CN112528735B - Automatic pipeline spiral weld flux leakage identification method and device - Google Patents

Automatic pipeline spiral weld flux leakage identification method and device Download PDF

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CN112528735B
CN112528735B CN202011197381.9A CN202011197381A CN112528735B CN 112528735 B CN112528735 B CN 112528735B CN 202011197381 A CN202011197381 A CN 202011197381A CN 112528735 B CN112528735 B CN 112528735B
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signal point
spiral weld
point coordinate
spiral
coordinate set
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CN112528735A (en
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黄松岭
彭丽莎
黄紫靖
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Beijing Magdi Pipeline Technology Co ltd
Tsinghua University
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Beijing Magdi Pipeline Technology Co ltd
Tsinghua University
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F2218/00—Aspects of pattern recognition specially adapted for signal processing
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
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    • G01N27/72—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating magnetic variables
    • G01N27/82—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating magnetic variables for investigating the presence of flaws
    • G01N27/83—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating magnetic variables for investigating the presence of flaws by investigating stray magnetic fields
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F18/00—Pattern recognition
    • G06F18/20—Analysing
    • G06F18/22—Matching criteria, e.g. proximity measures
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F2218/00—Aspects of pattern recognition specially adapted for signal processing
    • G06F2218/12—Classification; Matching

Abstract

The application provides a pipeline spiral weld flux leakage automatic identification method and a device, which relate to the technical field of nondestructive testing, wherein the method comprises the following steps: collecting magnetic leakage detection signals of the pipelines, and extracting magnetic leakage signal data in each pipe barrel from the magnetic leakage detection signals; identifying magnetic flux leakage signal data in each pipe barrel to obtain a candidate signal point coordinate set of the spiral weld; carrying out linear processing on all signal point coordinates in the candidate signal point coordinate set to obtain a first linear formula; judging and filtering all signal point coordinates in the candidate signal point coordinate set according to a first linear formula to obtain a target signal point coordinate set; performing linear processing on all signal point coordinates in the target signal point coordinate set to obtain a second linear formula; and calculating the direction and the pitch of the spiral weld joint and the initial junction position of the spiral weld joint and the circumferential weld joint according to a second fitting formula. Therefore, the identification of the spiral weld in the pipeline is quickly, simply and conveniently completed, the spiral weld identification effect is good, and the positioning precision is high.

Description

Automatic pipeline spiral weld flux leakage identification method and device
Technical Field
The application relates to the technical field of nondestructive testing, in particular to a method and a device for automatically identifying magnetic leakage of a spiral weld joint of a pipeline.
Background
Generally, the magnetic flux leakage detection has been widely applied to the safety detection of oil and gas pipelines due to the characteristics of high detection speed, low requirement on detection environment and the like.
In the related technology, the detected magnetic leakage signal is analyzed and processed by collecting the magnetic leakage detection signal of the oil and gas pipeline, so that the identification and evaluation of the pipeline characteristics and defects are the final purpose of the magnetic leakage detection of the oil and gas pipeline, and an effective guide basis can be provided for the safety evaluation and maintenance of the oil and gas pipeline. However, most large diameter pipes use spiral welded pipes, and spiral welds are present on the pipes. If the spiral welding seam is not effectively and accurately identified and positioned, the magnetic leakage signal at the position is easily judged as the magnetic leakage signal at the corrosion defect position in the pipeline by mistake, and the evaluation of the corrosion state of the pipeline is seriously influenced. Although the position of the spiral weld joint can be effectively judged by a manual visual inspection identification method, the detected oil and gas pipeline is usually dozens of kilometers or even hundreds of kilometers long, the detection data amount is huge, the manual visual inspection efficiency is extremely low, and the method can hardly be applied.
Disclosure of Invention
The present application is directed to solving, at least to some extent, one of the technical problems in the related art.
Therefore, the first purpose of the application is to provide a pipeline spiral weld magnetic leakage automatic identification method, which is used for carrying out efficient and accurate spiral weld automatic identification, can greatly reduce the workload of magnetic leakage detection data analysts, can also effectively reduce the misjudgment rate of corrosion defects in pipelines, and improves the overall evaluation performance of pipeline magnetic leakage detection data.
The second purpose of this application is to propose a pipeline spiral weld magnetic leakage automatic identification equipment.
In order to achieve the above object, an embodiment of a first aspect of the present application provides an automatic identification method of leakage flux of a spiral weld of a pipeline, including:
collecting magnetic leakage detection signals of pipelines, and extracting magnetic leakage signal data in each pipe barrel from the magnetic leakage detection signals;
identifying magnetic flux leakage signal data in each pipe barrel to obtain a candidate signal point coordinate set of the spiral weld joint;
performing linear processing on all signal point coordinates in the candidate signal point coordinate set to obtain a first linear formula;
judging and filtering all signal point coordinates in the candidate signal point coordinate set according to the first linear formula to obtain a target signal point coordinate set;
all signal point coordinates in the target signal point coordinate set are subjected to linear processing to obtain a second linear formula;
and calculating the direction and the pitch of the spiral weld joint and the initial junction position of the spiral weld joint and the circumferential weld joint according to the second fitting formula.
According to the automatic identification method for the magnetic flux leakage of the spiral weld joint of the pipeline, magnetic flux leakage signal data in each pipe barrel are extracted from magnetic flux leakage detection signals by collecting the magnetic flux leakage detection signals of the pipeline; identifying magnetic flux leakage signal data in each pipe barrel to obtain a candidate signal point coordinate set of the spiral weld; carrying out linear processing on all signal point coordinates in the candidate signal point coordinate set to obtain a first linear formula; judging and filtering all signal point coordinates in the candidate signal point coordinate set according to a first linear formula to obtain a target signal point coordinate set; performing linear processing on all signal point coordinates in the target signal point coordinate set to obtain a second linear formula; and calculating the direction and the pitch of the spiral weld joint and the initial junction position of the spiral weld joint and the circumferential weld joint according to a second fitting formula. Therefore, the spiral welding seam recognition method can automatically recognize the existence of the spiral welding seam and judge the direction, the thread pitch and the initial coordinate position of the spiral welding seam, so that the accurate positioning of the spiral welding seam is completed, the recognition of the spiral welding seam in the pipeline is quickly, simply and conveniently completed, the spiral welding seam recognition effect is good, and the positioning precision is high.
In an embodiment of the present application, the collecting of the leakage magnetic detection signal of the pipeline and the extracting of the leakage magnetic signal data in each pipe from the leakage magnetic detection signal include:
collecting a magnetic flux leakage detection signal of a component in the axial direction of the pipeline, and judging a circumferential weld and the position of the circumferential weld in the magnetic flux leakage detection signal;
and extracting all magnetic flux leakage detection signals between the adjacent circumferential welds to obtain magnetic flux leakage signal data in each pipe barrel.
In an embodiment of the present application, the identifying the magnetic leakage signal data in each tube to obtain a candidate signal point coordinate set of the spiral weld includes:
traversing the magnetic flux leakage signal data in each pipe barrel, and extracting the coordinates of all suspected signal points of the spiral weld joint;
the coordinates of all the suspected signal points of the spiral weld joint form the candidate signal point coordinate set; wherein the signal B (x, y) suspected to be a spiral weld satisfies the following condition:
B(x,y)≥Bave×Hsor B (x, y) is less than or equal to Bave×Ls；
Wherein, BaveIs the average value of all leakage signal data in the current pipe barrel, HsAnd LsAre respectively threshold coefficients and satisfy Hs>1>Ls>0。
In one embodiment of the present application, the first linear formula is y ═ k1×x+b1；
The second linear formula is that y is k2×x+b2。
In one embodiment of the present application, the slope k and intercept b of the linear fit formula are calculated according to the following formula:
Figure BDA0002754406230000021
Figure BDA0002754406230000022
wherein the content of the first and second substances,
Figure BDA0002754406230000023
wherein N represents the total number of signal points in the signal point set, (x)i,yi) The coordinates of the ith signal point are represented, i being 1,2, …, N.
In one embodiment of the present application, the linear processing method includes, but is not limited to, one or more linear regression methods of least squares, least median, and least two-way truncation.
In an embodiment of the present application, the performing discrimination and filtering on all signal point coordinates in the candidate signal point coordinate set according to the first linear formula to obtain a target signal point coordinate set includes:
calculating a distance of all signal point coordinates in the candidate signal point coordinate set from the first linear formula y-k1×x+b1Distance d ofiThe following formula is satisfied:
Figure BDA0002754406230000031
when the signal point coordinate piSaid distance d ofiIf the signal point coordinate p is larger than the set threshold value T, the signal point coordinate p is judgediRemoving the signal point coordinate p from the candidate signal point coordinate set as an abnormal pointi。
In one embodiment of the present application, calculating the direction and pitch of the spiral weld according to the second fitting formula includes:
when k is2>When 0, the direction of the spiral weld joint is judged as the right side;
when k is2<When 0, the direction of the spiral welding seam is judged as the left side;
when k is2When the diameter is equal to 0, judging that no spiral welding seam exists in the current pipe barrel;
pitch L of the helical weldpitchCalculated according to the following formula:
Figure BDA0002754406230000032
where D represents the diameter of the pipe being inspected, DsIndicating the sampling interval in the axial direction of the pipe.
In one embodiment of the present application, the left points x0, y0 of the initial interface position of the spiral weld and the girth weld satisfy the following condition:
x0the initial abscissa position of the current pipe barrel is taken as the initial abscissa position of the current pipe barrel;
y0＝k2×x0+b2。
in order to achieve the above object, an embodiment of a second aspect of the present application provides an automatic identification device for leakage flux of a spiral weld of a pipeline, including:
the acquisition and extraction module is used for acquiring a magnetic leakage detection signal of the pipeline and extracting magnetic leakage signal data in each pipe barrel from the magnetic leakage detection signal;
the identification acquisition module is used for identifying the magnetic flux leakage signal data in each pipe barrel to acquire a candidate signal point coordinate set of the spiral weld joint;
the first processing module is used for carrying out linear processing on all signal point coordinates in the candidate signal point coordinate set to obtain a first linear formula;
the judging and obtaining module is used for judging and filtering all signal point coordinates in the candidate signal point coordinate set according to the first linear formula to obtain a target signal point coordinate set;
the second processing module is used for carrying out linear processing on all the signal point coordinates in the target signal point coordinate set to obtain a second linear formula;
and the calculation module is used for calculating the direction and the pitch of the spiral weld joint and the initial junction position of the spiral weld joint and the circumferential weld joint according to the second fitting formula.
According to the automatic identification device for the magnetic leakage of the spiral weld joint of the pipeline, magnetic leakage signal data in each pipe barrel are extracted from magnetic leakage detection signals by collecting the magnetic leakage detection signals of the pipeline; identifying magnetic flux leakage signal data in each pipe barrel to obtain a candidate signal point coordinate set of the spiral weld; carrying out linear processing on all signal point coordinates in the candidate signal point coordinate set to obtain a first linear formula; judging and filtering all signal point coordinates in the candidate signal point coordinate set according to a first linear formula to obtain a target signal point coordinate set; performing linear processing on all signal point coordinates in the target signal point coordinate set to obtain a second linear formula; and calculating the direction and the pitch of the spiral weld joint and the initial junction position of the spiral weld joint and the circumferential weld joint according to a second fitting formula. Therefore, the spiral welding seam recognition method can automatically recognize the existence of the spiral welding seam and judge the direction, the thread pitch and the initial coordinate position of the spiral welding seam, so that the accurate positioning of the spiral welding seam is completed, the recognition of the spiral welding seam in the pipeline is quickly, simply and conveniently completed, the spiral welding seam recognition effect is good, and the positioning precision is high.
To achieve the above object, an embodiment of a third aspect of the present application provides a computer device, including: a processor; a memory for storing the processor-executable instructions; the processor runs a program corresponding to the executable program code by reading the executable program code stored in the memory, and is used for executing the automatic identification method for the leakage flux of the spiral weld of the pipeline described in the embodiment of the first aspect.
In order to achieve the above object, a non-transitory computer-readable storage medium is provided in an embodiment of a fourth aspect of the present application, and a computer program is stored thereon, where the computer program is executed by a processor to implement the method for automatically identifying leakage flux of a spiral weld of a pipeline according to the embodiment of the first aspect of the present application.
In order to achieve the above object, a fifth aspect of the present application provides a computer program product, wherein when being executed by an instruction processor, the computer program product implements the method for automatically identifying flux leakage of a spiral weld of a pipe according to the first aspect of the present application.
Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.
Drawings
The foregoing and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a schematic flowchart of a method for automatically identifying leakage flux of a spiral weld of a pipeline according to an embodiment of the present application;
FIG. 2 is a spiral weld identification image obtained in a specific embodiment of the present application;
FIG. 3 is a spiral weld identification image obtained in another embodiment of the present application;
fig. 4 is a schematic structural diagram of an automatic pipeline spiral weld flux leakage identification device according to an embodiment of the present application.
Detailed Description
Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present application and should not be construed as limiting the present application.
The method and the device for automatically identifying the leakage flux of the spiral weld joint of the pipeline according to the embodiment of the application are described below with reference to the attached drawings.
Fig. 1 is a schematic flow chart of a method for automatically identifying leakage flux of a spiral weld of a pipeline according to an embodiment of the present application.
As shown in fig. 1, the method for automatically identifying the leakage flux of the spiral weld of the pipeline comprises the following steps:
therefore, the method can be completed by adopting a spiral weld automatic identification method through computer processing, can greatly reduce the workload of magnetic flux leakage detection data analysts through efficient and accurate spiral weld automatic identification, can also effectively reduce the misjudgment rate of corrosion defects in the pipeline, and improves the overall evaluation performance of pipeline magnetic flux leakage detection data.
Step 101, collecting a magnetic leakage detection signal of a pipeline, and extracting magnetic leakage signal data in each pipe barrel from the magnetic leakage detection signal.
In an embodiment of the application, gather the magnetic leakage detection signal along pipeline axial direction component to through the girth weld and the girth weld position in judging the magnetic leakage detection signal, extract all magnetic leakage detection signals between each adjacent girth weld, acquire the magnetic leakage signal data in each bobbin.
And 102, identifying the magnetic flux leakage signal data in each pipe barrel to obtain a candidate signal point coordinate set of the spiral weld joint.
In one embodiment of the application, magnetic flux leakage signal data in each pipe barrel are traversed, and signal point coordinates which are suspected to be spiral weld joints are extracted; all suspected signal point coordinates of the spiral weld joint form the candidate signal point coordinate set; wherein the signal B (x, y) suspected to be a spiral weld satisfies the following condition:
B(x,y)≥Bave×Hsor B (x, y) is less than or equal to Bave×Ls；
Wherein, BaveIs the average value of all leakage signal data in the current pipe barrel, HsAnd LsAre respectively threshold coefficients and satisfy Hs>1>Ls>0。
And 103, performing linear processing on all the signal point coordinates in the candidate signal point coordinate set to obtain a first linear formula.
In the embodiment of the present application, the linear processing method includes, but is not limited to, one or more linear regression methods in least square method, least median method, and least truncated two-step multiplication.
In the embodiment of the present application, taking the least square method as an example, the first linear formula is y ═ k1×x+b1。
In the embodiment of the present application, the slope k and the intercept b of the linear fitting formula are calculated according to the following formula:
Figure BDA0002754406230000061
Figure BDA0002754406230000062
wherein the content of the first and second substances,
Figure BDA0002754406230000063
wherein N represents the total number of signal points in the signal point set, (x)i,yi) The coordinates of the ith signal point are represented, i being 1,2, …, N.
And 104, judging and filtering all signal point coordinates in the candidate signal point coordinate set according to a first linear formula to obtain a target signal point coordinate set.
In one embodiment of the present application, the distance between all signal point coordinates in the candidate signal point coordinate set and the first linear formula y ═ k is calculated1×x+b1Distance d ofiThe following formula is satisfied:
Figure BDA0002754406230000064
when the signal point coordinate piDistance d ofiIf the signal point coordinate is larger than the set threshold value T, the signal point coordinate p is judgediEliminating the coordinate p of the signal point from the candidate signal point coordinate set as an abnormal pointi。
And 105, performing linear processing on all signal point coordinates in the target signal point coordinate set to obtain a second linear formula.
In the embodiment of the present application, the linear processing method includes, but is not limited to, one or more linear regression methods of least square method, least median method, and least truncated two-way multiplication.
In the embodiment of the present application, taking the least square method as an example, the second linear formula is y ═ k2×x+b2。
In the embodiment of the present application, the slope k and the intercept b of the linear fitting formula are calculated according to the following formula:
Figure BDA0002754406230000065
Figure BDA0002754406230000066
wherein, the first and the second end of the pipe are connected with each other,
Figure BDA0002754406230000067
wherein the content of the first and second substances,n represents the total number of signal points in the signal point set, (x)i,yi) The coordinates of the ith signal point are represented, i being 1,2, …, N.
And 106, calculating the direction and the pitch of the spiral weld joint and the initial junction position of the spiral weld joint and the circumferential weld joint according to a second fitting formula.
In the embodiment of the application, the direction determination method of the spiral weld seam is as follows;
when k is2>When 0, the direction of the spiral weld is judged as the right;
when k is2<When 0, the direction of the spiral weld joint is judged as the left side;
when k is2When the pipe barrel is equal to 0, judging that no spiral welding seam exists in the current pipe barrel;
pitch L of the helical weldpitchCalculated according to the following formula:
Figure BDA0002754406230000071
where D represents the diameter of the pipe being inspected, DsIndicating the sampling interval in the axial direction of the pipe.
In the embodiment of the application, the left points x0 and y0 of the initial interface position of the spiral weld and the girth weld meet the following conditions:
x0the initial abscissa position of the current pipe barrel is taken as the initial abscissa position of the current pipe barrel; y is0＝k2×x0+b2。
Therefore, the spiral welding seam in the pipeline can be identified according to the direction, the thread pitch and the initial boundary position of the spiral welding seam obtained through calculation.
In summary, according to the method for automatically identifying the magnetic leakage of the spiral weld of the pipeline, based on the idea of linear fitting, least square fitting is carried out on magnetic leakage detection data points suspected to have spiral weld characteristics to obtain a primary spiral weld fitting formula, secondary screening is further carried out on the magnetic leakage detection data points having the spiral weld characteristics based on the obtained fitting formula, abnormal points irrelevant to the spiral weld and magnetic leakage detection data points at the defect are eliminated, and then minimum secondary fitting is carried out on the screened data points, so that a final spiral weld fitting formula and relevant characteristic information of the spiral weld fitting formula are obtained. The method can automatically identify the existence of the spiral welding seam and judge the direction, the thread pitch and the initial coordinate position of the spiral welding seam, thereby finishing the accurate positioning of the spiral welding seam. The method has the advantages of simple and convenient identification procedure, high fault-tolerant rate, good spiral weld joint identification effect, high positioning precision and the like.
In order to better understand the present application, the following describes an example method for automatically identifying leakage flux of a spiral weld of a pipeline according to an embodiment of the present application in detail with reference to the accompanying drawings and specific embodiments.
Example 1
In this embodiment, the method for automatically identifying the leakage flux of the spiral weld of the pipeline comprises the following steps:
1. carrying out pipeline magnetic flux leakage detection on a traction test pipeline with a spiral weld joint, wherein the diameter D of the pipeline is 813mm, and the sampling interval D of the pipeline along the axial directionsAnd acquiring a magnetic leakage detection signal of a component along the axial direction of the pipeline, and extracting all magnetic leakage detection signals between every two adjacent circumferential welds by judging the circumferential welds and the positions of the circumferential welds in the magnetic leakage detection signal to obtain magnetic leakage signal data in each pipe barrel so as to identify the spiral weld.
2. Taking the obtained first tube as an example, the magnetic leakage signal data in the first tube is identified, the magnetic leakage signal data in the tube is traversed, and the coordinates P (x, y) of all suspected signal points as helical welds are extracted to form a suspected signal point set P, wherein x is the position coordinate in the axial direction of the pipeline, and y is the position coordinate in the circumferential direction of the pipeline. The signal B (x, y) suspected to be a spiral weld needs to satisfy the following condition:
B(x,y)≥Bave×Hsor B (x, y) is less than or equal to Bave×Ls
Wherein, BaveCalculating the average value of all magnetic leakage signal data in the current pipe barrel to obtain Bave＝48.4(Gs)，Hs1.15 and LsThe threshold coefficients are 0.85, respectively.
3. Fitting all the coordinates of the signal points in the suspected signal point set P by adopting a least square method to obtain a linear fitting formula of k to y1×x+b1. Wherein the slope k of the linear fitting equation1And intercept b1Calculated according to the following formula:
Figure BDA0002754406230000081
Figure BDA0002754406230000082
wherein the content of the first and second substances,
Figure BDA0002754406230000083
where, N14219 represents the total number of signal points in the signal point set, (x)i,yi) Coordinates indicating the ith signal point, i ═ 1,2, …, 14219.
4. According to the obtained fitting formula y ═ k1×x+b1And judging the signal points at all the suspected spiral weld joints again, wherein the specific judgment method comprises the following steps:
(1) calculating each signal point P in the suspected signal point set Pi(xi,yi) K is a straight line obtained by linear distance fitting1×x+b1Distance d ofiThe following formula is satisfied:
Figure BDA0002754406230000084
(2) when the signal point piDistance d to the fitted straight lineiGreater than the set threshold value T5 × dsWhen the signal point p is 15, the signal point p is determinediAnd (4) removing abnormal points from the suspected signal point set P to obtain a secondary signal point set S.
5. Re-adopting minimum two for all signal points in the obtained secondary signal point set SMultiplying and fitting to obtain a fitting formula y-k2×x+b2. Wherein the slope k of the linear fitting formula2And intercept b2Calculated according to the following formula:
Figure BDA0002754406230000085
Figure BDA0002754406230000086
wherein the content of the first and second substances,
Figure BDA0002754406230000087
wherein N11264 represents the total number of signal points in the signal point set, (x)i,yi) Coordinates indicating the ith signal point, i ═ 1,2, …, 11264.
6. K according to the fitting formula2×x+b2Slope k in2And calculating the direction and the pitch of the spiral welding seam.
(1) Because of the slope k2＝-0.4039<0, so the direction of the spiral weld is judged as 'left';
(2) pitch L of helical weldpitch＝(πD/|k|)×ds＝(3.14×813/3.6289)×3＝2110.41(mm)。
7. According to the fitting formula y ═ k2×x+b2Intercept b in2Calculating the initial boundary position (x) of the spiral weld joint and the circumferential weld joint0,y0)。
(1) Since the first tube is identified, the starting abscissa position x of the current tube0＝0；
(2) Initial boundary ordinate position y of spiral weld joint and circumferential weld joint0＝k2×x0+b2＝620.9。
I.e. the initial interface position (x) of the helical weld and the circumferential weld0,y0) Is (0,620.9)
8. And according to the direction, the pitch and the initial boundary position of the spiral weld joint obtained by calculation, the identification of the spiral weld joint in the pipeline can be completed.
In this embodiment, fig. 2 shows the spiral weld seam automatically identified according to the above method, the pitch of the spiral weld seam calculated by the method proposed in this patent is 620.9mm, the pitch of the spiral weld seam of the actually measured pipeline is 620mm, and the relative error is only 0.15%. It can be seen that the pipeline spiral weld flux leakage automatic identification method provided by the patent can accurately identify and position the spiral weld. The method has the advantages of simple and convenient identification procedure, high fault-tolerant rate, good spiral weld joint identification effect, high positioning precision and the like.
Example 2
In this embodiment, the method for automatically identifying the leakage flux of the spiral weld of the pipeline includes the following steps:
step 1, carrying out pipeline magnetic flux leakage detection on a traction test pipeline with a spiral weld joint, wherein the diameter D of the pipeline is 219mm, and the sampling interval D of the pipeline along the axial directions3.8mm, gather and obtain the magnetic leakage detection signal along pipeline axial direction weight, through judging girth weld and position in the magnetic leakage detection signal, extract all magnetic leakage detection signals between each adjacent girth weld, obtain the magnetic leakage signal data in each bobbin in order to carry out spiral weld discernment.
And 2, taking the obtained first pipe barrel as an example, identifying the magnetic leakage signal data in the first pipe barrel, traversing the magnetic leakage signal data in the pipe barrel, and extracting the coordinates P (x, y) of all suspected signal points as spiral welding seams to form a suspected signal point set P, wherein x is the position coordinate of the axial direction of the pipeline, and y is the position coordinate of the circumferential direction of the pipeline. Wherein, the signal B (x, y) suspected to be the spiral weld seam needs to satisfy the following conditions:
B(x,y)≥Bave×Hsor B (x, y) is less than or equal to Bave×Ls
Wherein, BaveCalculating the average value of all magnetic leakage signal data in the current pipe barrel to obtain Bave＝86.7(Gs)，Hs1.12 and Ls0.88 is the threshold coefficient, respectively.
And 3, fitting all the coordinates of the signal points in the suspected signal point set P by adopting a least square method to obtain a linear fitting formula y-k1×x+b1. Wherein the slope k of the linear fitting equation1And intercept b1Calculated according to the following formula:
Figure BDA0002754406230000091
Figure BDA0002754406230000092
wherein the content of the first and second substances,
Figure BDA0002754406230000093
wherein N4298 represents the total number of signal points in the signal point set, (x)i,yi) The coordinates of the ith signal point are represented, i being 1,2, …, 4298.
And 4, obtaining a fitting formula y ═ k1×x+b1And judging the signal points at all the suspected spiral weld joints again, wherein the specific judgment method comprises the following steps:
(1) calculating each signal point P in the suspected signal point set Pi(xi,yi) The linear distance fit obtained by the method is that the linear line y is k1×x+b1Distance d ofiThe following formula is satisfied:
Figure BDA0002754406230000101
(2) when the signal point piDistance d to the fitted straight lineiGreater than the set threshold value T by 3 × dsWhen the signal point p is 11.4, the signal point p is determinediAnd (4) removing abnormal points from the suspected signal point set P to obtain a secondary signal point set S.
Step 5, the obtained secondary signal points are subjected to point matchingFitting all signal points in the set S by using a least square method again to obtain a fitting formula y-k2×x+b2. Wherein the slope k of the linear fitting equation2And intercept b2Calculated according to the following formula:
Figure BDA0002754406230000102
Figure BDA0002754406230000103
wherein the content of the first and second substances,
Figure BDA0002754406230000104
where N3671 denotes the total number of signal points in the signal point set, (x)i,yi) Coordinates indicating the ith signal point, i ═ 1,2, …, 3671.
Step 6, according to the fitting formula y ═ k2×x+b2Slope k in2And calculating the direction and the pitch of the spiral welding seam.
(1) Because of the slope k2＝-3.7871<0, so the direction of the spiral weld is judged as 'left';
(2) pitch L of the helical weldpitch＝(πD/|k|)×ds＝(3.14×219/3.7872)×3.8＝689.98(mm)。
And 7, according to the fitting formula y-k2×x+b2Intercept b in2Calculating the initial boundary position (x) of the spiral weld joint and the circumferential weld joint0,y0)。
(1) Since the first tube is identified, the starting abscissa x of the current tube is0＝0；
(2) Initial boundary ordinate position y of spiral weld joint and circumferential weld joint0＝k2×x0+b2＝398.8。
I.e. the initial interface position (x) of the helical weld and the circumferential weld0,y0) Is (0,398.8)
And 8, according to the direction, the screw pitch and the initial boundary position of the spiral welding seam obtained by calculation, the identification of the spiral welding seam in the pipeline can be completed.
In the present embodiment, fig. 3 shows a spiral weld seam automatically identified according to the above method. The pitch of the spiral weld calculated by the method provided by the patent is 689.98mm, the pitch of the spiral weld of the actual measured pipeline is 690mm, and the relative error is only 0.03 per thousand. It can be seen that the pipeline spiral weld flux leakage automatic identification method provided by the patent can accurately identify and position the spiral weld. The method has the advantages of simple and convenient identification procedure, high fault-tolerant rate, good spiral weld joint identification effect, high positioning precision and the like.
In order to realize the embodiment, the application also provides an automatic pipeline spiral weld flux leakage identification device.
Fig. 4 is a schematic structural diagram of an automatic pipeline spiral weld flux leakage recognition device according to an embodiment of the present application.
As shown in fig. 4, the automatic identification device for leakage flux of spiral weld of pipeline includes: the system comprises an acquisition and extraction module 210, an identification acquisition module 220, a first processing module 230, a judgment acquisition module 240, a second processing module 250 and a calculation module 260.
And the acquisition and extraction module 210 is used for acquiring the magnetic leakage detection signal of the pipeline and extracting magnetic leakage signal data in each pipe barrel from the magnetic leakage detection signal.
And the identification and acquisition module 220 is configured to identify the magnetic flux leakage signal data in each tube, and acquire a candidate signal point coordinate set of the spiral weld.
The first processing module 230 is configured to perform linear processing on all signal point coordinates in the candidate signal point coordinate set to obtain a first linear formula.
And a distinguishing and obtaining module 240, configured to distinguish and filter coordinates of all signal points in the candidate signal point coordinate set according to the first linear formula, so as to obtain a target signal point coordinate set.
And the second processing module 250 is configured to perform linear processing on all signal point coordinates in the target signal point coordinate set to obtain a second linear formula.
And the calculating module 260 is used for calculating the direction and the pitch of the spiral weld joint and the initial boundary position of the spiral weld joint and the girth weld joint according to the second fitting formula.
According to the automatic identification device for the magnetic leakage of the spiral weld joint of the pipeline, magnetic leakage signal data in each pipe barrel are extracted from magnetic leakage detection signals by collecting the magnetic leakage detection signals of the pipeline; identifying magnetic flux leakage signal data in each pipe barrel to obtain a candidate signal point coordinate set of the spiral weld; carrying out linear processing on all signal point coordinates in the candidate signal point coordinate set to obtain a first linear formula; judging and filtering all signal point coordinates in the candidate signal point coordinate set according to a first linear formula to obtain a target signal point coordinate set; performing linear processing on all signal point coordinates in the target signal point coordinate set to obtain a second linear formula; and calculating the direction and the pitch of the spiral weld joint and the initial junction position of the spiral weld joint and the circumferential weld joint according to a second fitting formula. Therefore, the spiral welding seam recognition method can automatically recognize the existence of the spiral welding seam and judge the direction, the thread pitch and the initial coordinate position of the spiral welding seam, so that the accurate positioning of the spiral welding seam is completed, the recognition of the spiral welding seam in the pipeline is quickly, simply and conveniently completed, the spiral welding seam recognition effect is good, and the positioning precision is high.
It should be noted that the explanation of the embodiment of the method for automatically identifying leakage flux of a spiral weld of a pipeline is also applicable to the device for automatically identifying leakage flux of a spiral weld of a pipeline of the embodiment, and is not repeated here.
In order to implement the foregoing embodiment, the present application further provides a computer device, including: a processor, and a memory for storing processor-executable instructions.
The processor runs a program corresponding to the executable program code by reading the executable program code stored in the memory, so as to implement the automatic pipe spiral weld flux leakage identification method provided by the foregoing embodiment of the present application.
In order to achieve the above embodiments, the present application also proposes a non-transitory computer-readable storage medium, wherein instructions of the storage medium, when executed by a processor, enable the processor to execute the automatic pipe spiral weld flux leakage identification method proposed by the foregoing embodiments of the present application.
In order to implement the foregoing embodiments, the present application further proposes a computer program product, where when instructions of the computer program product are executed by a processor, the computer program product executes a method for automatically identifying a leakage flux of a spiral weld of a pipe, which implements the method proposed by the foregoing embodiments of the present application.
In the description herein, reference to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present application.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried out in the method of implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and the program, when executed, includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present application may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a separate product, may also be stored in a computer-readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc. Although embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present application, and that variations, modifications, substitutions and alterations may be made to the above embodiments by those of ordinary skill in the art within the scope of the present application.

Claims (9)

1. The method for automatically identifying the magnetic flux leakage of the spiral weld joint of the pipeline is characterized by comprising the following steps of:
collecting magnetic leakage detection signals of pipelines, and extracting magnetic leakage signal data in each pipe barrel from the magnetic leakage detection signals;
identifying the magnetic flux leakage signal data in each pipe barrel to obtain a candidate signal point coordinate set of the spiral weld joint;
all signal point coordinates in the candidate signal point coordinate set are subjected to linear processing to obtain a first linear formula;
judging and filtering all signal point coordinates in the candidate signal point coordinate set according to the first linear formula to obtain a target signal point coordinate set;
performing linear processing on all signal point coordinates in the target signal point coordinate set to obtain a second linear formula;
calculating the direction and the pitch of the spiral weld joint and the initial junction position of the spiral weld joint and the circumferential weld joint according to the second linear formula;
the magnetic leakage signal data in each pipe barrel are identified, and a candidate signal point coordinate set of the spiral weld joint is obtained, and the method comprises the following steps:
traversing the magnetic flux leakage signal data in each pipe barrel, and extracting the coordinates of all suspected signal points of the spiral weld joint;
the coordinates of all the suspected signal points of the spiral weld joint form the candidate signal point coordinate set; wherein the signal B (x, y) suspected to be a spiral weld satisfies the following condition:
B(x,y)≥Bave×Hsor B (x, y) is less than or equal to Bave×Ls；
Wherein, BaveIs the average value of all leakage signal data in the current pipe barrel, HsAnd LsAre respectively threshold coefficients and satisfy Hs>1>Ls>0。
2. The method for automatically identifying the leakage flux of the spiral weld of the pipeline according to claim 1, wherein the steps of collecting the leakage flux detection signal of the pipeline and extracting the leakage flux signal data in each pipe barrel from the leakage flux detection signal comprise:
collecting magnetic flux leakage detection signals of components along the axial direction of the pipeline, and judging the circumferential weld and the position of the circumferential weld in the magnetic flux leakage detection signals;
and extracting all magnetic flux leakage detection signals between the adjacent circumferential welds to obtain magnetic flux leakage signal data in each pipe barrel.
3. The automatic identification method of the flux leakage of the spiral weld of the pipeline according to claim 1,
the first linear formula is that y-k1×x+b1；
The second linear formula is that y is k2×x+b2。
4. The automatic identification method for the flux leakage of the spiral weld of the pipeline as claimed in claim 3, wherein the slope k and the intercept b of the linear formula are calculated according to the following formula:
Figure FDA0003619852940000021
Figure FDA0003619852940000022
wherein the content of the first and second substances,
Figure FDA0003619852940000023
wherein N represents the total number of signal points in the signal point set, (x)i,yi) The coordinates of the ith signal point are represented, i is 1,2, …, N.
5. The automatic pipeline spiral weld flux leakage identification method according to claim 3, wherein the linear processing method comprises one or more linear regression methods selected from a least square method, a minimum median method and a minimum truncation two-multiplication method.
6. The method for automatically identifying the flux leakage of the spiral weld of the pipeline according to claim 3, wherein the step of obtaining a target signal point coordinate set by performing discrimination filtering on all signal point coordinates in the candidate signal point coordinate set according to the first linear formula comprises the steps of:
calculating all signal point coordinate distances in the candidate signal point coordinate setThe first linear formula y ═ k1×x+b1Distance d ofiThe following formula is satisfied:
Figure FDA0003619852940000024
when the signal point coordinate piSaid distance d ofiIf the signal point coordinate is larger than the set threshold value T, the signal point coordinate p is judgediRemoving the coordinate p of the signal point from the candidate signal point coordinate set for the abnormal pointi。
7. The automatic pipeline spiral weld flux leakage identification method according to claim 3, wherein calculating the direction and the pitch of the spiral weld according to the second linear formula comprises:
when k is2>When 0, the direction of the spiral weld is judged as the right;
when k is2<When 0, the direction of the spiral welding seam is judged as the left side;
when k is2When the pipe barrel is equal to 0, judging that no spiral welding seam exists in the current pipe barrel;
pitch L of the helical weldpitchCalculated according to the following formula:
Lpitch＝(πD/|k2|)×ds；
where D represents the diameter of the pipe being inspected, DsIndicating the sampling interval along the axial direction of the pipe.
8. The automatic identification method of the flux leakage of the spiral weld of the pipeline according to claim 3,
the left point x of the initial boundary position of the spiral weld joint and the circumferential weld joint0,y0The following conditions are satisfied:
x0the initial abscissa position of the current pipe barrel is taken as the initial abscissa position of the current pipe barrel;
y0＝k2×x0+b2。
9. the utility model provides a pipeline spiral weld magnetic leakage automatic identification equipment which characterized in that, the device includes:
the acquisition and extraction module is used for acquiring magnetic flux leakage detection signals of pipelines and extracting magnetic flux leakage signal data in each pipe barrel from the magnetic flux leakage detection signals;
the identification acquisition module is used for identifying the magnetic leakage signal data in each pipe barrel to acquire a candidate signal point coordinate set of the spiral weld joint;
the first processing module is used for carrying out linear processing on all signal point coordinates in the candidate signal point coordinate set to obtain a first linear formula;
the judging and obtaining module is used for judging and filtering all signal point coordinates in the candidate signal point coordinate set according to the first linear formula to obtain a target signal point coordinate set;
the second processing module is used for carrying out linear processing on all the signal point coordinates in the target signal point coordinate set to obtain a second linear formula;
the calculation module is used for calculating the direction and the pitch of the spiral welding line and the initial junction position of the spiral welding line and the circumferential welding line according to the second linear formula;
the magnetic leakage signal data in each pipe barrel are identified, and a candidate signal point coordinate set of the spiral weld joint is obtained, and the method comprises the following steps:
traversing the magnetic flux leakage signal data in each pipe barrel, and extracting the coordinates of all suspected signal points of the spiral weld joint;
the coordinates of all the suspected signal points of the spiral weld joint form the candidate signal point coordinate set; wherein the signal B (x, y) suspected to be a spiral weld satisfies the following condition:
B(x,y)≥Bave×Hsor B (x, y) is less than or equal to Bave×Ls；
Wherein, BaveIs the average value of all leakage signal data in the current pipe barrel, HsAnd LsAre respectively threshold coefficients and satisfy Hs>1>Ls>0。
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