CN113154263A - Rapid magnetic detection device and method for pipeline defects - Google Patents
Rapid magnetic detection device and method for pipeline defects Download PDFInfo
- Publication number
- CN113154263A CN113154263A CN202110337441.0A CN202110337441A CN113154263A CN 113154263 A CN113154263 A CN 113154263A CN 202110337441 A CN202110337441 A CN 202110337441A CN 113154263 A CN113154263 A CN 113154263A
- Authority
- CN
- China
- Prior art keywords
- pipeline
- detection
- buried depth
- data
- unmanned detector
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000001514 detection method Methods 0.000 title claims abstract description 71
- 230000007547 defect Effects 0.000 title claims abstract description 26
- 238000000034 method Methods 0.000 title claims abstract description 26
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims description 16
- 238000009933 burial Methods 0.000 claims description 8
- 238000004140 cleaning Methods 0.000 claims description 8
- 230000005358 geomagnetic field Effects 0.000 claims description 7
- 238000004364 calculation method Methods 0.000 claims description 6
- 238000012937 correction Methods 0.000 claims description 6
- 230000006698 induction Effects 0.000 claims description 6
- 238000010586 diagram Methods 0.000 claims description 5
- 239000002184 metal Substances 0.000 claims description 5
- 238000013461 design Methods 0.000 claims description 4
- 239000000126 substance Substances 0.000 claims description 4
- 239000003795 chemical substances by application Substances 0.000 claims description 2
- 150000001875 compounds Chemical class 0.000 claims description 2
- 239000002689 soil Substances 0.000 claims description 2
- 230000004907 flux Effects 0.000 description 6
- 230000006378 damage Effects 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 238000004088 simulation Methods 0.000 description 3
- 238000009412 basement excavation Methods 0.000 description 2
- 230000007797 corrosion Effects 0.000 description 2
- 238000005260 corrosion Methods 0.000 description 2
- 230000004927 fusion Effects 0.000 description 2
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 238000012795 verification Methods 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000003749 cleanliness Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 239000007789 gas Substances 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- UQSXHKLRYXJYBZ-UHFFFAOYSA-N iron oxide Inorganic materials [Fe]=O UQSXHKLRYXJYBZ-UHFFFAOYSA-N 0.000 description 1
- 239000010985 leather Substances 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000003345 natural gas Substances 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- NDLPOXTZKUMGOV-UHFFFAOYSA-N oxo(oxoferriooxy)iron hydrate Chemical compound O.O=[Fe]O[Fe]=O NDLPOXTZKUMGOV-UHFFFAOYSA-N 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Images
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F17—STORING OR DISTRIBUTING GASES OR LIQUIDS
- F17D—PIPE-LINE SYSTEMS; PIPE-LINES
- F17D5/00—Protection or supervision of installations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N27/00—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means
- 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
- G01N27/85—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 using magnetographic methods
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
Abstract
The invention discloses a device and a method for rapidly and magnetically detecting pipeline defects, belongs to the field of nondestructive detection of pipelines, and particularly relates to a device and a method for detecting defects of buried pipelines. The invention aims to provide a magnetic force external detection device based on an unmanned aerial vehicle and an application method thereof. By the detection device and the use method thereof, the overall stress level of the buried pipeline defects is directly determined, and the buried depth of the pipeline is tested.
Description
II, the technical field is as follows:
the invention belongs to the field of nondestructive detection of pipelines, and particularly relates to a device and a method for detecting defects of a buried pipeline.
Thirdly, background art:
3.1 background of the invention
The total length of the built oil and gas pipelines in China breaks through 9.5 kilometers, and the pipeline transportation and transportation volume is large, continuous and rapid. Meanwhile, pipeline defects continuously threaten the safety of pipeline transportation. Common defects of the pipeline are as follows: corrosion of the pipeline, deformation of the pipeline and welding defects. The pipeline defects can cause the pipeline to break or leak, and other faults, and immeasurable economic loss, environmental damage or personal injury can be caused very possibly, and the life and property safety of people is threatened directly.
At present, the defects of the pipeline are mostly detected by adopting an internal detection means in China, and the pipeline transmission medium is utilized to drive the detector to run in the pipeline, so that the damage conditions of pipeline deformation, corrosion and the like are detected and recorded in real time. The detection in the pipeline mainly aims at the defects of circumferential weld, geometric deformation, wall thickness reduction and the like, and is insensitive to the detection in the aspects of cracks, stress concentration and the like.
3.2 prior art relating to the invention
3.2.1 technical solution of the first prior art
1. Pigging
The cleaning operation is required before the internal detection formally starts. For the natural gas pipeline, accumulated water, hydrate, ferric oxide and other substances in the pipeline can be removed through the pipeline cleaning operation; for oil pipelines, substances such as condensed oil, wax and the like in the pipelines can be removed in the pipeline cleaning operation. The pipe cleaning operation can remove the obstacles in the pipeline and create a detection environment for internal detection.
2. Running diameter measuring plate
And (3) running a diameter measuring plate at or near the end of cleaning to preliminarily determine the minimum inner diameter value of the whole pipeline and evaluate the passing capacity of the geometric detection tool.
3. Running geometry inspection tool
The support material of geometry detection instrument is the rubber leather cup, possesses better pliability and recovery when meeting with the condition that the pipeline internal diameter reduces, can warp through a lot of extreme pipe diameters. The pipe diameter deformation degree can be measured more accurately by means of the geometric detection tool of the diameter measuring wheel.
4. Operation simulation body
After the geometry detection tool detects that the target pipeline has the pipe diameter deformation equal to the magnetic leakage tool through the inner diameter value, the simulation body is operated, the damage degree of the magnetic leakage tool can be predicted in advance by evaluating the damage degree of the simulation body, and then whether the magnetic leakage detection tool can be directly operated on the pipeline or not is determined.
5. Operation magnetic leakage detection tool
The pipeline is internally detected by using a magnetic flux leakage detection tool, the service state of the pipeline in the operation period is detected, and the information of pipe wall defects such as pits, dents, folds and the like of all parts of the pipeline can be mastered by performing internal detection in the operation period, so that the pipeline overhauling efficiency is improved.
6. Generating a leakage flux detection report
And the field engineer sends the related data to a data processing center of a service provider by the original data on the detection tool through a network, a mailing optical disc and the like, and the related personnel of the service provider can analyze the data, generate a magnetic flux leakage detection report and provide the magnetic flux leakage detection report for a pipeline operator.
7. Excavation verification
And the pipeline operator selects the characteristic points detected by the tools as excavation verification points according to the detection reports to know whether the characteristic points are consistent with the detection reports. At this point, the internal detection operation of the target pipeline is finished.
3.2.2 disadvantages of the first prior art
1. Before carrying out internal detection, an internal detector mileage calibration device needs to be preset along a target pipeline for eliminating accumulated mileage errors, and the target pipeline needs to be cleaned, so that the detection process is complex and the procedure is complex.
2. The inner detector has limited requirements on the cleanliness of the inner wall of the pipeline, the medium flow rate, the curvature radius of the elbow and the like, and is difficult to carry out inner detection particularly for a small-caliber gathering and transportation pipeline; meanwhile, if the pipeline is seriously deformed, the risk accidents such as blockage and the like are easy to happen.
3. The internal detection means can only determine the type and size of the defect, and then calculate the stress value of the defect according to the relevant standard, which is often greatly different from the real stress value, so that the stress level of the pipeline defect is difficult to accurately evaluate.
4. Limited by the basic principle of internal detection technology, the internal detector needs to test from the inside of the pipeline, so that the pipeline burial depth cannot be detected.
Fourthly, the invention content:
the invention aims to provide a magnetic force external detection device based on an unmanned aerial vehicle and an application method thereof. By the detection device and the use method thereof, the overall stress level of the buried pipeline defects is directly determined, and the buried depth of the pipeline is tested.
Fifthly, accompanying drawing explanation:
in order to show the embodiments and technical solutions of the present invention more clearly, the embodiments or the prior art will be briefly described below with reference to the accompanying drawings, which are only some embodiments of the present invention.
FIG. 1 is a schematic view of a rapid magnetic detection device for pipeline defects.
FIG. 2 is a front view of the rapid magnetic detection device for pipeline defects.
Fig. 3 is a schematic view of the internal structure of the detection device.
The lower part of the unmanned aerial vehicle 1 is connected with a metal connecting plate 3, and the metal connecting plate 3 is connected with the unmanned aerial vehicle 1 and a detection device 4 through eight hexagonal nuts. 4 the detection device internally comprises: 5 storage batteries, 6 data collectors, 7 data processors, 8 flight control systems and 9 burial depth measuring instruments. And 5, the storage battery supplies power to the 6 data acquisition unit, the 7 data processor, the 8 flight control system and the 9 buried depth measuring instrument through a lead. And 6, the data acquisition unit transmits the acquired data to 7 the data processor through a data transmission line. And 8, the flight control system controls the movement direction and the movement height of the unmanned aerial vehicle by using the wireless signals to determine the flight direction and the flight speed of the unmanned aerial vehicle. The 9 buried depth measuring instrument is connected with the 8 flight control system through a data transmission line. The 9 buried depth measuring instrument is connected with the 7 data processor through a data transmission line.
Sixthly, detailed description (emphasis):
example (c): step 1: survey and site survey of pipeline data
(1) The information about the pipe area of the detection section is collected, and mainly comprises the starting position and the end position (the number of the test pile plus the mileage), the length, the category and the peripheral description information of the detection pipe section.
(2) The pipeline positioning instrument RD8000 is used to determine the GPS coordinates of the buried pipeline and mark the trend of the pipeline on the ground in a field survey mode, and the RD8000 can wirelessly send the GPS data of the pipeline to a computer. The data may be analyzed and processed on a computer using mapping application software.
Step 2: measuring background magnetic field in area of pipeline
In the area more than 500 meters away from the pipeline, a 3 Mx 3M flat area is cleaned, and no substances influencing the magnetic field, such as metal, exist in the area. And adjusting the position of the unmanned detector to enable the detection direction of the unmanned detector to be consistent with the direction of the pipeline. The detection device is started to detect the geomagnetic field information, no external disturbance is kept in the detection process, and the detection time needs to be controlled within 10-15 minutes, so that the accuracy of the geomagnetic field data is ensured, the geomagnetic field data is used for eliminating the interference of a background magnetic field on pipeline magnetic signals, and the calculation precision of the defect stress is improved. The calculation formula of the magnetic field gradient modulus is as follows:
in the formula (I), the compound is shown in the specification,
the variation of the induction intensity of the magnetic field in the X direction;
the variation of the induction intensity of the magnetic field in the Y direction;
is the variation of the induction intensity of the magnetic field in the Z direction.
And step 3: unmanned aerial vehicle flight route setting
(1) According to the pipeline GPS data coordinate determined by RD8000, cleaning metal, trees and the like which may affect the detection effect of the unmanned detector on site. If the obstacle which is difficult to clean or cannot be cleaned exists, the GPS data coordinate can be changed, so that the influence of the obstacle on the detection effect of the unmanned detector is minimum.
(2) The pipeline GPS coordinate data processed by the computer is input into a flight control system, and the flight control system mainly comprises an attitude sensing control system and a GPS navigation system. The sensor of the attitude sensing system mainly comprises an accelerometer, a gyroscope, a geomagnetic meter, a barometer and other sensors. The accelerometer and the gyroscope form an inertial navigation system to measure the flight attitude. Other sensors are used to measure information such as aircraft altitude and heading. The attitude fusion control unit performs data fusion filtering on the sensor information so as to obtain a relatively accurate attitude, and determines the magnitude of the attitude control output quantity according to the attitude. The GPS navigation module is responsible for controlling the flying course and the air route of the unmanned detector, and determines the flying direction and the flying speed of the airplane according to the current GPS coordinate information of the airplane and the received coordinate information of the target point. And a GPS navigation module in the flight control system sets a flight route and a course of the unmanned detector according to the input data. And determining the flight direction and speed of the unmanned detector according to the current coordinate information of the unmanned detector and the received target point information.
△ω＝αv△h/(lr)
In the formula, delta omega is the variable quantity of the rotating speed of the propeller, rad/s; alpha is a correction coefficient and is dimensionless; v is the advancing speed of the unmanned detector, m/s; delta h is the buried depth variation of the pipeline, m; l is the set height m of the unmanned detector; r is propeller radius, m.
And 4, step 4: on-site detection of unmanned detector
(1) And starting the unmanned detector from the starting position, and controlling the lower detection device to start working through the computer end after the unmanned detector is lifted from the starting point. And 4, measuring the pipeline burial depth by a 9 burial depth measuring instrument in the detection device, and transmitting the pipeline burial depth data to 8 flight control systems. And 8, the flight control system receives the pipeline buried depth data, processes the data and sends an instruction to change the rotating speeds of the four propellers so as to adjust the flight height of the unmanned detector, and the flight height of the unmanned detector in the whole detection process is kept consistent.
(2) During the process that the unmanned detector travels along the set route:
a. and the data acquisition units in the four directions start to collect the magnetic leakage signals of the pipeline. The data acquisition unit can automatically change the signal acquisition frequency according to the flight speed of the unmanned detector, and the acquisition frequency should keep acquiring 20 pipeline magnetic leakage signals per meter. The four data collectors transmit the acquired pipeline magnetic flux leakage signals to the data processor in real time, and the data processor processes the received pipeline magnetic signals, converts the pipeline magnetic signals into stress values and wirelessly transmits the stress values to the computer.
σ＝βσs(1-eAG)
Wherein, sigma is the stress value of the pipeline, N; beta is a correction coefficient, m 2/A; sigmasIs the pipeline yield stress value, N; g is the gradient modulus of the pipeline magnetic field, A/m 2; a is a pipeline operation period coefficient, and is dimensionless, wherein A is In (Td/To)/(Poper/Po); poper is the actual operating pressure, MPa; po is the design operating pressure, MPa; td is the duct run time, a; to is the design life of the pipeline, a.
b. The buried depth measuring instrument measures the buried depth of the pipeline in real time and transmits buried depth data to the flight control system and the data processor. The flight control system changes the flight height of the unmanned detector according to the pipeline buried depth data; the data processor wirelessly transmits the pipeline buried depth data and the pipeline stress value data to the computer end.
h＝λ(ln G-ES)
In the formula, h is the buried depth of the pipeline, m; g is the gradient modulus of the pipeline magnetic field, A/m 2; lambda is a correction coefficient, related to soil parameters, m 3/A; ES is the external magnetic field disturbance, A/m 2.
(3) When the unmanned detector moves to the terminal point according to the set route, the detection function of the lower detection device is stopped under the control of the computer terminal. After the data processor transmits all the detection data to the computer end, the computer end is used for controlling the unmanned aerial vehicle to fly back to a worker. And the computer end processes the information acquired by the unmanned detector and draws a mileage-stress diagram and a mileage-burial depth diagram on site. And the field inspector judges the stress concentration position of the pipeline according to the mileage-stress diagram and marks the corresponding position on the ground. And the pipeline responsible party detects the pipeline buried depth information according to the drawn mileage-buried depth map record and updates the pipeline buried depth data in a pipeline database.
Seventhly, the technical effects are as follows:
1. the invention can carry out non-contact nondestructive detection on the pipeline, is less limited by the pipeline body and the operation condition, and can be suitable for most buried pipelines.
2. Compared with the traditional internal detection mode, the invention does not need to carry out operations such as cleaning pipes, arranging locators along the line and the like, and has simpler detection flow.
3. The invention adopts a calculation model, can convert the pipeline magnetic flux leakage signal into a stress value in real time, and provides a preliminary detection conclusion on site.
4. The invention adopts a calculation model, detects the buried depth of the pipeline while detecting the pipeline, changes the flight height of the unmanned detector in real time according to the buried depth data of the pipeline, and hands over the buried depth data of the pipeline to a pipeline management party for updating the buried depth data of the pipeline.
Claims (6)
1. A quick magnetic detection device and method for pipeline defects are used for pipeline defect detection and are characterized by comprising the following steps:
step 1, collecting information about a pipeline area of a detection section, determining a GPS coordinate of a buried pipeline by using a pipeline positioning instrument RD8000 in a field survey mode, and marking the pipeline trend on the ground;
step 2, detecting geomagnetic field information for eliminating the interference of a background magnetic field on a pipeline magnetic signal and improving the calculation precision of the defect stress level;
and 3, inputting the pipeline GPS coordinate data processed by the computer into a flight control system. Determining the flight direction and speed of the unmanned detector according to the current coordinate information of the unmanned detector and the received target point information;
and 4, starting the unmanned detector from the starting position, and controlling the lower detection device to start working through the computer end after the unmanned detector is lifted from the starting point. And a buried depth measuring instrument in the detection device measures the buried depth of the pipeline and transmits the buried depth data of the pipeline to the flight control system. The flight control system receives and processes the pipeline buried depth data and then sends an instruction to change the rotating speeds of the four propellers so as to adjust the flight height of the unmanned detector and keep the flight height of the unmanned detector in the whole detection process consistent;
and 5, processing the pipeline magnetic signals received by the unmanned detector, converting the pipeline magnetic signals into stress values and wirelessly transmitting the stress values to a computer. The buried depth measuring instrument measures the buried depth of the pipeline in real time and transmits buried depth data to the flight control system and the data processor. The flight control system changes the flight height of the unmanned detector according to the pipeline buried depth data; the data processor wirelessly transmits the pipeline buried depth data and the pipeline stress value data to the computer end;
and 6, when the unmanned detector moves to a terminal point according to a set route, processing the information acquired by the unmanned detector by the computer terminal, and drawing a mileage-stress diagram and a mileage-burial depth diagram on site.
2. The apparatus and method for rapid magnetic detection of pipeline defects according to claim 1, wherein in step 2, the geomagnetic field information detection comprises the following steps:
step a, cleaning a 3 Mx 3M flat area in an area more than 500 meters away from a pipeline to ensure that no substances affecting a magnetic field, such as metal, exist in the area;
and b, adjusting the position of the unmanned detector to enable the detection direction of the unmanned detector to be consistent with the direction of the pipeline. And starting a detection device to detect geomagnetic field information, and keeping no external disturbance in the detection process, wherein the detection time needs to be controlled within 10-15 minutes, so that the accuracy of geomagnetic field data is ensured.
3. The apparatus and method for rapid magnetic detection of pipeline defects according to claim 1, wherein in step 4, the pipeline buried depth and the magnetic signal satisfy the following relationship:
h＝λ(lnG-ES)
in the formula, h is the buried depth of the pipeline, m; g is the gradient modulus of the pipeline magnetic field, A/m 2; lambda is a correction coefficient, related to soil parameters, m 3/A; ES is the external magnetic field disturbance, A/m 2.
4. The device and the method for rapidly detecting the defects of the pipeline according to claim 1, wherein in the step 4, the pipeline burial depth data and the rotating speed of a propeller of an unmanned detector meet the following relation:
Δω＝αvΔh/(lr)
in the formula, delta omega is the rotating speed variation of the propeller, rad/s; alpha is a correction coefficient and is dimensionless; v is the advancing speed of the unmanned detector, m/s; delta h is the buried depth variation of the pipeline, m; l is the set height m of the unmanned detector; r is propeller radius, m.
5. The apparatus and method according to claim 1, wherein in step 5, the magnetic signal and stress value of the pipeline satisfy the following relationship:
σ＝βσs(1-eAG)
wherein, sigma is the stress value of the pipeline, N; beta is a correction coefficient, m2/A；σsIs the pipeline yield stress value, N; g is the gradient modulus of the magnetic field of the pipeline, A/m2(ii) a A is the coefficient of the running period of the pipeline, and is dimensionless, and A is In (T)d/To)/(Poper/Po)；PoperActual operating pressure, MPa; poThe design operating pressure is MPa; t isdThe pipeline running time, a; t isoDesign life for the pipeline, a.
6. The apparatus and method according to claim 3, wherein in step 5, the calculation formula of the magnetic field gradient modulus is:
in the formula (I), the compound is shown in the specification,
the variation of the induction intensity of the magnetic field in the X direction;
the variation of the induction intensity of the magnetic field in the Y direction;
is the variation of the induction intensity of the magnetic field in the Z direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110337441.0A CN113154263B (en) | 2021-03-30 | 2021-03-30 | Rapid magnetic detection device and method for pipeline defects |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110337441.0A CN113154263B (en) | 2021-03-30 | 2021-03-30 | Rapid magnetic detection device and method for pipeline defects |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113154263A true CN113154263A (en) | 2021-07-23 |
| CN113154263B CN113154263B (en) | 2021-12-21 |
Family
ID=76885235
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110337441.0A Expired - Fee Related CN113154263B (en) | 2021-03-30 | 2021-03-30 | Rapid magnetic detection device and method for pipeline defects |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113154263B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113983921A (en) * | 2021-11-02 | 2022-01-28 | 西南石油大学 | Buried depth detection method and device for buried pipeline |
Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2230978C1 (en) * | 2002-09-24 | 2004-06-20 | Заренков Вячеслав Адамович | Method of detection of break in pipe line |
| CA2772897A1 (en) * | 2011-03-31 | 2012-09-30 | Quanta Associates, L.P. | Aerial inspection system(s) and method(s) |
| WO2012167380A1 (en) * | 2011-06-08 | 2012-12-13 | Shawcor Ltd. | Robotic apparatus for automated internal pipeline girth weld ultrasonic inspection |
| CN102954997A (en) * | 2011-08-26 | 2013-03-06 | 中国石油天然气股份有限公司 | Non-contact magnetic stress detection method for pipe defects |
| CN106442570A (en) * | 2016-11-23 | 2017-02-22 | 中国计量大学 | Internal pipeline defect detecting device, detecting method and start setting method of cameras |
| CN109142507A (en) * | 2018-08-07 | 2019-01-04 | 四川钜莘信合科技有限公司 | Pipeline defect detection method and device |
| CN109292089A (en) * | 2018-10-30 | 2019-02-01 | 华北石油通信有限公司 | A kind of unmanned flight's device applied to petroleum pipeline defect detection |
| CN109655523A (en) * | 2018-11-12 | 2019-04-19 | 华孚油气工程技术成都有限公司 | A kind of method that defect point is looked in buried ferromagnetic conduit ontology reparation |
| CN110231111A (en) * | 2019-06-21 | 2019-09-13 | 西南石油大学 | A kind of contactless stress method of real-time of buried pipeline |
| CN111086638A (en) * | 2020-01-16 | 2020-05-01 | 四川川测研地科技有限公司 | Natural gas line patrols line fixed wing unmanned aerial vehicle |
| CN111307031A (en) * | 2020-03-16 | 2020-06-19 | 西南石油大学 | Buried pipeline safety state monitoring and early warning method |
| CN111637367A (en) * | 2020-04-24 | 2020-09-08 | 西南石油大学 | Detection and evaluation method for corrosion defects in mountain gas transmission pipeline |
| CN111947037A (en) * | 2020-07-16 | 2020-11-17 | 苏州恒井泰信息技术有限公司 | Natural gas pipeline leakage detection system based on unmanned aerial vehicle |
-
2021
- 2021-03-30 CN CN202110337441.0A patent/CN113154263B/en not_active Expired - Fee Related
Patent Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2230978C1 (en) * | 2002-09-24 | 2004-06-20 | Заренков Вячеслав Адамович | Method of detection of break in pipe line |
| CA2772897A1 (en) * | 2011-03-31 | 2012-09-30 | Quanta Associates, L.P. | Aerial inspection system(s) and method(s) |
| WO2012167380A1 (en) * | 2011-06-08 | 2012-12-13 | Shawcor Ltd. | Robotic apparatus for automated internal pipeline girth weld ultrasonic inspection |
| CN102954997A (en) * | 2011-08-26 | 2013-03-06 | 中国石油天然气股份有限公司 | Non-contact magnetic stress detection method for pipe defects |
| CN106442570A (en) * | 2016-11-23 | 2017-02-22 | 中国计量大学 | Internal pipeline defect detecting device, detecting method and start setting method of cameras |
| CN109142507A (en) * | 2018-08-07 | 2019-01-04 | 四川钜莘信合科技有限公司 | Pipeline defect detection method and device |
| CN109292089A (en) * | 2018-10-30 | 2019-02-01 | 华北石油通信有限公司 | A kind of unmanned flight's device applied to petroleum pipeline defect detection |
| CN109655523A (en) * | 2018-11-12 | 2019-04-19 | 华孚油气工程技术成都有限公司 | A kind of method that defect point is looked in buried ferromagnetic conduit ontology reparation |
| CN110231111A (en) * | 2019-06-21 | 2019-09-13 | 西南石油大学 | A kind of contactless stress method of real-time of buried pipeline |
| CN111086638A (en) * | 2020-01-16 | 2020-05-01 | 四川川测研地科技有限公司 | Natural gas line patrols line fixed wing unmanned aerial vehicle |
| CN111307031A (en) * | 2020-03-16 | 2020-06-19 | 西南石油大学 | Buried pipeline safety state monitoring and early warning method |
| CN111637367A (en) * | 2020-04-24 | 2020-09-08 | 西南石油大学 | Detection and evaluation method for corrosion defects in mountain gas transmission pipeline |
| CN111947037A (en) * | 2020-07-16 | 2020-11-17 | 苏州恒井泰信息技术有限公司 | Natural gas pipeline leakage detection system based on unmanned aerial vehicle |
Non-Patent Citations (3)
| Title |
|---|
| 廖柯熹等: "埋地油气管道应力集中磁力外检测技术", 《中国测试》 * |
| 牟春鹏等: "城市三维地下管线定位及埋深探测技术研讨", 《测绘与空间地理信息》 * |
| 秦明旺等: "埋地铁磁管道环焊缝夹渣缺陷非开挖技术研究", 《科学技术创新》 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113983921A (en) * | 2021-11-02 | 2022-01-28 | 西南石油大学 | Buried depth detection method and device for buried pipeline |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113154263B (en) | 2021-12-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| AU2013227428B2 (en) | Fault detection for pipelines | |
| US8841901B2 (en) | System and method for inspecting a subsea pipeline | |
| CN104235618A (en) | MEMS (Micro Electro Mechanical System) inertial measurement unit-based pipeline surveying and mapping and defect positioning device and pipeline surveying and mapping and defect positioning method thereof | |
| CN111637367B (en) | Detection and evaluation method for corrosion defects in mountain gas transmission pipeline | |
| CN109063849B (en) | Real-time tracking and grading positioning system and method for in-pipeline detector | |
| EP2737242B1 (en) | System and method for inspecting a subsea pipeline | |
| CN113154263B (en) | Rapid magnetic detection device and method for pipeline defects | |
| CN103235034A (en) | Natural gas long-distance pipeline three-dimensional high-definition magnetic leakage internal detection apparatus | |
| CN110441388A (en) | A kind of jacket platform underwater portion non-destructive testing method of detection | |
| CN207395997U (en) | A kind of Bridge Influence Line identifying system | |
| CN209264625U (en) | A kind of buried metal pipeline Indirect testing device based on weak magnetic detection technique | |
| CN103115245A (en) | Pipeline detection device based on piezomagnetic effect | |
| EP4176241A1 (en) | In-line fluid and solid sampling within flowlines | |
| CN102537668A (en) | Method for determining ground mark time of inner detector of pipeline | |
| CN107219335A (en) | Pipe jointer detection method based on multiple continuous wavelet transform | |
| CN208537474U (en) | A kind of pipe welding line detecting device | |
| CN103363880B (en) | Pipeline girth weld joint identification and positioning method | |
| CN1367374A (en) | Heat-supply network failure quick detection system | |
| CN109115215A (en) | The all-round train system of inertial navigation positioning measurement | |
| CN111457252B (en) | Gas pipeline leakage positioning method based on vibration waves | |
| CN213452909U (en) | Intelligent detection system for leakage of long-distance pipeline | |
| CN107270960A (en) | Wiper data acquisition equipment | |
| CN100535652C (en) | Self-adapting reconstruction method for defect in pipeline | |
| CN113916976B (en) | Method and experimental device for rapidly calculating pipeline magnetic anomaly comprehensive index F value | |
| Sudevan et al. | Autonomous tracking and tagging of buried pipelines based on Pipe-Locator data |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20211221 |