint and the inlet circumferential weld joint of the spiral pipeline according to the formulaI；
In the above formula, p is the pitch;
Figure FDA0002618730180000024
to round down;
xithe position of each helical weld in the helical pipe relative to the inlet girth weld;
taking-/+, correspondingly indicating that the pipeline is in left-handed or right-handed rotation;
and n is the number of identified spiral welds.
6. The method of claim 2 or 4, wherein in the fourth step, the axial position s of the exit girth weld of the helical pipe is determinedoIntersection theta of the outlet spiral weld and the outlet circumferential weld of the spiral pipe brought belowoThe calculation formula of (2):
Figure 2
Figure 814068DEST_PATH_IMAGE001
calculating and obtaining the intersection point theta of the outlet spiral welding line and the outlet circumferential welding line of the spiral pipeline according to the formulao；
In the above formula, p is the pitch;
Figure FDA0002618730180000033
to round down; x is the number ofiThe position of each helical weld in the helical pipe relative to the inlet girth weld;
wherein, the plus or minus is plus or minus, correspondingly indicates that the pipeline is in left-handed rotation or right-handed rotation;
and n is the number of identified spiral welds.
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