CN114113307A - Omnidirectional defect detection device and method for coiled tubing - Google Patents
Omnidirectional defect detection device and method for coiled tubing Download PDFInfo
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- CN114113307A CN114113307A CN202110993119.3A CN202110993119A CN114113307A CN 114113307 A CN114113307 A CN 114113307A CN 202110993119 A CN202110993119 A CN 202110993119A CN 114113307 A CN114113307 A CN 114113307A
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- G01N27/90—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating magnetic variables for investigating the presence of flaws using eddy currents
- G01N27/9046—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating magnetic variables for investigating the presence of flaws using eddy currents by analysing electrical signals
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Abstract
The invention is suitable for the electromagnetic nondestructive detection of a coiled tubing and provides a device and a method for detecting the omnidirectional defects of the coiled tubing. The device induces a uniform electromagnetic field on the surface of the coiled tubing based on a composite probe excitation source of ACFM and MFL, and obtains a magnetic field distortion signal caused by the surface defect of the coiled tubing; the ACFM array probe detects the axial defects of the coiled tubing through the distortion of the eddy current field, and the MFL array probe detects the circumferential defects of the coiled tubing through the leakage of the magnetic field; the encoder synchronously acquires the movement distance of the corresponding coiled tubing; the signal processing module collects and processes the magnetic field distortion digital signals and intelligently identifies defects, and finally, the defect detection result is visually displayed. The method overcomes the limitation of directional detection by a single detection method, and can comprehensively evaluate the service condition of the coiled tubing.
Description
Technical Field
The invention relates to electromagnetic nondestructive detection of a coiled tubing, in particular to a device and a method for detecting omnidirectional defects of the coiled tubing.
Background
The coiled tubing operation device is called a universal operation machine and is widely applied to the fields of high temperature, high pressure and ultra-deep wells; due to repeated plastic bending deformation of the coiled tubing, crack defects and mechanical damage, corrosion leakage, seizing or breaking are easy to occur on the near surface of the coiled tubing. If the defects can be detected in advance and corresponding remedial measures can be taken, the recycling frequency of the defects can be increased, and meanwhile severe accidents can be avoided. Therefore, it is necessary to periodically test and evaluate the coiled tubing.
At present, most of the defects of the coiled tubing are detected by a magnetic flux leakage detection technology, and the method is widely applied to online detection of the defects of the coiled tubing.
For example, patent No. CN111912899A provides an online nondestructive inspection device for oil pipes, which includes a wellhead assembly, where the wellhead assembly includes a housing, a centering follower, a measuring arm assembly kit, a connecting rod assembly kit, a magnetization system, and peripheral devices; the peripheral equipment comprises a junction box, a signal conversion system, a signal acquisition and conditioning module, test software, a computer and an analog and digital signal transmission line; the magnetizing system is arranged at the lower part of the bottom plate; the centering follow-up mechanism comprises a guide wheel and a measuring roller, two measuring rollers are arranged to be in direct contact with the coiled tubing to be detected, an upper half detection unit and a lower half detection unit are arranged above and below the measuring roller of the measuring arm assembly suite, the measuring arm assembly suite respectively comprises two magnetic flux leakage detection probes and an ellipticity detection probe which are hinged around a pair of semicircular shafts of the coiled tubing, and a safety gap is kept between the magnetic flux leakage detection probes and the ellipticity detection probes and the surface of the coiled tubing to be detected.
The invention patent of patent CN103196989A discloses "an ACFM different-angle crack detection system based on a rotating magnetic field", which realizes intelligent identification of cracks at different angles by obtaining a rotating magnetic field distortion signal caused by surface defects of a workpiece to be detected. The detection system has good detection effect on the plane workpiece and poor detection practicability on circumferential defects of the cylindrical continuous oil pipe.
The utility model discloses a utility model patent with publication number CN206862964U has related to "be equipped based on online nondestructive test of coiled tubing of magnetic leakage and supersound", adopts the super strong magnetization field of formula permanent magnetism magnetizer of crossing to exert it, realizes coiled tubing defect detection. But the axial super-strong magnetization field is not sensitive to axial defects; in addition, the corrosion defect of the surface of the coiled tubing is difficult to detect by ultrasonic detection, a surface 'blind area' exists, and the detection capability of the outer surface is limited.
However, most of the current coiled tubing magnetic flux leakage detection only relates to a single-direction excitation condition, is extremely insensitive to the detection of axial defects and deflection defects, and has insufficient detection precision and accuracy.
Disclosure of Invention
In order to improve the detection accuracy of the coiled tubing, the invention aims to provide the device and the method for detecting the omnidirectional defects of the coiled tubing, which can detect the circumferential and axial defects simultaneously by combining the ACFM detection technology on the basis of magnetic flux leakage detection, and reduce the possibility of false detection and missing detection.
An omnidirectional defect detection device for a coiled tubing comprises an alternating current electromagnetic detection ACFM array unit, a magnetic flux leakage detection MFL array unit, an encoder and a signal processing module;
the alternating current electromagnetic detection ACFM array unit and the magnetic flux leakage detection MFL array unit are of hollow structures and used for enabling the coiled tubing to penetrate through;
the alternating current electromagnetic detection ACFM array unit and the magnetic flux leakage detection MFL array unit are fixedly connected to the shell through a connecting plate;
the encoder is fixed on one side of the magnetic flux leakage detection MFL array unit or the alternating current electromagnetic detection ACFM array unit;
alternating current electromagnetic detection ACFM array unit the magnetic leakage detects MFL array unit with the encoder passes through the signal line and is connected to the signal processing module, the signal processing module will alternating current electromagnetic detection ACFM array unit with the signal that magnetic leakage detection MFL array unit gathered is handled, obtains coiled tubing's defect information.
Further, the alternating current electromagnetic detection ACFM array unit comprises 8 ACFM detection probes which are uniformly distributed in the circumferential direction.
Further, the leakage magnetic detection MFL array unit includes 64 leakage magnetic detection probes uniformly distributed circumferentially.
Further, the interval between the alternating current electromagnetic detection ACFM array unit and the magnetic leakage detection MFL array unit is larger than 80mm, and the alternating current electromagnetic detection ACFM array unit and the magnetic leakage detection MFL array unit are connected through the connecting plate.
Furthermore, the signal processing module comprises a signal conditioning module, an analog-to-digital conversion module, a defect intelligent identification module and a display module which are connected in sequence.
Further, the alternating current electromagnetic detection ACFM detection probe comprises an excitation coil and a U-shaped magnetic core, wherein the excitation coil is uniformly wound on the U-shaped magnetic core.
Further, the magnetic flux leakage detection MFL detection probe comprises a pole shoe, two permanent magnets and a rectangular armature; the two permanent magnets are adsorbed on two ends of one surface, facing the coiled tubing, of the rectangular armature, and a pole shoe is further arranged on one surface, facing the coiled tubing, of the permanent magnets, and the lifting value of the permanent magnets and the coiled tubing through the pole shoe is 2 mm.
Further, the alternating current electromagnetic detection ACFM detection probe and the leakage magnetic detection MFL detection probe further comprise Hall sensors.
The omni-directional defect detection method for the coiled tubing, which is used for detection by adopting the detection device, comprises the following steps:
s10, starting the detection device, and inducing a uniform electromagnetic field on the surface of the oil pipe;
s20, advancing at a constant speed along the axial direction of the pipeline to detect the defects of the pipeline;
s21, detecting eddy current field information on the surface of the continuous oil pipe by using an alternating current electromagnetic detection ACFM array unit; the magnetic flux leakage detection MFL array unit detects magnetic flux leakage information on the surface of the coiled tubing;
s22, transmitting the collected eddy current field information and the collected magnetic leakage information to a signal processing module for signal processing to obtain defect information of the surface of the continuous oil pipe;
s221, transmitting the acquired eddy current field information and the acquired magnetic leakage information to a signal conditioning module, and amplifying and filtering the signals;
and S222, inputting the signal processed by the signal conditioning module into an analog-to-digital conversion module to obtain a digital signal, and inputting the digital signal into a defect intelligent identification module to identify defects.
Further, in step S20, the encoder synchronously acquires the moving distance of the coiled tubing, and returns a set of signals acquired by the ac electromagnetic testing ACFM array unit and the magnetic flux leakage testing MFL array unit every time the encoder rolls by one step.
Compared with the prior art, the device for detecting the omnidirectional defect of the coiled tubing has the following beneficial effects:
according to the invention, ACFM detection and MFL detection are compositely integrated, and data fusion processing is carried out on the detected pipeline defect signal, so that the omnidirectional defect detection of the continuous oil pipe is realized; the ACFM and MFL integrated technology method has high detection speed and accurate defect identification; the limitation of directional detection of a single detection method is overcome, and the using condition of the coiled tubing can be comprehensively evaluated; the accurate intelligent detection of the omnidirectional defect of the continuous oil pipe is realized, and the practical value of field engineering is improved.
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In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments of the present invention or in the description of the prior art will be briefly described below, and it is obvious that the drawings described below are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic structural diagram of an omnidirectional defect detection device for a coiled tubing according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of an internal structure of an omnidirectional defect detection device for a coiled tubing according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of an AC electromagnetic detection ACFM array unit according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a leakage flux detection MFL array element according to an embodiment of the present invention;
FIG. 5 is a schematic structural diagram of an AC electromagnetic test ACFM probe and a magnetic leakage test MFL probe according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of a method for detecting omnidirectional defects of a coiled tubing according to an embodiment of the present invention.
In the figure, 1-housing; 2-pushing the handle; 3-a connecting means; 4-a signal processing module; 5-coiled tubing; 1-1-alternating current electromagnetic detection ACFM unit; 1-1-1-ACFM detection probe; 1-1-1-1-excitation coil; 1-1-1-2-U type magnetic core; 1-2-magnetic leakage detection MFL unit; 1-2-1-MFL detection probe; 1-2-1-1-pole shoe; 1-2-1-2-permanent magnet; 1-2-1-3-rectangular armature; 1-3-connecting plate; 1-4-encoder; 1-5-rollers.
Detailed Description
The following description provides many different embodiments, or examples, for implementing different features of the invention. The particular examples set forth below are illustrative only and are not intended to be limiting.
An omnidirectional defect detection device for a coiled tubing is shown in fig. 1 and fig. 2, and comprises an alternating current electromagnetic detection ACFM array unit 1-1, a magnetic flux leakage detection MFL array unit 1-2, an encoder 1-4 and a signal processing module 4; the alternating current electromagnetic detection ACFM array unit 1-1 and the magnetic flux leakage detection MFL array unit 1-2 are of hollow structures and used for enabling a coiled tubing 5 to penetrate through; the alternating current electromagnetic detection ACFM array unit 1-1 and the magnetic flux leakage detection MFL array unit 1-2 are fixedly connected to the shell 1 through a connecting plate 1-3; the encoder 1-4 is fixed on one side of the AC electromagnetic detection ACFM array unit 1-1 or the magnetic flux leakage detection MFL array unit 1-2; a plurality of rollers are arranged on the moving path of the continuous pipeline to provide holding support and guide for the running of the continuous pipeline. In order to facilitate the installation and the disassembly operation, all the parts are connected by adopting detachable bolts.
Alternating current electromagnetic detection ACFM array unit 1-1, magnetic leakage detection MFL array unit 1-2 with encoder 1-4 is connected to signal processing module 4 through the signal line, signal processing module 4 will alternating current electromagnetic detection ACFM array unit 1-1 with the signal that magnetic leakage detection MFL array unit 1-2 gathered is handled, obtains coiled tubing's defect information.
The alternating current electromagnetic detection ACFM array unit 1-1 comprises 8 ACFM detection probes which are uniformly distributed in the circumferential direction, as shown in FIG. 3; each alternating current electromagnetic detection ACFM detection probe comprises an excitation coil 1-1-1-1 and a U-shaped magnetic core 1-1-1-2, wherein the excitation coil 1-1-1-1 is uniformly wound on the U-shaped magnetic core 1-1-1-2; as shown in fig. 5, the probe is mounted in the armature slot.
According to the ACFM detection theory, alternating current is introduced into the exciting coil, when the exciting coil approaches a high-permeability continuous oil pipe, the alternating current causes an alternating magnetic field in a space near the continuous oil pipe, and induced current is concentrated on the surface of the continuous oil pipe due to the skin effect. When the coiled tubing has no defects, the induction current lines are distributed in parallel, and a uniform magnetic field exists on the near surface; if the near surface of the coiled tubing has defects, the current lines can deflect near the defects due to the change of the resistivity of the defects, and the magnetic field of the near surface of the coiled tubing can be distorted. Thereby generating a magnetic induction field Bx along the x-axis direction and generating a magnetic induction field Bz along the z-axis direction on the surface of the coiled tubing. The change of the magnetic field is strong and weak, and the size of the defect can be reflected.
The magnetic leakage detection MFL array unit 1-2 comprises 64 magnetic leakage detection probes uniformly distributed circumferentially, as shown in FIG. 4; each magnetic flux leakage detection MFL detection probe comprises a pole shoe 1-2-1-1, two permanent magnets 1-2-1-2 and a rectangular armature 1-2-1-3; two permanent magnets 1-2-1-2 are adsorbed on two ends of one surface of the rectangular armature 1-2-1-3 facing the coiled tubing, one surface of the permanent magnet 1-2-1-2 facing the coiled tubing is also provided with a pole shoe 1-2-1-1, and the lifting value of the permanent magnet 1-2-1-2 and the coiled tubing separated by the pole shoe 1-2-1-1 is 2 mm.
A magnetic field of a permanent magnet 1-2-1-2 in an MFL array unit 1-2 forms a closed magnetization loop through a rectangular armature 1-2-1-3, a pole shoe 1-2-1-1 and a coiled tubing, a magnetization field is formed on the near surface of the coiled tubing, when circumferential defects exist on the near surface and cut magnetic lines, the magnetic permeability of the defects is very small, the magnetic resistance is very large, and the magnetic flux density in the magnetic path is changed, so that a leakage magnetic field is generated.
In this embodiment, the magnetic core is a manganese-zinc ferrite core with high magnetic permeability; in order to collect the magnetic field change on the surface of the coiled tubing, Hall sensors are arranged in an alternating current electromagnetic detection ACFM detection probe and a magnetic flux leakage detection MFL detection probe.
Considering the influence of remanence between the measurement units, the distance between the alternating current electromagnetic detection ACFM array unit and the magnetic leakage detection MFL array unit is more than 80mm, and the alternating current electromagnetic detection ACFM array unit and the magnetic leakage detection MFL array unit are connected through the connecting plates 1-3.
The signal processing module 4 comprises a signal conditioning module, an analog-to-digital conversion module, a defect intelligent identification module and a display module which are connected in sequence.
In this embodiment, the signal conditioning module is a device for performing pre-stage and post-stage amplification and low-pass filtering on magnetic field signals collected by sensors in the ACFM and MFL detectors, and the signal conditioning module performs two-stage signal amplification on magnetic field distortion signals by using an amplifier AD620 with high accuracy, simplicity in use and low noise, wherein the pre-amplification is 2 times, and the post-amplification is 10 times; filtering by adopting a second-order low-pass filter; adjusting parameter setting to enable the signal generator to generate 2V sinusoidal signal voltage, and sinusoidal magnetization current Ix with the frequency of 5kHz is Asin (wt); the A/D conversion module adopts a CS5532 analog-to-digital converter chip with high integration level and resolution of 24 bits; and the defect intelligent identification module adopts C # language to compile programs.
The invention also provides a method for detecting the omnidirectional defects of the coiled tubing, which adopts the detection device for detection and comprises the following steps:
s10, starting the detection device, and inducing a uniform electromagnetic field on the surface of the oil pipe; acquiring a magnetic field distortion signal caused by the surface defect of the continuous oil pipe;
s20, advancing at a constant speed along the axial direction of the pipeline to detect the defects of the pipeline;
the roller is in direct contact with the coiled tubing to be tested, clamps the coiled tubing to be tested and guides the coiled tubing to be tested;
s21, detecting eddy current field information on the surface of the continuous oil pipe by using an alternating current electromagnetic detection ACFM array unit; the magnetic flux leakage detection MFL array unit 1-2 detects magnetic flux leakage information on the surface of the coiled tubing;
meanwhile, the encoder synchronously acquires the moving distance of the coiled tubing; the encoder measures the moving distance of the coiled tubing through the rolling distance of a roller tightly attached to the coiled tubing, and the moving distance is synchronous with the magnetic field measured by the coiled tubing omnidirectional defect detection method, and the encoder returns the magnetic field value measured by a group of composite excitation probes when rolling by one step length (0.2 mm);
s22, transmitting the collected vortex field information and the collected magnetic leakage information to a signal processing module 4 for signal processing to obtain defect information of the surface of the continuous oil pipe;
s221, transmitting the acquired eddy current field information and the acquired magnetic leakage information to a signal conditioning module, and amplifying and filtering the signals;
s222, inputting the signal processed by the signal conditioning module into an analog-to-digital conversion module to obtain a digital signal, and inputting the digital signal into a defect intelligent identification module to identify defects;
and finally, the display module is used for visually displaying the defect signals, so that the defects can be conveniently observed and checked by workers and readers at any time.
FIG. 6 is a schematic diagram of an omnidirectional defect detection method for coiled tubing according to the present invention. In the embodiment, four typical angle defects of 0 degrees, 30 degrees, 60 degrees and 90 degrees are selected for signal analysis, and it can be seen that when the surface of the coiled tubing has defects, the magnetic induction intensity based on the ACFM and MFL integration method respectively shows difference in the axial direction and the radial direction, and the magnetic induction intensity of the surface of the tubing shows distortion in different degrees according to different defect angles. Within the range of the defect angle of 0-30 degrees, the ACFM and MFL integration method can accurately detect the defect information. With the gradual increase of the defect angle, the peak value of the detection signal of the ACFM detection method in the 30-60-degree interval is gradually reduced, but the detection signal can still distinguish the defect information, and the radial component peak value of the MFL method gradually disappears; the two detection methods in the 60-90 degree interval can not well detect the defect information. Thus, a quantitative and qualitative differentiation of the defect detection can be achieved by the characteristic signal. The defect detection information realizes the detection of the defects of any angle in the whole circumferential direction of the continuous oil pipe through the array design of the composite ACFM and MFL probe. The invention can realize the detection of the surface full-angle non-blind-area defect of the continuous oil pipe based on the ACFM and MFL integration method.
The invention provides a method for detecting omnidirectional defects of a coiled tubing, which is characterized in that a composite probe excitation source based on ACFM and MFL methods induces a uniform electromagnetic field on the surface of the coiled tubing to obtain a magnetic field distortion signal caused by the surface defects of the coiled tubing; the ACFM array probe detects the axial defects of the coiled tubing through the distortion of the eddy current field, and the MFL array probe detects the circumferential defects of the coiled tubing through the leakage of the magnetic field; the roller is in direct contact with the coiled tubing to be tested, clamps the coiled tubing to be tested and guides the coiled tubing; the encoder synchronously acquires the movement distance of the corresponding coiled tubing; the signal conditioning module receives a defect magnetic field distortion signal output by the composite probe, and performs two-stage amplification and low-pass filtering pretreatment on the magnetic field distortion signal, wherein the magnetic field distortion signal is amplified by 2 times in the front and amplified by 10 times in the rear; the filter adopts a second-order Butterworth low-pass filter; the A/D conversion module is used for outputting the processed magnetic field distortion analog signals, the A/D conversion module is used for converting the output magnetic field distortion analog signals into corresponding digital signals, the main computer module is used for collecting and processing the magnetic field distortion digital signals and intelligently identifying defects, and finally, the defect detection result is visually displayed.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. The omnidirectional defect detection device for the coiled tubing is characterized by comprising an alternating current electromagnetic detection ACFM array unit (1-1), a magnetic flux leakage detection MFL array unit (1-2), an encoder (1-4) and a signal processing module (4);
the alternating current electromagnetic detection ACFM array unit (1-1) and the magnetic flux leakage detection MFL array unit (1-2) are of hollow structures and are used for enabling a coiled tubing (5) to penetrate through;
the alternating current electromagnetic detection ACFM array unit (1-1) and the magnetic flux leakage detection MFL array unit (1-2) are fixedly connected to the shell (1) through a connecting plate (1-3);
the encoder (1-4) is fixed on one side of the magnetic flux leakage detection MFL array unit (1-2) or the alternating current electromagnetic detection ACFM array unit (1-1);
alternating current electromagnetic detection ACFM array unit (1-1), magnetic leakage detection MFL array unit (1-2) and encoder (1-4) are connected to signal processing module (4) through the signal line, signal processing module (4) will alternating current electromagnetic detection ACFM array unit (1-1) with the signal that magnetic leakage detection MFL array unit (1-2) was collected is handled, obtains coiled tubing's defect information.
2. The omnidirectional defect detection device for the coiled tubing according to claim 1, wherein the alternating current electromagnetic detection ACFM array unit (1-1) comprises 8 ACFM detection probes uniformly distributed circumferentially.
3. The omni-directional defect detection device for the coiled tubing according to claim 1, wherein the magnetic leakage detection MFL array unit (1-2) comprises 64 magnetic leakage detection probes uniformly distributed circumferentially.
4. The omni-directional defect detecting device for the coiled tubing according to any one of claims 1 to 3, wherein the distance between the AC electromagnetic detection ACFM array unit and the magnetic leakage detection MFL array unit is more than 80mm, and the AC electromagnetic detection ACFM array unit and the magnetic leakage detection MFL array unit are connected through the connecting plates (1-3).
5. The omnidirectional defect detection device for the coiled tubing according to claim 4, wherein the signal processing module (4) comprises a signal conditioning module, an analog-to-digital conversion module, a defect intelligent identification module and a display module which are connected in sequence.
6. The omnidirectional defect detection device for the coiled tubing according to claim 2, wherein the alternating current electromagnetic detection ACFM detection probe comprises an excitation coil (1-1-1-1) and a U-shaped magnetic core (1-1-1-2), and the excitation coil (1-1-1-1) is uniformly wound on the U-shaped magnetic core (1-1-1-2).
7. The omni-directional defect detection device for the coiled tubing according to claim 3, wherein the magnetic flux leakage detection MFL detection probe comprises a pole shoe (1-2-1-1), two permanent magnets (1-2-1-2), and a rectangular armature (1-2-1-3); two permanent magnets (1-2-1-2) are adsorbed on two ends of one surface, facing the coiled tubing, of the rectangular armature (1-2-1-3), one surface, facing the coiled tubing, of the permanent magnets (1-2-1-2) is also provided with a pole shoe (1-2-1-1), and the lift-off value of the permanent magnets (1-2-1-2) and the coiled tubing, which are separated from the pole shoe (1-2-1-1), is 2 mm.
8. The omnidirectional defect detection device for the coiled tubing of claim 6 or 7, wherein the alternating current electromagnetic detection ACFM detection probe and the magnetic leakage detection MFL detection probe further comprise Hall sensors.
9. A method for detecting omnidirectional defects of a coiled tubing, which is characterized by adopting the detection device of claim 5 for detection, and comprises the following steps:
s10, starting the detection device, and inducing a uniform electromagnetic field on the surface of the oil pipe;
s20, enabling the detection device to move forwards at a constant speed along the axial direction of the pipeline so as to detect the defects of the pipeline;
s21, detecting eddy current field information on the surface of the continuous oil pipe by using an alternating current electromagnetic detection ACFM array unit; the magnetic flux leakage detection MFL array unit (1-2) detects magnetic flux leakage information on the surface of the coiled tubing;
s22, transmitting the collected vortex field information and the collected magnetic leakage information to a signal processing module (4) for signal processing to obtain defect information of the surface of the continuous oil pipe;
s221, transmitting the acquired eddy current field information and the acquired magnetic leakage information to a signal conditioning module, and amplifying and filtering the signals;
and S222, inputting the signal processed by the signal conditioning module into an analog-to-digital conversion module to obtain a digital signal, and inputting the digital signal into a defect intelligent identification module to identify defects.
10. The method of claim 9, wherein in step S20, the encoders (1-4) synchronously acquire the distance of coiled tubing movement, and return a set of signals acquired by ac electromagnetic test (ACFM) array elements and magnetic leakage test (MFL) array elements for each roll of the encoders by one step.
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| CN113264082A (en) * | 2021-04-08 | 2021-08-17 | 南京航空航天大学 | High-speed rail defect detection device and detection method thereof |
| CN114993229A (en) * | 2022-06-02 | 2022-09-02 | 西南石油大学 | Multi-sensor data fusion-based ovality online detection method |
| CN115575488A (en) * | 2022-11-21 | 2023-01-06 | 中国石油大学(华东) | Integrated probe based on ACFM and vision and cooperative detection method |
| CN116399942A (en) * | 2023-06-07 | 2023-07-07 | 西南石油大学 | Online detection method for full circumferential defects of differential vortex coiled tubing |
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