CN1828219A - Intelligent detector for submarine pipeline - Google Patents
Intelligent detector for submarine pipeline Download PDFInfo
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- CN1828219A CN1828219A CN 200610025469 CN200610025469A CN1828219A CN 1828219 A CN1828219 A CN 1828219A CN 200610025469 CN200610025469 CN 200610025469 CN 200610025469 A CN200610025469 A CN 200610025469A CN 1828219 A CN1828219 A CN 1828219A
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Abstract
The disclosed detector comprises: a driver, a magnetic-leakage probe, a magnetic-leakage signal process device with a rotary coder, a power, an ultrasonic probe, and a ultrasonic signal processor with a roller carried a milometer all connected by gimbals in turn. This invention integrates both magnetic-leakage and ultrasound, realizes precise positioning to defect in pipeline, and can detect the defect and hidden danger all round.
Description
Technical field
What the present invention relates to is the detecting device in a kind of detection technique field, specifically, is a kind of intelligent detector for submarine pipeline.
Background technology
Pipeline transmission is the main mode of oil, the transportation of rock gas equal energy source, yet, no matter be domestic or external, many pipe networks have used many decades, and pipeline leakage happens occasionally.Submarine pipeline particularly, because its condition of work is abominable especially, easier generation corrosion and fatigue is destroyed or is made the pipe interior latent defect develop into breakage and the leakage accident that causes, and as untimely reparation, this will cause enormous economic loss and serious environmental to pollute.Thereby effectively the online detection of pipeline has just become the task of top priority, but does not domesticly still have effective offshore work pipeline on-line detecting system at present.Simultaneously, because domestic older pipeline is considered the problem that detects in design, in building, cause a series of problems such as accurate location such as defective comparatively difficulty that becomes.These difficulties mainly are: the GIS when China's pipeline is not built (Geographic Information System) data.Consider the restriction of the energy, need under the situation that does not stop oil transportation, utilize the oil pressure difference to drive detecting device and carry out online detection; When maintenance, need drain oil simultaneously, carry out secondary detection and localization.External pipeline all has corresponding laying GIS data, as long as the distance of detecting device walking is arranged, just need not to position the geodetic position that detection can be determined defective, for inspection and repair shop is used.Because the GIS data when lacking pipeline laying, external related detection device can't be fit to the actual demand of China's pipe detection fully.
Find through literature search prior art, U.S. Patent Publication No. US2003083576-the 1, open day is 2003.05.01, patent name is: intraductal ultrasonography wall thickness measuring device, this patent readme is: " pick-up unit adopts the method for ultrasonic wall thickness measuring to realize from managing interior measurement to pipeline, the sampling that detects data and the explanation of data result.Detecting device comprises a ultrasonic pulse transmitter, ultrasonic probe, amplifier, the comparer that carries analog input, digital dock, processor, data memory module and a controllable reference voltage source.Reference voltage source links to each other with the input end of comparer, and its output can be adjusted to two kinds of different magnitudes of voltage at least.The output terminal of comparer links to each other with a control input end of reference voltage source, and when the record ultrasonic pulse, this method of attachment can be switched the threshold voltage of comparer.The ultrasonic reflection pulse of adopting a threshold voltage trigger recording inner-walls of duct to produce, and the ultrasonic reflection pulse that another threshold value record pipeline outer wall produces.Can directly measure the travel-time of the ultrasonic pulse between tube wall thus, this method can increase the detection distance of detecting device single stroke, and can improve the speed of measuring accuracy and hardware data processing." its weak point is: pick-up unit has only write down the mistiming of inside and outside wall pulse-echo, in case the pulse error in judgement owing to lack original ultrasound data, can't be carried out artificial cognition again, the reliability of system reduces greatly; This pick-up unit measuring channel wall thickness can't be discerned for potential dangerous defectives such as crackles.
Summary of the invention
The objective of the invention is to overcome the deficiencies in the prior art and defective, a kind of intelligent detector for submarine pipeline is provided, it has adopted leakage field and ultrasonic two kinds of detection techniques simultaneously, the ultrasonic wall thickness that is used to detect pipeline, leakage field is used to detect the defectives such as crackle that pipeline exists, and two kinds of technical advantage complementations can obtain more fully defect information, so that defective is discerned better, satisfy the actual demand of China's pipe detection.
The present invention is achieved by the following technical solutions, the present invention includes: drive unit, Magnetic Flux Leakage Inspecting head, magnetic leakage signal treating apparatus, supply unit, mileage gauge, rotary encoder, Ultrasonic Detection head and ultrasonic signal processing device.Each several part couples together works in pipeline, walking and the defect information of gathering pipeline.The parts annexation is: drive unit, Magnetic Flux Leakage Inspecting head, magnetic leakage signal treating apparatus, supply unit, ultrasonic signal processing device, Ultrasonic Detection head link to each other with universal joint from the head to the tail successively.Mileage gauge and rotary encoder constitute the pipe interior locating device, and mileage gauge is located on the roller of ultrasonic signal processing device, and rotary encoder fixedly is located in the magnetic leakage signal treating apparatus casing.Thus, total joint number of a detecting device is 6 joints.
The linear transducer array that described Magnetic Flux Leakage Inspecting head is made up of a plurality of leakage field probes.Single leakage field probe comprises: steel brush, pressure transducer, magneto-dependent sensor, temperature sensor, containment vessel, yoke, permanent magnet; be respectively equipped with two permanent magnets at the two ends of yoke; there is containment vessel centre at yoke by screw retention, one side be provided with magneto-dependent sensor, temperature sensor and pressure transducer away from yoke in containment vessel.Just the inner ring of brush directly links to each other outer ring and tube contacts during detection with the permanent magnet outer ring.
Described Ultrasonic Detection head comprises: 16 spiral probe holders.8 ultrasonic probes are housed on each probe holder, and guarantee that the gap between these 8 probes equates.Article 16, spiral probe holder is total to one week of cloth, and they also are uniformly-spaced to arrange.Shared 128 ultrasonic probes of a whole set of thus pick-up unit, these 128 probes are evenly arranged at circumferencial direction, are to stagger mutually at axis direction.
Described magnetic leakage signal treating apparatus comprises: magnetic leakage signal pre-process circuit, data collecting card, industrial computer and first memory, a Magnetic Flux Leakage Inspecting detected defect of pipeline signal enters the magnetic leakage signal pre-process circuit, signal after the conditioning is sampled by data collecting card, send into subsequently that industrial computer is handled and will handle by industrial computer after data be kept in the first memory.
Described ultrasonic signal processing device comprises: ultrasonic signal pre-process circuit, high-speed data acquisition card, embedded CPU and second memory, a Ultrasonic Detection detected defect of pipeline signal enters the ultrasonic signal pre-process circuit, signal after the conditioning is sampled by high-speed data acquisition card, send into embedded CPU subsequently and carry out data compression, deposit compressed data in second memory subsequently.
Described mileage gauge comprises mileage wheel, small magnet, Hall switch and counter, 8 small magnets are uniformly-spaced installed at the mileage wheel place of keeping to the side, the wheel subcenter is located on the leg, and the end near small magnet on leg is installed Hall switch, and the output of Hall switch sends counter to.
The signal of mileage gauge and rotary encoder is given data collecting card and high-speed data acquisition card through behind the modulate circuit.Simultaneously, the signal of temperature sensor and pressure transducer is given data collecting card and high-speed data acquisition card respectively behind corresponding modulate circuit.
Described drive unit is made up of a plurality of rubber cups, utilizes oil pressure difference driving in the pipeline.
Described supply unit is made up of the high-energy battery group.
When the present invention worked: drive unit was responsible for creeping of detecting device and is driven and guiding, and for the supply of electrical energy of the system of saving, system adopts the oil pressure difference to drive.Supply unit is made up of the high-energy battery group, detects required electric energy for total system provides.Magnetic Flux Leakage Inspecting is made of Magnetic Flux Leakage Inspecting head and magnetic leakage signal treating apparatus, during detection, the permanent magnet of same Magnetic Flux Leakage Inspecting probe, yoke, steel brush and tested pipeline formation magnetic loop are when in the pipeline during defectiveness, to produce magnetic leakage signal, be detected by magneto-dependent sensor.The signal of magneto-dependent sensor enters the magnetic leakage signal pre-process circuit and amplifies and filtering, is gathered by data collecting card through the signal of conditioning, and the data of sending into subsequently after industrial computer is handled and will be handled are kept in the first memory.
Ultrasonic Detection is finished by Ultrasonic Detection head and ultrasonic signal processing device, a Ultrasonic Detection detected defect of pipeline signal is sent into the ultrasonic signal pre-process circuit and is amplified and filtering, signal through conditioning carries out digitizing by high-speed data acquisition card, send into embedded CPU subsequently and carry out data compression, the data after the compression deposit second memory in.Simultaneously, the signal of mileage wheel, rotary encoder, temperature sensor and pressure transducer is through corresponding mileage wheel, rotary encoder modulate circuit and temperature, pressure signal conditioning circuit, give data collecting card and high-speed data acquisition card after the conditioning, these data with represent the data of defect information together to pack, deposit corresponding memory in.
The mileage wheel cumulative errors of may skidding in the meter that causes is eliminated by the girth joint signal subsection of pipeline, judge girth joint by magnetic leakage signal, whenever by a girth joint, mileage gauge is counted again with regard to zero clearing, error can not accumulated in the mileage wheel meter in different duct segments like this, and the count value by girth joint and the meter mileage of mileage wheel are according to accurate location in the common pipe of realizing defective that combines.
The characteristics of Magnetic Flux Leakage Inspecting are can detect the small size defective of pipeline and crackle but judge large-area wall thickness change is difficult, the characteristics of ultrasound examination be can access in a certain subrange of pipeline accurate wall thickness but to the detection of small size defective and crackle difficulty relatively, two kinds of methods are integrated in the intelligent detector can form mutual supplement with each other's advantages, can obtain better testing result two kinds of aggregation of data analyses of gathering.
The invention has the beneficial effects as follows: adopt leakage field and ultrasonic two kinds of detection techniques, same target detection has been played the effect of having complementary advantages, can obtain testing result more accurately.Adopt the auxiliary method of differentiating of mileage gauge, rotary encoder and girth joint, make that the location of defective is more accurate.The employing data high-speed is gathered, and the structure of industrial computer control data storage can realize the data acquisition and the storage of high power capacity, can write down original data message, and judging for artificial secondary provides foundation.All these technology are fit to the specific (special) requirements of China's pipeline present situation to detecting.
Description of drawings
Fig. 1 is a structural representation of the present invention.
Fig. 2 is a leakage field sonde configuration synoptic diagram of the present invention.
Fig. 3 is detection signal stream of the present invention and hardware elementary diagram.
Fig. 4 is a mileage gauge structural representation of the present invention.
Embodiment
As shown in Figure 1, the present invention includes: drive unit 1, Magnetic Flux Leakage Inspecting 2, magnetic leakage signal treating apparatus 3, supply unit 4, ultrasonic signal processing device 5, Ultrasonic Detection 6, mileage gauge 7, rotary encoder 8.Drive unit 1, Magnetic Flux Leakage Inspecting 2, magnetic leakage signal treating apparatus 3, supply unit 4, ultrasonic signal processing device 5, Ultrasonic Detection 6 interconnects by universal joint 9 from the head to the tail successively, mileage gauge 7 and rotary encoder 8 constitute the pipe interior locating device, mileage gauge 7 is located on the roller of ultrasonic signal processing device 5, and rotary encoder 8 fixedly is located in magnetic leakage signal treating apparatus 3 casings.
As shown in Figure 2, the linear transducer array formed by a plurality of leakage fields probes of described Magnetic Flux Leakage Inspecting 2.Wherein single leakage field probe comprises: steel brush 10, pressure transducer 11, magneto-dependent sensor 12, temperature sensor 13, containment vessel 14, yoke 15, permanent magnet 16; be respectively equipped with two permanent magnets 16 at the two ends of yoke 15; there is containment vessel 14 centre at yoke 15 by screw retention, one side be provided with magneto-dependent sensor 12, temperature sensor 13 and pressure transducer 11 away from yoke 15 in containment vessel 14.Just the inner ring of brush 10 directly links to each other outer ring and tube contacts during detection with permanent magnet 16 outer rings.
Described Ultrasonic Detection 16 comprises: 16 spiral probe holders.8 ultrasonic probes are housed on each probe holder, and guarantee that the gap between these 8 ultrasonic probes equates.Article 16, spiral probe holder is total to one week of cloth, and they also are uniformly-spaced to arrange.Shared 128 ultrasonic probes of a whole set of thus pick-up unit, these 128 probes are evenly arranged at circumferencial direction, are to stagger mutually at axis direction.
As shown in Figure 3, described magnetic leakage signal treating apparatus 3 comprises: magnetic leakage signal pre-process circuit 17, data collecting card 18, industrial computer 19 and first memory 20, magnetic leakage signal pre-process circuit 17, data collecting card 18, industrial computer 19 and first memory 20 are connected in order successively, Magnetic Flux Leakage Inspecting 2 a detected defect of pipeline signal enter magnetic leakage signal pre-process circuit 17, signal after the conditioning is sampled by data collecting card 18, send into subsequently that industrial computer 19 is handled and will handle by industrial computer 19 after data be kept in the first memory 20.
Described ultrasonic signal processing device 5 comprises: ultrasonic signal pre-process circuit 23, high-speed data acquisition card 24, embedded CPU 25 and second memory 26, these 4 members connect in order successively, Ultrasonic Detection 6 a detected defect of pipeline signal enter ultrasonic signal pre-process circuit 23, signal after the conditioning is sampled by high-speed data acquisition card 24, send into embedded CPU 25 subsequently and carry out data compression, deposit compressed data in second memory 26 subsequently.
As shown in Figure 4, described mileage gauge 7 comprises mileage wheel 27, small magnet 28, Hall switch 29 and counter 30,8 small magnets 28 are uniformly-spaced installed at mileage wheel 27 places of keeping to the side, end near small magnet 28 on the wheel support is installed Hall switch 29, and Hall switch 29 outputs send counter 30 to.
The signal of mileage gauge 7 and rotary encoder 8 is given data collecting card 18 and high-speed data acquisition card 24 through behind the modulate circuit.Simultaneously, the signal of temperature sensor 13 and pressure transducer 11 is given data collecting card 18 and high-speed data acquisition card 24 respectively behind corresponding modulate circuit.
Described drive unit 1 is made up of a plurality of rubber cups, utilizes oil pressure difference driving in the pipeline.
Described supply unit 4 is made up of the high-energy battery group.
Claims (10)
1, a kind of intelligent detector for submarine pipeline, comprise: drive unit (1), Magnetic Flux Leakage Inspecting head (2), magnetic leakage signal treating apparatus (3), supply unit (4), ultrasonic signal processing device (5), Ultrasonic Detection head (6), mileage gauge (7), rotary encoder (8), it is characterized in that: drive unit (1), Magnetic Flux Leakage Inspecting head (2), magnetic leakage signal treating apparatus (3), supply unit (4), ultrasonic signal processing device (5), Ultrasonic Detection head (6) interconnects by universal joint (9) from the head to the tail successively, mileage gauge (7) and rotary encoder (8) constitute the pipe interior locating device, mileage gauge (7) is located on the roller of ultrasonic signal processing device (5), and rotary encoder (8) fixedly is located in magnetic leakage signal treating apparatus (3) casing.
2, intelligent detector for submarine pipeline according to claim 1 is characterized in that, the linear transducer array that described Magnetic Flux Leakage Inspecting head (2) is made up of a plurality of leakage field probes.
3, intelligent detector for submarine pipeline according to claim 2; it is characterized in that; the leakage field probe comprises: steel brush (10), pressure transducer (11), magneto-dependent sensor (12), temperature sensor (13), containment vessel (14), yoke (15), permanent magnet (16); be respectively equipped with two permanent magnets (16) at the two ends of yoke (15); there is containment vessel (14) centre at yoke (15) by screw retention, in containment vessel (14) away from yoke (15) one side be provided with magneto-dependent sensor (12), temperature sensor (13) and pressure transducer (11).Just the inner ring of brush (10) directly links to each other outer ring and tube contacts during detection with permanent magnet (16) outer ring.
4, intelligent detector for submarine pipeline according to claim 1, it is characterized in that, described Ultrasonic Detection head (16) comprising: 16 spiral probe holders, 8 ultrasonic probes are housed on each probe holder, gap between these 8 ultrasonic probes equates, article 16, spiral probe holder is total to one week of cloth, and they also are uniformly-spaced to arrange.
5, according to claim 1 or 4 described intelligent detector for submarine pipeline, it is characterized in that, shared 128 ultrasonic probes, these 128 probes are evenly arranged at circumferencial direction, are to stagger mutually at axis direction.
6, intelligent detector for submarine pipeline according to claim 1, it is characterized in that, described magnetic leakage signal treating apparatus (3) comprising: magnetic leakage signal pre-process circuit (17), data collecting card (18), industrial computer (19) and first memory (20), the detected defect of pipeline signal of Magnetic Flux Leakage Inspecting head (2) enters magnetic leakage signal pre-process circuit (17), signal after the conditioning is sampled by data collecting card (18), send into subsequently that industrial computer (19) is handled and will handle by industrial computer (19) after data be kept in the first memory (20).
7, intelligent detector for submarine pipeline according to claim 1, it is characterized in that, described ultrasonic signal processing device (5) comprising: ultrasonic signal pre-process circuit (23), high-speed data acquisition card (24), embedded CPU (25) and second memory (26), the detected defect of pipeline signal of Ultrasonic Detection head (6) enters ultrasonic signal pre-process circuit (23), signal after the conditioning is sampled by high-speed data acquisition card (24), send into embedded CPU (25) subsequently and carry out data compression, subsequently compressed data are deposited in second memory (26).
According to claim 3 or 7 described intelligent detector for submarine pipeline, it is characterized in that 8, the signal of temperature sensor (13) and pressure transducer (11) is given data collecting card (18) and high-speed data acquisition card (24) respectively behind corresponding modulate circuit.
9, intelligent detector for submarine pipeline according to claim 1, it is characterized in that, described mileage gauge (7) comprises mileage wheel (27), small magnet (28), Hall switch (29) and counter (30), 8 small magnets (28) are uniformly-spaced installed at mileage wheel (27) place of keeping to the side, near an end of small magnet (28) Hall switch (29) is installed on mileage wheel (27) support, Hall switch (29) output sends counter (30) to.
According to claim 1 or 7 or 9 described intelligent detector for submarine pipeline, it is characterized in that 10, the signal of mileage gauge (7) and rotary encoder (8) is given data collecting card (18) and high-speed data acquisition card (24) through behind the modulate circuit.
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