CN112816546B - Device and method for correcting complete machine sensor of triaxial magnetic flux leakage internal detector - Google Patents
Device and method for correcting complete machine sensor of triaxial magnetic flux leakage internal detector Download PDFInfo
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Abstract
The invention discloses a device for correcting a magnetic flux leakage sensor of a whole machine of a triaxial magnetic flux leakage inner detector, which comprises the following components: the magnet is used for fixing a magnet positioning tool of the magnet and a pipeline tool for installing the magnet positioning tool; the pipeline tool is used for simulating a pipeline and comprises a cylindrical body; magnet location frock includes: the circular arc-shaped mounting seat is fixedly connected with the pipeline tool, and the height adjusting bracket is in sliding connection with the mounting seat and is vertical to the outer surface of the cylindrical body; the magnet is fixed on the height adjusting bracket, and the height of the magnet from the outer surface of the cylinder body is adjusted and changed during correction. The invention also discloses a method for correcting the magnetic flux leakage sensor of the whole machine of the triaxial magnetic flux leakage inner detector. According to the invention, the magnets are placed above the magnetic leakage sensors for magnetic signal enhancement, so that the signal difference of each magnetic leakage sensor is obvious, and more magnetic leakage sensor signal data are obtained by adjusting different positions of the magnets, so that the magnetic sensor calibration of the whole triaxial high-definition magnetic leakage inner detector can be accurately performed.
Description
Technical Field
The invention relates to the field of pipeline magnetic flux leakage detection, in particular to a correction device and a correction method for a complete machine sensor of a triaxial magnetic flux leakage internal detector.
Background
At present, for the magnetic leakage internal detector, the magnetic leakage sensor is a key for measuring defects inside and outside a pipeline, the magnetic leakage sensor has different signals among the sensors due to errors in the production process and assembly, when the small-caliber internal detector is corrected in the prior art, only a single sensor is used for correction, the signals of the sensors are directly measured for comparison, and the magnetic force signals are weak, so that the signal difference of the sensors is not obvious, and the correction accuracy is low.
Disclosure of Invention
The invention provides a correction device and a correction method for a complete machine sensor of a triaxial magnetic flux leakage internal detector, which are used for solving the technical problems existing in the prior art.
The invention adopts the technical proposal for solving the technical problems in the prior art that: a three-axis magnetic flux leakage internal detector complete machine sensor correction device comprises: the magnet is used for fixing a magnet positioning tool of the magnet and a pipeline tool for installing the magnet positioning tool; the pipeline tool is used for simulating a pipeline and comprises a cylindrical body, and an annular guide rail is sleeved on the outer side of the cylindrical body; the magnet positioning tool comprises a height adjusting bracket which is in sliding connection with the annular guide rail and is perpendicular to the outer surface of the cylindrical body; the magnet is fixed on the height adjusting bracket, and the height of the magnet from the outer surface of the cylinder body is adjusted and changed during correction.
Further, the height-adjusting bracket includes: the base is vertically fixed on a height adjusting rod on the base and is fixedly connected with the magnet seat; the magnet is fixed on the magnet base, and the base is in sliding connection with the annular guide rail.
Further, the height adjusting rod is a telescopic rod.
Further, a plurality of mounting holes with different heights from the base are formed in the height adjusting rod; the magnet seat is fixedly connected with the height adjusting rod through bolts penetrating through the mounting holes.
Further, the magnet is a magnet.
Further, the magnet is an electromagnet.
The invention also provides a correction method of the whole sensor of the triaxial magnetic flux leakage internal detector, which comprises the following steps: the magnet is used for fixing a magnet positioning tool of the magnet and a pipeline tool for installing the magnet positioning tool; the pipeline tool is used for simulating a pipeline and comprises a cylindrical body, and an annular guide rail is sleeved on the outer side of the cylindrical body; the magnet positioning tool comprises a height adjusting bracket which is in sliding connection with the annular guide rail and is perpendicular to the outer surface of the cylindrical body; the magnet is fixed on the height adjusting bracket; and during correction, the height of the magnet to the outer surface of the cylinder body is adjusted, and detection signals of the leakage magnetic sensor when the magnet moves along the circumferential direction of the cylinder body are collected at different heights of the magnet to the outer surface of the cylinder body.
Further, the method comprises the following specific steps:
Step 1, the bottom of a height adjusting bracket is connected with an annular guide rail in a sliding way; fixing the magnet on the height adjusting bracket;
step 2, enabling the height adjusting support to move 360 degrees along the circumferential direction of the annular guide rail, and collecting signals of the magnetic leakage sensor while moving;
And 3, adjusting the height of the magnet to the outer surface of the cylinder, and repeating the step 2 until the signal acquisition is completed at all heights.
Further, the method also comprises the step 4: and carrying out N, S-level exchange on the magnet, and repeating the steps 1 to 3.
Further, when the correction is started, the bottom of the height adjusting bracket is positioned at a certain point of the annular guide rail, the distance between the position of the magnet and the surface of the cylinder is a, so that the bottom of the height adjusting bracket moves by 90 degrees of central angle along the annular guide rail, and the triaxial magnetic field intensity measured by the leakage magnetic sensor is obtained and is calculated as follows:
Wherein the method comprises the steps of Triaxial magnetic flux leakage data of the jth sampling point of the ith channel of the nth test,For the x-axis magnetic flux leakage data of the jth sampling point of the ith channel of the nth test,/>For the y-axis magnetic flux leakage data of the jth sampling point of the ith channel of the nth test,/>For the z-axis magnetic flux leakage data of the jth sampling point of the ith channel in the nth test, i=1, 2 … k, j=1, 2 … t, k is the number of sampling channels, and t is the number of sampling points;
The method comprises the steps of keeping the height a of a magnet from the surface of a cylinder unchanged, enabling the bottom of a height adjusting support to move along the surface of the cylinder in the clockwise or anticlockwise circumferential direction, collecting detection signals of the magnetic leakage sensor after each movement of a central angle of 90 degrees, enabling the bottom of the height adjusting support to move three times along the circumferential direction of the surface of the cylinder, sequentially collecting detection signals of four groups of three-axis magnetic leakage sensors, obtaining 360-degree detection data of the magnetic leakage sensor of the corresponding magnet under the working condition of the height a, and recording the detection data as the expression of D a,Da as follows:
Da＝[D(1),D(2),D(3),D(4)]；
The bottom of the height adjusting bracket moves four times along the circumferential direction of the cylinder surface in sequence, and three-axis magnetic flux leakage data acquired by 90 degrees of central angle of each movement are correspondingly obtained by D (1), D (2), D (3) and D (4);
The position of the magnet is adjusted, the magnet is respectively adjusted to be at the distance b and the distance c from the surface of the cylinder, and D b、Dc is set to be corresponding to the three-axis magnetic leakage data of 360 degrees of the magnetic leakage sensor acquired by the magnet under the working conditions of the heights b and c;
Carrying out grade N, S exchange on the magnet, repeating the operation, and setting D a′、Db'、Dc' as NS grade exchange, and acquiring triaxial magnetic leakage data of 360 degrees of the magnetic leakage sensor under the working conditions of heights a, b and c corresponding to the magnet;
Correcting the data, and calculating the magnetic field value of the maximum magnetic field value channel of the triaxial data of all the leakage magnetic sensor channels of each sampling point, wherein
Mx i (n) represents the x-axis magnetic field value of the ith channel maximum magnetic field value channel of the nth test; my i (n) represents the y-axis magnetic field value of the ith channel maximum magnetic field value channel of the nth experiment; mz i (n) represents the z-axis magnetic field value of the ith channel maximum magnetic field value channel of the nth test;
Let the magnetic field value of the maximum magnetic field value channel in the triaxial data of all the leakage magnetic sensor channels of each sampling point in D a、Db、Dc、Da′、Db′、Dc′ correspond to B a、Bb、Bc、Ba′、Bb′、Bc′ in sequence, wherein:
and similarly obtaining B b、Bc、Ba′、Bb′、Bc′, and recording a channel T with the maximum magnetic field value of each sampling point, wherein,
T＝[w1,w1,...w1,w2,...,wn]1*4k,w1,w2,...,wn＝1,2,...,t;
At this time [ mx k(n),myk(n),mzk(n)]T in B a represents the maximum magnetic field channel triaxial data for the kth sample point between the nth 90 degrees, converting B a into:
Wherein [ mx (w), my (w), mz (w) ] T is the triaxial data on the w-th channel;
and similarly obtaining T b、Tc、Ta′、Tb′、Tc′;
For each column vector in T a [ mx (w), my (w), mz (w) ] T, w=1, 2, and T, solving a similarity matrix to obtain:
The calculation formula of the similarity between the ith column and the jth column vector is as follows:
wherein C (i, j) =c (j, i), and the same goes to C b、Cc、Ca′、Cb′、Cc′;
Setting a similarity threshold s, and if c (i, j), i, j=1, 2, & gt is smaller than the threshold s, t is the number of sampling channels, and defining the i, j channels as invalid channels; if c (i, j) is greater than the threshold s, defining the i, j channel as an effective channel; this gives an effective channel set h, h= [1, ], 1,2, ], k ], Where k=1, 2,..t, with valid channel data as/>
Wherein the method comprises the steps ofW' ∈h, and the same applies to the/>
At the position ofIn the data collected by the effective channel, the mean value is calculated for each row of vectors as follows:
Wherein, Mean value of data acquired by effective channel of x-axis,/>Mean value of data collected by effective channel of y-axis,/>Representing an average value of data acquired by the z-axis effective channel;
Is provided with Effective standard data under the working condition corresponding to D a;
N is used for representing effective standard data corresponding to six working conditions of D a、Db、Dc、Da′、Db′、Dc′, and the expression of N is as follows:
Calculating correction parameters for each channel by using the effective standard data, and setting the correction parameters of the j channel of the x axis as a calculation formula of Hx j,Hxj as follows:
Wherein the method comprises the steps of For the maximum value in the data acquired by all jth channels under the jth working condition of the x-axis,/>The average value of the data collected by the effective channel of the x axis under the first working condition is obtained; let l= la, lb, lc, la ', lb ', lc '; la, lb, lc, la ', lb ', lc ' correspond to six working conditions D a、Db、Dc、Da′、Db′、Dc′ in sequence; j=1, 2,.. t is the number of sampling channels;
And obtaining Hy j、Hzj by the same method;
the following triaxial magnetic leakage sensor output correction model is further obtained:
wherein mx j、myj、mzj is the magnetic field data acquired before correction, Is corrected data.
The invention has the advantages and positive effects that: the invention adopts a pipeline tool to simulate pipeline working conditions, all triaxial magnetic sensors of the whole machine are installed in a simulated pipeline of the pipeline tool structure, and a magnet is placed at a certain distance above the magnetic leakage sensor to enhance magnetic signals, so that the signal difference of each magnetic leakage sensor is obvious, more magnetic leakage sensor signal data are obtained by adjusting different positions of the magnet, and all triaxial magnetic sensors of the whole machine can be accurately corrected.
The three-axis high-definition magnetic flux leakage inner detector with different aperture sizes can be corrected by adjusting the sizes of the magnet positioning tool and the pipeline tool to match with the three-axis high-definition magnetic flux leakage inner detector with different aperture sizes.
Drawings
FIG. 1 is a schematic diagram of a calibration device for a complete machine sensor of a triaxial magnetic flux leakage internal detector.
Fig. 2 is a schematic diagram of a three-axis magnetic leakage internal detector complete machine sensor correcting device with built-in magnetic leakage sensor in a three-dimensional structure.
FIG. 3 is a flowchart of a method for calibrating a complete sensor of a triaxial magnetic flux leakage internal detector according to the present invention.
In the figure: 1. a height adjusting lever; 2. a magnet holder; 3. a magnet; 4. a base; 5. a slide block; 6. an annular guide rail; 7. a pipeline tool; 8. a connecting lug; 9. a boss; 10. three-axis magnetic leakage inner detector.
Detailed Description
For a further understanding of the invention, its features and advantages, reference is now made to the following examples, which are illustrated in the accompanying drawings in which:
Referring to fig. 1to 3, a calibration device for a complete machine sensor of a triaxial magnetic flux leakage internal detector includes: the magnet 3 is used for fixing a magnet 3 positioning tool of the magnet 3 and a pipeline tool 7 for installing the magnet 3 positioning tool; the pipeline tool 7 is used for simulating a pipeline and comprises a cylindrical body, and an annular guide rail 6 is sleeved outside the cylindrical body; the magnet 3 positioning tool comprises a height adjusting bracket which is in sliding connection with the annular guide rail 6 and is vertical to the outer surface of the cylindrical body; the magnet 3 is fixed on the height adjusting bracket, and the height of the magnet 3 from the outer surface of the cylinder body is adjusted and changed during correction.
The magnet 3 may be a magnet or an electromagnet. In order to avoid magnetization, the magnet 3 positioning tool is made of non-magnetic conductive materials. The material of the pipeline tool 7 is the same as that of an actual oil pipeline.
The electromagnetic iron can be used for adjusting the coil current to adjust the magnetic force.
Preferably, the height-adjusting bracket may include: the base 4 is vertically fixed on the height adjusting rod 1 on the base 4, and the magnet seat 2 is fixedly connected with the height adjusting rod 1; the magnet 3 is fixed on the magnet holder 2, and the base 4 is in sliding connection with the annular guide rail 6.
The height adjusting rod 1 can adopt various structures in the prior art, so that the magnet base 2 is fixedly connected with the height adjusting rod 1 at different height positions, and the height of the magnet base 2 relative to the base 4 is adjustable.
For example, the height adjustment lever 1 may be a telescopic lever.
The magnet holder 2 can also be sleeved on the height adjusting rod 1, and then the magnet holder 2 is fixed on the height adjusting rod 1 through jackscrew fixation.
A plurality of clamping grooves with different heights from the base 4 can also be arranged on the height adjusting rod 1; the magnet holder 2 is clamped on the clamping groove of the height adjusting rod 1. The magnet seat 2 is clamped on clamping grooves with different heights, so that the height adjustment and change of the magnet seat 2 relative to the base 4 are realized.
The height adjusting rod 1 can be provided with a plurality of mounting holes with different heights from the base 4; the magnet base 2 is fixedly connected with the height adjusting rod 1 through bolts penetrating through the mounting holes. The mounting hole on the height adjusting rod 1 can be set to be a threaded hole, the magnet seat 2 can be L-shaped, a through hole matched with the mounting hole on the height adjusting rod 1 can be arranged on the side surface parallel to the height adjusting rod 1, and the magnet seat 2 is fixed on the height adjusting rod 1 by penetrating the through hole through a bolt and screwing the through hole with the mounting hole on the height adjusting rod 1.
The magnet holder 2 can also be provided with a jack; the bolt is inserted into the insertion hole of the magnet seat 2 through the mounting hole on the height adjusting rod 1, and the magnet seat 2 is fixed on the height adjusting rod 1. The magnet seat 2 is fixedly connected with the height adjusting rod 1 through bolts or bolts passing through mounting holes with different heights, so that the height adjusting change of the magnet seat 2 relative to the base 4 is realized.
The pipeline tool 7 can adopt a pipeline, can adopt a pair of semicircular arc plates for butt joint to form a simulation pipeline, and can adopt various butt joint methods in the prior art to butt joint the pair of semicircular arc plates into a cylindrical body for simulating the pipeline. The left side and the right side of each semicircular arc plate can be provided with a connecting lug 8 with a through hole; the bolts penetrate through the through holes and then are locked, and the pair of semicircular arc-shaped plates are butted into the simulation pipeline. A boss 9 can be arranged on the outer surface of the cylindrical body for fixing the annular guide rail 6.
The invention also provides a correction method of the whole sensor of the triaxial magnetic flux leakage internal detector, which comprises the following steps: the magnet 3 is used for fixing a magnet 3 positioning tool of the magnet 3 and a pipeline tool 7 for installing the magnet 3 positioning tool; the pipeline tool 7 is used for simulating a pipeline and comprises a cylindrical body, and an annular guide rail 6 is sleeved outside the cylindrical body; the magnet 3 positioning tool comprises a height adjusting bracket which is in sliding connection with the annular guide rail 6 and is vertical to the outer surface of the cylindrical body; the magnet 3 is fixed on the height adjusting bracket; during correction, the height from the magnet 3 to the outer surface of the cylinder is adjusted, and detection signals of the magnetic leakage sensor when the magnet 3 moves along the circumferential direction of the cylinder are collected at different heights from the magnet 3 to the outer surface of the cylinder.
Further, the method can comprise the following specific steps:
Step 1, the bottom of a height adjusting bracket is connected with an annular guide rail 6 in a sliding way; fixing the magnet 3 to the height adjusting bracket; the triaxial magnetic flux leakage inner detector 10 is installed in the pipeline tool 7.
Step 2, enabling the height adjusting support to move 360 degrees along the circumferential direction of the annular guide rail 6, and collecting signals of the magnetic leakage sensor while moving;
and 3, adjusting the height from the magnet 3 to the outer surface of the cylinder, and repeating the step 2 until the signal acquisition is completed at all heights.
Further, step 4: and carrying out N, S-level exchange on the magnet 3, and repeating the steps 1 to 3.
Further, when the correction is started, the bottom of the height adjusting bracket is positioned at a certain point of the annular guide rail, the distance between the position of the magnet and the surface of the cylinder is a, so that the bottom of the height adjusting bracket moves by 90 degrees of central angle along the annular guide rail, and the triaxial magnetic field intensity measured by the leakage magnetic sensor is obtained by:
Wherein the method comprises the steps of Triaxial magnetic flux leakage data of the jth sampling point of the ith channel of the nth test,For the x-axis magnetic flux leakage data of the jth sampling point of the ith channel of the nth test,/>For the y-axis magnetic flux leakage data of the jth sampling point of the ith channel of the nth test,/>For the z-axis magnetic flux leakage data of the jth sampling point of the ith channel in the nth test, i=1, 2 … k, j=1, 2 … t, k is the number of sampling channels, and t is the number of sampling points;
The method comprises the steps of keeping the height a of a magnet from the surface of a cylinder unchanged, enabling the bottom of a height adjusting support to move along the surface of the cylinder in the clockwise or anticlockwise circumferential direction, collecting detection signals of the magnetic leakage sensor after each movement of a central angle of 90 degrees, enabling the bottom of the height adjusting support to move three times along the circumferential direction of the surface of the cylinder, sequentially collecting detection signals of four groups of three-axis magnetic leakage sensors, obtaining 360-degree detection data of the magnetic leakage sensor of the corresponding magnet under the working condition of the height a, and recording the detection data as the expression of D a,Da as follows:
Da＝[D(1),D(2),D(3),D(4)]；
The bottom of the height adjusting bracket moves four times along the circumferential direction of the cylinder surface in sequence, and three-axis magnetic flux leakage data acquired by 90 degrees of central angle of each movement are correspondingly obtained by D (1), D (2), D (3) and D (4);
The position of the magnet is adjusted, the magnet is respectively adjusted to be at the distance b and the distance c from the surface of the cylinder, and D b、Dc is set to be corresponding to the three-axis magnetic leakage data of 360 degrees of the magnetic leakage sensor acquired by the magnet under the working conditions of the heights b and c;
Carrying out grade N, S exchange on the magnet, repeating the operation, and setting D a′、Db'、Dc' as NS grade exchange, and acquiring triaxial magnetic leakage data of 360 degrees of the magnetic leakage sensor under the working conditions of heights a, b and c corresponding to the magnet;
Correcting the data, and calculating the magnetic field value of the maximum magnetic field value channel of the triaxial data of all the leakage magnetic sensor channels of each sampling point, wherein
Mx i (n) represents the x-axis magnetic field value of the ith channel maximum magnetic field value channel of the nth test; my i (n) represents the y-axis magnetic field value of the ith channel maximum magnetic field value channel of the nth experiment; mz i (n) represents the z-axis magnetic field value of the ith channel maximum magnetic field value channel of the nth test;
Let the magnetic field value of the maximum magnetic field value channel in the triaxial data of all the leakage magnetic sensor channels of each sampling point in D a、Db、Dc、Da′、Db′、Dc′ correspond to B a、Bb、Bc、Ba′、Bb′、Bc′ in sequence, wherein:
and similarly obtaining B b、Bc、Ba′、Bb′、Bc′, and recording a channel T with the maximum magnetic field value of each sampling point, wherein,
T＝[w1,w1,...w1,w2,...,wn]1*4k,w1,w2,...,wn＝1,2,...,t;
At this time [ mx k(n),myk(n),mzk(n)]T in B a represents the maximum magnetic field channel triaxial data for the kth sample point between the nth 90 degrees, converting B a into:
Wherein [ mx (w), my (w), mz (w) ] T is the triaxial data on the w-th channel;
and similarly obtaining T b、Tc、Ta′、Tb′、Tc′;
For each column vector in T a [ mx (w), my (w), mz (w) ] T, w=1, 2, and T, solving a similarity matrix to obtain:
The calculation formula of the similarity between the ith column and the jth column vector is as follows:
wherein C (i, j) =c (j, i), and the same goes to C b、Cc、Ca′、Cb′、Cc′;
Setting a similarity threshold s, and if c (i, j), i, j=1, 2, & gt is smaller than the threshold s, t is the number of sampling channels, and defining the i, j channels as invalid channels; if c (i, j) is greater than the threshold s, defining the i, j channel as an effective channel; this gives an effective channel set h, h= [1, ], 1,2, ], k ], Where k=1, 2,..t, with valid channel data as/>
Wherein the method comprises the steps ofW' ∈h, and the same applies to the/>
At the position ofIn the data collected by the effective channel, the mean value is calculated for each row of vectors as follows:
Wherein, Mean value of data acquired by effective channel of x-axis,/>Mean value of data collected by effective channel of y-axis,/>Representing an average value of data acquired by the z-axis effective channel;
Is provided with Effective standard data under the working condition corresponding to D a;
N is used for representing effective standard data corresponding to six working conditions of D a、Db、Dc、Da′、Db′、Dc′, and the expression of N is as follows:
Calculating correction parameters for each channel by using the effective standard data, and setting the correction parameters of the j channel of the x axis as a calculation formula of Hx j,Hxj as follows:
Wherein the method comprises the steps of For the maximum value in the data acquired by all jth channels under the jth working condition of the x-axis,/>The average value of the data collected by the effective channel of the x axis under the first working condition is obtained; let l= la, lb, lc, la ', lb ', lc '; la, lb, lc, la ', lb ', lc ' correspond to six working conditions D a、Db、Dc、Da′、Db′、Dc′ in sequence; j=1, 2,.. t is the number of sampling channels;
And obtaining Hy j、Hzj by the same method;
the following triaxial magnetic leakage sensor output correction model is further obtained:
wherein mx j、myj、mzj is the magnetic field data acquired before correction, Is corrected data.
The working principle of the invention is further described in the following with a correction workflow of the invention:
And (3) placing the sensor of the triaxial high-definition magnetic leakage inner detector into a pipeline tool 7, so that a magnetic circuit in a magnetic leakage joint of the magnetic leakage inner detector is clung to the inner wall of a pipeline. The magnet 3 positioning tool is arranged on the pipeline tool 7, the magnet is fixed on the height adjusting bracket, the base 4 of the height adjusting bracket is arranged on the annular guide rail 6, the position of the base is right above the magnetic leakage sensor, the magnet 3 positioning tool is provided with three height gears a, b and c, and the height distance between the bottom surface of the magnet 3 and the base 43 can be adjusted. The intensity of the magnetic force signal can be changed by adjusting the height distance between the bottom surface of the magnet 3 and the base 4, and different sensor signals can be obtained by moving the position of the base 4 of the height adjusting bracket on the guide rail.
The annular guide rail 6 can comprise two parallel guide rails A and B, the side edges of the guide rails are provided with through holes, and the outer surface of the cylindrical body is provided with threaded holes for fixing the annular guide rail 6. The annular guide rail 6 is mounted on the cylindrical body by screws. The slide block 5 is firstly arranged in the guide rails, then the two guide rails are connected by the connecting piece, and the whole guide rails are arranged on the pipeline tool 7. The magnet for correction is mounted on the magnet holder 2, and then the magnet holder 2 is mounted on the height adjusting bracket, the height adjusting bracket has three mounting positions, and the heights of the three mounting positions from the base 4 are different, so that the height of the magnet can be adjusted. After the installation, the magnet can be moved from one end of the annular guide rail 6 for testing, the travel angle of the travel can be 90 degrees as the central angle, after the test is finished, the height of the magnet seat 2 is kept unchanged, the magnet is continuously moved along the annular guide rail 6 for testing at the central angle of 90 degrees, and sensor signals are collected; the signal of the leakage magnetic sensor was measured in a 360 ° range by measuring 4 times in this manner.
Wherein the guide rail A, the guide rail B, the height adjusting bracket, the magnet seat 2 and the sliding block 510 are all made of non-magnetic materials. If magnetic conductive materials are used for the parts, the magnets magnetize the parts, so that the distribution of magnetic fields is affected, the measurement signals of the sensor are inaccurate, and therefore, non-magnetic conductive materials are selected.
The following further describes the components of the device:
1. The correction magnet is used as the magnet 3 to increase the magnetic field signal intensity.
2. The pipeline tool 7 is made of the same material as an oil and gas pipeline, two pipeline tools 77 are connected together through holes on two sides by bolts and nuts, an inner detector is placed in the pipeline tool, and the working condition of the detector in actual pipeline work is simulated.
3. The height adjusting bracket is made of non-magnetic conductive materials, and comprises a base 4, a height adjusting rod 1 vertically fixed on the base 4, a magnet seat 2 vertically connected with the height adjusting rod 1, and a magnet 3 fixed on the magnet seat 2.
The magnet seat 21 is connected with the height adjusting rod 1 through screws, the height adjusting rod 1 is provided with three height adjusting mounting holes, the height of the correcting magnet from the leakage magnetic sensor can be adjusted, and meanwhile signals of the leakage magnetic sensor can be respectively collected under different height conditions.
The base 4 of the height adjusting bracket is provided with a sliding block 5 which is in sliding fit with the annular guide rail 6, and the sliding block 5 is used for driving the height adjusting bracket to slide relative to the annular guide rail 6.
The magnet holder 2 is used for fixing the magnet for correction, and is made of non-magnetic material and connected with the magnet for correction through a screw.
4. The annular guide rail 6 comprises a guide rail A and a guide rail B, wherein the guide rail A and the guide rail B are made of non-magnetic permeable materials. The guide rail A is matched with the guide rail B to form a chute which is in sliding fit with the sliding block 5, the bottom of the sliding block 5 is embedded into the chute and slides along the chute to form a working stroke track of the sliding block 5. The guide rail A, B is connected with the pipeline tool 7 through a screw and is installed on the pipeline tool 7.
6. The guide rail connecting piece is connected with the two ends of the guide rail A and the guide rail B and is used for positioning the movement initial stroke of the sliding block 5, the guide rail connecting piece is made of non-magnetic conducting materials, and when the guide rail connecting piece is assembled, the sliding block 5 is firstly arranged in the guide rail A, and then the guide rail connecting piece is connected with the two ends of the guide rail B and the guide rail A.
The above-described embodiments are only for illustrating the technical spirit and features of the present invention, and it is intended to enable those skilled in the art to understand the content of the present invention and to implement it accordingly, and the scope of the present invention is not limited to the embodiments, i.e. equivalent changes or modifications to the spirit of the present invention are still within the scope of the present invention.
Claims (8)
1. A triaxial magnetic flux leakage internal detector complete machine sensor correction device, comprising: the magnet is used for fixing a magnet positioning tool of the magnet and a pipeline tool for installing the magnet positioning tool; the pipeline tool is used for simulating a pipeline and comprises a cylinder, and an annular guide rail is sleeved on the outer side of the cylinder; the magnet positioning tool comprises a height adjusting bracket which is in sliding connection with the annular guide rail and is perpendicular to the outer surface of the cylinder; the magnet is fixed on the height adjusting bracket, and the height of the magnet from the outer surface of the cylinder body is adjusted and changed during correction; the correction device adopts the following method steps:
Step 1, the bottom of a height adjusting bracket is connected with an annular guide rail in a sliding way; fixing the magnet on the height adjusting bracket;
step 2, enabling the height adjusting support to move 360 degrees along the circumferential direction of the annular guide rail, and collecting signals of the magnetic leakage sensor while moving;
step 3, adjusting the height of the magnet to the outer surface of the cylinder, and repeating the step 2 until the signal acquisition is completed at all heights;
step 4: and carrying out N, S-level exchange on the magnet, and repeating the steps 1 to 3.
2. The three-axis magnetic flux leakage detector complete machine sensor correction device according to claim 1, wherein the height adjustment bracket comprises: the base is vertically fixed on a height adjusting rod on the base and is fixedly connected with the magnet seat; the magnet is fixed on the magnet base, and the base is in sliding connection with the annular guide rail.
3. The correction device for the complete machine sensor of the triaxial magnetic flux leakage detector according to claim 2, wherein the height adjusting rod is a telescopic rod.
4. The correction device for the complete machine sensor of the triaxial magnetic flux leakage detector according to claim 2, wherein a plurality of mounting holes with different heights from the base are formed in the height adjusting rod; the magnet seat is fixedly connected with the height adjusting rod through bolts penetrating through the mounting holes.
5. The apparatus for calibrating a complete sensor of a three-axis magnetic flux leakage detector according to claim 1, wherein the magnet is a magnet.
6. The calibration device for a complete machine sensor of a triaxial magnetic flux leakage detector according to claim 5, wherein the magnets are electromagnets.
7. A method for correcting a complete machine sensor of a triaxial magnetic flux leakage internal detector is provided with the following devices: the magnet is used for fixing a magnet positioning tool of the magnet and a pipeline tool for installing the magnet positioning tool; the pipeline tool is used for simulating a pipeline and comprises a cylinder, and an annular guide rail is sleeved on the outer side of the cylinder; the magnet positioning tool comprises a height adjusting bracket which is in sliding connection with the annular guide rail and is perpendicular to the outer surface of the cylinder; the magnet is fixed on the height adjusting bracket; during correction, the height of the magnet to the outer surface of the cylinder is adjusted, and detection signals of the magnetic leakage sensor when the magnet moves along the circumferential direction of the cylinder are collected at different heights from the magnet to the outer surface of the cylinder;
The method comprises the following steps:
Step 1, the bottom of a height adjusting bracket is connected with an annular guide rail in a sliding way; fixing the magnet on the height adjusting bracket;
step 2, enabling the height adjusting support to move 360 degrees along the circumferential direction of the annular guide rail, and collecting signals of the magnetic leakage sensor while moving;
step 3, adjusting the height of the magnet to the outer surface of the cylinder, and repeating the step 2 until the signal acquisition is completed at all heights;
step 4: and carrying out N, S-level exchange on the magnet, and repeating the steps 1 to 3.
8. The method for calibrating a complete machine sensor of a triaxial magnetic leakage detector according to claim 7, wherein, when the calibration is started, the bottom of the height adjustment bracket is located at a certain point of the annular guide rail, the distance between the position of the magnet and the surface of the cylinder is a, so that the bottom of the height adjustment bracket moves by 90 degrees of central angle along the annular guide rail, and the triaxial magnetic field intensity measured by the magnetic leakage sensor is obtained by:
Wherein the method comprises the steps of Triaxial magnetic flux leakage data of the jth sampling point of the ith channel of the nth test, For the x-axis magnetic flux leakage data of the jth sampling point of the ith channel of the nth test,/>For the y-axis magnetic flux leakage data of the jth sampling point of the ith channel of the nth test,/>For the z-axis magnetic flux leakage data of the jth sampling point of the ith channel in the nth test, i=1, 2 … k, j=1, 2 … t, k is the number of sampling channels, and t is the number of sampling points;
The method comprises the steps of keeping the height a of a magnet from the surface of a cylinder unchanged, enabling the bottom of a height adjusting support to move along the surface of the cylinder in the clockwise or anticlockwise circumferential direction, collecting detection signals of the magnetic leakage sensor after each movement of a central angle of 90 degrees, enabling the bottom of the height adjusting support to move three times along the circumferential direction of the surface of the cylinder, sequentially collecting detection signals of four groups of three-axis magnetic leakage sensors, obtaining 360-degree detection data of the magnetic leakage sensor of the corresponding magnet under the working condition of the height a, and recording the detection data as the expression of D a,Da as follows:
Da＝[D(1),D(2),D(3),D(4)]；
The bottom of the height adjusting bracket moves four times along the circumferential direction of the cylinder surface in sequence, and three-axis magnetic flux leakage data acquired by 90 degrees of central angle of each movement are correspondingly obtained by D (1), D (2), D (3) and D (4);
The position of the magnet is adjusted, the magnet is respectively adjusted to be at the distance b and the distance c from the surface of the cylinder, and D b、Dc is set to be corresponding to the three-axis magnetic leakage data of 360 degrees of the magnetic leakage sensor acquired by the magnet under the working conditions of the heights b and c;
Carrying out grade N, S exchange on the magnet, repeating the operation, setting D a′、Db'、Dc' as grade NS exchange, and acquiring triaxial magnetic leakage data of 360 degrees of the magnetic leakage sensor under the working conditions of heights a, b and c corresponding to the magnet;
Correcting the data, and calculating the magnetic field value of the maximum magnetic field value channel of the triaxial data of all the leakage magnetic sensor channels of each sampling point, wherein
Mx i (n) represents the x-axis magnetic field value of the ith channel maximum magnetic field value channel of the nth test; my i (n) represents the y-axis magnetic field value of the ith channel maximum magnetic field value channel of the nth experiment; mz i (n) represents the z-axis magnetic field value of the ith channel maximum magnetic field value channel of the nth test;
Let the magnetic field value of the maximum magnetic field value channel in the triaxial data of all the leakage magnetic sensor channels of each sampling point in D a、Db、Dc、Da′、Db′、Dc′ correspond to B a、Bb、Bc、Ba′、Bb′、Bc′ in sequence, wherein:
and similarly obtaining B b、Bc、Ba′、Bb′、Bc′, and recording a channel T with the maximum magnetic field value of each sampling point, wherein,
T＝[w1,w1,...w1,w2,...,wn]1*4k,w1,w2,...,wn＝1,2,...,t;
At this time [ mx k(n),myk(n),mzk(n)]T in B a represents the maximum magnetic field channel triaxial data for the kth sample point between the nth 90 degrees, converting B a into:
Wherein [ mx (w), my (w), mz (w) ] T is the triaxial data on the w-th channel;
and similarly obtaining T b、Tc、Ta′、Tb′、Tc′;
For each column vector in T a [ mx (w), my (w), mz (w) ] T, w=1, 2, and T, solving a similarity matrix to obtain:
The calculation formula of the similarity between the ith column and the jth column vector is as follows:
wherein C (i, j) =c (j, i), and the same goes to C b、Cc、Ca′、Cb′、Cc′;
Setting a similarity threshold s, and if c (i, j), i, j=1, 2, & gt is smaller than the threshold s, t is the number of sampling channels, and defining the i, j channels as invalid channels; if c (i, j) is greater than the threshold s, defining the i, j channel as an effective channel; this gives an effective channel set h, h= [1, ], 1,2, ], k ], Where k=1, 2,..t, with valid channel data as/>
Wherein the method comprises the steps ofW' ∈h, and the same applies to the/>
At the position ofIn the data collected by the effective channel, the mean value is calculated for each row of vectors as follows:
Wherein, Mean value of data acquired by effective channel of x-axis,/>Mean value of data collected by effective channel of y-axis,/>Representing an average value of data acquired by the z-axis effective channel;
Is provided with Effective standard data under the working condition corresponding to D a;
N is used for representing effective standard data corresponding to six working conditions of D a、Db、Dc、Da′、Db′、Dc′, and the expression of N is as follows:
Calculating correction parameters for each channel by using the effective standard data, and setting the correction parameters of the j channel of the x axis as a calculation formula of Hx j,Hxj as follows:
Wherein the method comprises the steps of For the maximum value in the data acquired by all jth channels under the jth working condition of the x-axis,/>The average value of the data collected by the effective channel of the x axis under the first working condition is obtained; let l= la, lb, lc, la ', lb ', lc '; la, lb, lc, la ', lb ', lc ' correspond to six working conditions D a、Db、Dc、Da′、Db′、Dc′ in sequence; j=1, 2,.. t is the number of sampling channels;
And obtaining Hy j、Hzj by the same method;
the following triaxial magnetic leakage sensor output correction model is further obtained:
wherein mx j、myj、mzj is the magnetic field data acquired before correction, Is corrected data.
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