RU2586258C1 - Pigging system with rope drawing - Google Patents

Abstract

FIELD: instrument making.

SUBSTANCE: proposed complex intratubal defectoscopy with rope drawing refers to check up state of short of straight or bent sections of pipeline. This complex comprises in-pipe magnetic flaw detector, first and second winches, pilot cable, power cable, crawler, computer, movable marking module with air brush, radio transmitting device, receiving device, guide rope, first and second guide cable holders, intermediate guide cable holder, and identifier of circular seam. First guide cable holder is installed on ground surface above pipe near ditch above entry into controlled pipe, second guide cable holder is installed on ground surface above pipe near ditch above output from inspected pipe, and guide cable is fixed by one end to first guide cable holder, by second end is to second guide cable holder, and on pipe turn in horizontal plane guide cable is attached to intermediate guide cable holder with help of elastic braces. Guide cable is inserted in groove of first and second guide pulleys of moving marking module, magnetic sensor is installed in geometric centre of moving marking module carriage, radio transmitting device and its antenna are installed in aft part of pig-flaw detector, and to inputs of radio transmitter modulator output of circular seam identifier is connected, on multiple inputs of which outputs of flaw detector body magnetic sensors are connected.

EFFECT: high accuracy of ground connection detected in pipeline defects relative to known points of tube.

1 cl, 5 dwg

Description

The invention relates to the field of non-destructive testing, in particular to in-line inspection, and can be used to monitor the condition of the walls of process pipelines taken out of service in the piping of compressor gas pumping stations, as well as to control water pipes and pipes buried in the ground of heating networks.

A known set of equipment with cable pulling of the cleaning pistons used to clean short straight sections of pipelines, the pipe of which is open on both sides in the section to be cleaned [Abdulgafarov SV, Grin VG, Svistunov Yu.A. Trenchless pipe repair technology. Krasnodar: Cube Gau., 2009, - 192 p.].

The known complex consists of the first and second winches with cables and a cleaning piston (or in-line flaw detector). The tested section of the pipeline is pitted at the beginning of the controlled section and at its end. In both pits, windows are cut in the pipe wall so that a cleaning piston or flaw detector can be put into or taken out of the formed tray. Through the windows in the pipe, a cable is drawn into it, which is attached at one end to the piston or to the flaw detector, and at the other end to the winch drum. When a flaw detector is pulled by a cable in a pipe, information on the technical condition of the pipe wall is accumulated in the flaw detector memory.

The advantage of the famous complex is its simplicity.

A disadvantage of the known complex when used in flaw detection is the difficulty of linking the defective place of the pipe to the outer surface of the soil above the pipeline.

Also known is a complex for diagnosing pipelines by magnetometry using an in-line flaw detector [A.S. Sudnitsyn, L.M. Livshits. DIAGNOSTICS OF PIPELINES OF HEAT NETWORKS BY THE METHOD OF MAGNETOMETRY USING AN IN-TUBE DEFECTOSCOPE. Report at the second scientific-practical conference “Heat supply systems. Modern solutions ”, May 16-18, 2006, http://www.rosteplo.ru/Tech_stat/stat_shablon.php?id=2367].

The known complex consists of an in-line magnetic projectile-flaw detector, a set of cables for pulling the flaw detector in the pipe open at both ends, a device (car or winch) for pulling the cable, a cleaning piston, and computing tools for processing recorded magnetograms.

The advantage of the famous complex is its simplicity and speed of pipeline control.

A disadvantage of the known device is the large error in linking the detected defects to the ground surface, which requires increasing the size and number of pits for pipe repair.

Closest to the proposed one is an in-line flaw detection system with a cable pull used by Podvodgazenergoservis LLC to monitor the condition of straight sections of small pipelines [In-line diagnostics of underwater pipelines. Advertising article of Podvodgazenergoservice LLC, http://www.podvodges.ru/?Page=trubnaya].

The famous complex consists of:

- a robot for video inspection of the pipeline and pulling the conductor (crawler for pulling the cable);

- exhaust cable;

- power cable;

- a tractor vehicle (or winch) for pulling a power cable;

- a cleaning piston;

- In-tube inspection projectile;

- equipment for information analysis;

- loading and unloading equipment.

The known device is used in straight sections with a length of 1.5 ÷ 3 km.

The advantage of the known device (complex) is its simplicity and the possibility of using in-tube inspection shells that are in operation for flaw detection.

A disadvantage of the known device (complex) is the low accuracy of binding of defective pipe places to the outer surface, which requires an extra hole in the pipe to clarify the position of the defective place.

The purpose of the invention is to improve the accuracy of ground reference found in the pipeline defects relative to the position of known points of the pipe.

This goal is achieved by the fact that in the complex of flaw detection of pipelines, consisting of:

- in-line magnetic flaw detector,

- the first winch,

- second winch,

- exhaust cable,

- power cable

- crawler;

- computer

introduced:

- movable marking module with spray gun,

- radio transmitting device,

- radio receiver,

- guide wire

- the first holder of the guide cable,

- a second guide cable holder,

- intermediate guide cable holder,

- identifier of the annular seam,

moreover

the first guide cable holder is installed on the ground surface above the pipe near the moat above the entrance to the controlled pipe, the second guide cable holder is installed on the soil surface above the pipe near the moat above the exit from the controlled pipe, and the guide cable is fixed at one end to the first guide cable holder, the second end - to the second guide cable holder, and when the pipe is turned in a horizontal plane, the guide cable is attached to the intermediate guide cable holder using elastic p astyazhek,

moreover

the guide cable is inserted into the grooves of the first and second guide pulleys of the movable marking module and pressed against the first (passive) pulley with a rubber groove, and the second rubber roller is pressed to the second (leading) pulley with a rubber groove of the carriage of the movable marking device connected via speed reducer with the output shaft of the electric motor-reducer, the electrical terminals of which are connected to the corresponding outputs of the drive control unit, and the inputs of the control unit ivodom connected to respective sensor signal processing unit outputs, at which the engine speed control inputs are connected to the terminals of the magnetic sensor and the engine shutdown input is connected to the movable limit switch marking module,

moreover

a magnetic sensor is installed in the geometric center of the trolley of the movable marking module,

wherein,

the spray gun of the moving marking module is turned by the sprayer towards the ground, and the control outputs of the spray gun of the spray gun are connected to the corresponding outputs of the radio receiving device, the antenna of which is mounted on the outer surface of the trolley of the moving marking module,

moreover

the radio transmitting device and its antenna are installed in the aft of the in-tube flaw detector, and the output of the annular joint identifier is connected to the inputs of the modulator of the radio transmitter, the outputs of the magnetic sensors of the flaw detector shell are connected to its multiple inputs.

Analysis of the patent, information and catalog materials found as a result of the search for the funds of the universal scientific and technical library allows us to conclude that the proposed device is unknown from the prior art, i.e. it is new.

In addition, the proposed device does not follow explicitly from the analyzed sources. All of the above features in combination allow you to get a new technical result, not limited to the sum of the properties of individual elements, i.e. has an inventive step.

The creation of the “In-line defectoscopy complex with cable pulling” is caused by the practical need to reduce the time for diagnosing the technical condition of the pipe walls of technological gas pipelines in the compressor station piping and to speed up repair work. The proposed device allows to achieve high accuracy of binding of defective places of the pipe to the ground surface and to reduce the amount of overburden during the repair of the pipeline. This is an indicator of the industrial feasibility of the invention.

The invention is illustrated by drawings.

In FIG. 1a shows the composition of the complex in the mode of pulling the cable inside the pipe.

In FIG. 1b shows the composition of the complex in the pipe cleaning mode and in its diagnostic mode.

In FIG. 1c shows the arrangement of the cable holders in places of changing the direction of the pipeline in the horizontal plane.

In FIG. 2 shows a device for a movable marking module.

In FIG. Figure 3 shows a possible block diagram of an annular seam identifier.

In FIG. 4 is a timing chart illustrating signal generation of a magnetic field sensor of a moving marking module.

The complex (Fig. 1a, Fig. 1b, Fig. 1c) consists of:

In-pipe inspection shell 1 with a magnetic search system, with a built-in annular joint identifier and with a radio transmitting device (not shown in the figures); crawler 2; power winch 3; feed winch 4; exhaust cable 5; power cable 6; guide cable 7; the first holder of the guide cable 8; the second holder of the guide cable 9; the intermediate holder of the cable 10 (Fig. 1C), stretch marks 11; a movable marking module 12 with a radio receiver 13 and a device for labeling with paint 14. The pipe is indicated at 15. Fig. Starting tray of the pipe - 16. Receiving tray of the pipe - 17.

In FIG. 1c shows the fastening of the guide cable 7 to the intermediate holder 10 using braces 11 used in the case of a change in the direction of the pipeline in the horizontal plane. The permissible change of direction is determined by the ability of the cable pull to move the in-tube flaw detector through a pipe bend in the horizontal plane (this is usually possible if the bend angle of the longitudinal axis of the pipe is not more than 5-10 degrees). It also shows the position of the guide cable 7 and the stretch marks 11 in the gap between the guide pulley 3.4 m and the pressure roller 3.3 m of the moving marking module 12 when it passes through a section with a change in the direction of the guide cable 7.

A possible kinematic diagram of a movable marking module is shown in FIG. 2. It can be seen from the kinematic diagram that the movable marking module can consist of a frame 18, four supporting self-orientating wheels 19, the first 20 and second 21 guide catches, an electric motor 22, an electric drive control unit 23, a sensor signal processing unit 24, a magnetic field sensor 25, a stand-alone current source 26. The paint labeling device 14 consists of a spray gun 27 and a spray gun 28. The radio receiving device 13 consists of an antenna and a radio receiver 29. The guide cable is indicated at 7. In her side of the movable rod marking module is a limit switch 30.

The first guide assembly 20 consists of a post 31, a lever 32, a rubberized pinch roller 33, a drive pulley 35 with a rubberized groove, a post 36, a spring 37.

The second guide assembly 21 consists of a strut 31, a lever 32, a rubberized pinch roller 33, a pulley 34 with a rubberized groove, a strut 36, a spring 37.

In the guide assembly 20 located at the front of the movable marking module, the drive pulley 35 with a rubberized groove is kinematically connected to the output shaft of the electric motor 22, the electrical circuits of which are connected to the corresponding outputs of the control unit of the electric drive 23, the inputs of which are connected to the corresponding outputs of the sensor signal processing unit 24, the first information input of which is connected to the magnetic field sensor 25, and the second information input is connected to the contacts of the limit switch 30 The magnetic field sensor 25 is located approximately in the geometric center of the frame 18. The guide cable 7 extends into the rubberized groove of the drive pulley 35 of the guide assembly 20 and into the rubberized groove of the pulley 34 of the guide assembly 21, and is kept from the grooves by rubberized pressure rollers 33. Power supply for the electric drive 23, the signal processing unit of the sensors 24, the sensor 25, the spray gun 27 and the radio receiver 29 is carried out from the electric battery 26. The spray gun 27 is controlled by signals from the output of the radio receiver 29. The paint apparatus 27 is pumped by pump gun enters the sprinkler 28 disposed below the frame 18. The paint sprayer 28 is sprayed toward the ground.

The structure of a possible hardware embodiment of the identifier of the annular seams may be as follows (Fig. 3):

S1 ... Sn - magnetically sensitive sensors of the magnetic search system of a flaw detector with longitudinal magnetization,

BU1 ... BUn - buffer amplifiers,

Pg1 ... Pgn - shift registers,

OR 1 ... OR n - logical OR schemes,

K1 ... Kn - analog keys,

Σ is an analog adder,

Kom - an analog comparator,

Rreg - threshold regulator,

UOP - reference voltage

CKSH - signal-sign of the annular seam,

So - pulse signals of the odometer sensor

The work of the complex is as follows.

Before starting the diagnostic work, preparatory work is carried out (Fig. 1a, Fig. 1b, Fig. 1c).

The places on the pipeline intended for cutting in the pipe of the launch window (ditch 16) and the receiving window (ditch 17) are being drilled. The ends of pipe sections that are not subject to diagnosis are muffled. The start and receiving windows are cut out in the controlled part of the pipe 15. A winch 3 with a power cable is installed at the receiving end 6. A winch 4 with an exhaust cable 5 is installed on the start side.

The end of the exhaust cable 5 is hooked to the eye bolt of the crawler 2. The crawler 2 is installed in the start window and the crawler 2 engine is turned on. The crawler 2 moves inside the pipe 15 and extends the exhaust cable 5. When the crawler 2 exits on the receiving side 17 of the controlled pipe section 15 the power of the crawler 2 is turned off, it is removed from the ditch 17 and the exhaust cable 5 is hooked to the end of the power cable 6 wound on the drum of the power winch 3. Then the feed winch 4 and the power cable 6 are pulled by the exhaust cable 5 wound on the drum of the power winch 4, is drawn into the pipe 15 and stretched to its launch window. At the next stage of work, a cleaning piston 1 is installed in the starting window of the pipe 15 from the starting moat 16 and the power cable 6 is transferred from the exhaust cable 5 to the front eye bolt of the cleaning piston (Fig. 1b). An exhaust cable 5 clings to the rear eyebolt of the cleaning piston 1.

The power winch 3 is started and the cleaning piston 1 is pulled inside the pipe 15. The cleaning piston 1 pushes pollution towards the receiving ditch 17.

Having removed the dirt on the receiving tray of the pipe 15, the cleaning piston is removed from the ditch 17. After disconnecting the power 6 and exhaust 5 cables from the cleaning piston, they are coupled together and re-pulled the power cable 6 in the pipe 15 with the winch 4 until the cable hitch appears on the starting side 16. Now the power cable 6 is attached to the front eyebolt of the in-tube magnetic projectile flaw detector 1, and the exhaust cable 5 to its rear eyebolt.

Before dragging the flaw detector 1 on the surface above the pipe 15, a guide cable 7 is strengthened. On the side of the receiving moat 17, the holder 8 of the guide cable 7 is installed, and on the side of the starting moat 16, the holder 9 of the guide cable 7 is installed between the holders 8 and 9 the guide cable is pulled 7. If the pipe in the diagnosed area changes direction in the horizontal plane by an angle not exceeding several degrees (5 ° -10 °), then in places where the direction of the longitudinal axis of the pipe 15 changes, ivayutsya spacers 10 guide wire 7. The guide wire 7 is attached to the intermediate holder by means of elastic, for example nylon, stretch marks 11 (FIG. 1c).

After installation of the guide cable 7 over the pipe 15 is completed, a movable marking module 12 is installed on the ground above the pipe (Fig. 1b). When connecting the movable marking module 12 with the guide cable 7, the latter fits into the rubberized groove of the pulley 35 of the front guide assembly 20 (Fig. 2) and is pressed into the rubberized groove of the pulley 35 with a rubberized pressure roller 33 attached to the end of the lever 32, which is attracted to the side of the frame 18 the movable marking module 12 by means of a spring 37. In the same way, the guide cable 7 is laid in the rear guide assembly 21. After installation on the ground, the movable guide module 12 is forward in the direction of of the current movement of the flaw detector shell 1. The power of the moving marking module 12 is turned on. When the power of the moving marking module 12 is turned on, all of its electronic devices begin to work.

When the power winch 3 is turned on (Fig. 1b), the in-pipe magnetic projectile flaw detector 1 is pulled by the winch 3 behind the power cable 6. The flaw detector 1 magnetizes the wall of the pipe under examination 15 until saturation. At the same time, the weakened magnetic field extends beyond the pipe wall and appears above the ground surface where the movable marking module 12 is located above the pipe. If the north pole of the magnetizing system is located in the front of the body of the in-tube magnetic projectile-flaw detector, and of the magnetic pole of the magnetizing system is located, then the magnetic field lines in front of the flaw detector will be directed upward (as shown in Fig. 1b), and the normal component of the magnetic field induction will have a large value directly above the pole tip of the magnetic search system of the flaw detector-detector 1. B the middle part above the flaw detector 1 magnetic field lines will be almost parallel to the pipe wall, and the normal component of the magnetic field induction will be minimal. At the rear pole end of the magnetic search system of the flaw detector 1, the magnetic field lines will be directed downward towards the pipe, and the normal component of the magnetic field induction will be of great importance, but of the opposite sign with respect to the magnetic field induction in the head part above the flaw detector 1 ( Fig. 3).

The in-tube magnetic projectile-flaw detector 1 in the pipe 15 is usually pulled by a cable with a speed of not more than 0.5 ÷ 1.0 m / s. Assume a pipe with a diameter of 520 mm. For a flaw detector of this diameter, the distance from one outer edge of the magnetizing system to the other is usually about 600-750 mm. This distance when pulling the flaw detector with a winch will be covered in 1.2 ÷ 0.6 s. Given that the magnetic field on the soil surface above the pipe will have a length of 1.5-2 times along the pipeline due to the spreading of the field in space, it is easy to notice that the time of the magnetic field from the flaw detector is a magnetic sensor 25 (Fig. 2 ) located on the ground above the pipe of the movable marking module 12 will be at least 1 second.

The flaw detector 1 drawn inside the tube 15 (Fig. 1b) approaches the place where the movable marking module 12 is located on the surface above the tube. The magnetic field of the front pole of the magnetizing system of the flaw detector-flaw detector 1 is pushed onto the movable marker 12. of the flaw detector, its magnetic field will begin to act on the magnetic sensor 25 (Fig. 2) of the movable marking module 12 (Fig. 1b). Immediately after the first power-up, the sensor signal processing unit 24 does not respond to a signal of positive polarity (Fig. 4a) from the output of the magnetic sensor 25. The sensor signal processing unit 24 contains an integrating element that is blocked in the start mode and its output signal value is maintained at zero level. Since the input of the control unit of the drive 23 is supplied with zero voltage from the signal processing unit of the sensors 24, the control unit of the drive 23 does not initiate the inclusion of the driving motor of the electric drive 22.

The magnetic field moving with the flaw detector 1 overtakes the movable marking module 12. With a relative position of the flaw detector 1 and the movable marking module 12, the normal component of the magnetic field induction will decrease to almost zero (Fig. 4b). This will not cause any changes in the state of the electronic actuators of the movable marking module 12. Further movement of the in-tube projectile flaw detector 1 will lead to the fact that the magnetic field in the area of the magnetosensitive sensor 25 of the movable marking module 12 will change direction (Fig. 4c). In this case, the signal at the output of the magnetic field sensor 25 will change, which will lead to an active mode of operation of the signal processing unit of the sensors 24 (Fig. 2). The sensor signal processing unit 24 will begin to integrate the voltage of the signal coming from the magnetosensitive sensor 25. From the signal processing unit of the sensors 24, an increasing control signal will begin to arrive at the corresponding input 23 (Fig. 4c).

The drive control unit 23 includes an electric motor 22. The electric motor 22 starts to accelerate and rotates the pulley 35 with the rubberized groove of the front guide assembly 20 (Fig. 2), to which the stationary guide cable 7. is pressed by the rubberized pressure roller 33. The movable marking module 12 is set in motion with some the initial speed less than the speed of movement of the in-tube projectile-flaw detector 1. In this mode, the projectile-flaw detector 1 continues to move ahead of the moving marking module 12 located above it on the ground. The magnitude of the magnetic field acting on the magnetic sensor 25 of the movable marking module 12 increases (Fig. 4c). The magnitude of the output signal from the magnetic sensor 25 also increases (graph U7 m in Fig. 4), and therefore the voltage at the output of the integrating link in the sensor signal processing unit 24. The increasing voltage at the output of the sensor signal processing unit 24 leads to an increase in voltage by the output of the control unit of the electric drive 23 and, therefore, leads to an increase in the rotation speed of the electric motor 22. As a result of these processes, the movable marking module 12 begins to accelerate and moves relative to the inside itrubnogo projectile flaw detector 1 so that the magnetic sensor 25 is again in the part of the magnetic field, wherein its output signal is close to zero (Fig. 4d). When the signal from the output of the magnetic sensor 25 is zero, the voltage at the output of the integrating link at 24 ceases to change, as a result of which the electric motor 22 begins to rotate at a constant speed. The moving marking module 12 will continue to move at a constant speed. The zone of change of the magnetic field near the zero value of its normal component is the tracking zone for the speed of movement of the magnetic field, that is, the tracking zone for the speed of movement of the in-tube flaw detector (Fig. 4d). If the velocity of the projectile flaw detector 1 decreases, then the magnetic sensor 25 of the movable marking device 12 will be in a magnetic field, where its output voltage will begin to increase (graph U7 m in Fig. 4). This will lead to the impact on the integrator in the signal processing unit of the sensors 24 voltage, reducing the value of the integral. The voltage at the output of the integrator will begin to decrease, which will lead to a decrease in the rotation speed of the electric motor 22. If the flaw detector increases the speed of movement, then the magnetic sensor 25 will fall into the zone of increase of the magnetic field of opposite polarity. The signal of the magnetic sensor 25 will change sign and begin to increase in amplitude. This will cause an increase in the voltage at the output of the integrator, which will lead to an increase in the rotational speed of the electric motor of 4 m. The movable marking module will begin to catch up with the in-line flaw detector. Thus, the movable marking module 12 will monitor changes in the velocity of the projectile-flaw detector 1 and follow it along the surface of the soil along the pipe with some tracking error in its middle, extending the drive pulley 35 with a rubberized groove along the guide cable 7.

On board the magnetic shell of the flaw detector 1 is placed its full-time magnetic search system, which allows you to detect defects in metal loss, cracks, and various origins of thickening of the pipe wall. All these data, as well as the value of the current path and the angle of a possible rotation of the flaw detector around its longitudinal axis, are recorded in the on-board storage device. The odometric number system has limited accuracy. Usually, if the pipe is well cleaned, the maximum accuracy of the wheel odometer does not exceed 0.1 ÷ 0.25% of the distance traveled. When working on main gas pipelines, in most cases it is difficult to achieve an accuracy of more than 0.5 ÷ 1.0%. For this reason, they are trying to reduce the absolute error by counting the position of the detected anomaly from some easily detectable place on the pipe. Such a place on the pipe is an annular seam or structural elements such as bends, taps, welding the conclusions of the control measuring columns. When tying the position of defects to circular seams, it is necessary to measure the distance of not more than half the distance between the seams. This is just L = 11 m / 2 <(5 ÷ 6) m. Such a distance, even a rough odometer with an error of 1%, will make it possible to estimate relative to an annular seam with an absolute error of no more than ± 5 ÷ 6 cm. This is more than enough to determine the position on the ground surface for pitting a defective place. The problem is the determination on the surface of the position of the circumferential seams.

To solve this problem, in this device, it is proposed that on the soil surface above the pipe, a movable marking module 12 be moved synchronously with an in-line flaw detector 12 with a spray gun 27 installed on it, which is launched whenever the in-tube shell of the flaw detector detects an annular seam. In this case, the airbrush 27 leaves a mark of a coloring substance on the ground above the place of detection of the annular seam. An annular seam on board a flaw detector is identified by an automatic device (or a special on-board computer subroutine) inserted into the hardware (or on-board computer software) of a flaw detector 1. An identifier of the identified seam is transmitted over the air from a flaw detector 1 to a radio receiver 29 (Fig. 2) of the movable marker device 12. The signal from the radio 29 starts the spray gun 27 and the mark is applied by spraying paint onto the ground.

The ID of circumferential seams (Fig. 3) in its possible hardware design works in this way.

An in-line magnetic flaw detector 1 is mixed inside the pipe 15 and magnetizes its walls using a magnet of a magnetic search system. Magnetosensitive sensors S1 ... Sn, located around the circumference of the cylindrical body of the flaw detector 1, convert the magnetic field scattered near the wall of the pipe 15 into electrical signals. When defects occur in the zone of the magnetic search system of metal loss, the magnitude of the field scattered near the pipe wall increases. When thickened sections of the pipe wall appear in the magnetization zone, the magnitude of the induction of the field scattered around the pipe wall decreases. In accordance with changes in the magnitude of the magnetic field, the magnitude of the output signals of the magnetically sensitive sensors S1 ... Sn, pressed by the holders of the sensors of the in-tube projectile flaw detector to the inner wall of the pipe, also changes. An annular seam is a local thickening of the pipe wall, the length of which along the pipe is about 25 mm. The signal from the seam should ideally be accompanied by a decrease in its voltage at a distance of 25 mm. It should be noted that the inaccuracy in the manufacture of containers in which magnetic field sensors are installed, the inaccuracy of their installation on the flaw detector, distortions of the flaw detector during movement, a change in the distance from the pipe wall to the sensor surface when the body of the sensor holder runs over the seam, as well as uneven width of the annular seam , lead to the fact that the sensors located around the perimeter of the inner wall of the pipe begin to respond to the appearance of an annular seam not simultaneously. Also, not all the sensors from the annular seam disappear simultaneously. However, on some longitudinal extent of the seam, all sensors, or most of them, will simultaneously begin to generate signals excited by the annular seam. In FIG. 3 magnetically sensitive sensors of the flaw detector 1 used by the identifier of the annular seams are designated S1 ... Sn, where the number n can be equal to or less than the number of sensors of the flaw detector 1.

To decouple the measuring circuits of the diagnostic system of the projectile-flaw detector 1 from the information circuits of the identifier of the annular seams, the signals of the sensors S1 ... Sn are fed to the inputs of the buffer amplifiers BU1 ... BUn. Buffer amplifiers BU1 ... BUn perform the functions of converters of analog signals of magnetic sensors into logic signals “1” or “0”. From the outputs of the buffer amplifiers BU1 ... BUn, logical signals are fed to the information inputs of the shift registers Pr1 ... Prn. The inputs of the shift control of the shift registers Рг1 ... Рпп are pulsed signals So odometer. The shift of logical signals by bits of shift registers occurs simultaneously for all registers. If the odometer pulses follow after passing the 5 mm path, then the input logic signal will be transmitted from one bit to another through the 5 mm path of the flaw detector. If a signal appears at the output of one of the magnetically sensitive sensors of a flaw detector, and a signal appears on the other after 2 mm of the path, then at the output of the first register the logical unit will appear in the first digit, zeros will be stored in all bits of the second register. However, after 5 mm of the path, logical units will be present in the first and second bits of the first register and in the first bit of the second register. If an annular seam is observed on the pipe, then logical units will be observed on all registers of the annular seam identifier at the second or third step of the odometer. The output signals from all bits of each shift register are fed to the inputs of the logical OR circuit corresponding to a particular shift register. The output signal of each of the logical OR circuits controls the corresponding analog key K1 ... Kn. Shorting the corresponding key K1 ... Kn leads to the supply of the voltage Uo / n to the corresponding input of the adder Σ. Here Uoop is the stabilized reference voltage. The output signal of the adder Σ is fed to one of the inputs of the comparator Kom, the second input of which is supplied with a comparison voltage generated from the reference voltage Uo using the tuning potentiometer Rreg. If a large (predetermined) part of the magnetic field sensors responds to the annular seam, then the voltage from the output of the voltage combiner Σ will exceed the set threshold and a logic signal CKS will appear at the output of the comparator Com, which is a sign of identification of the annular seam. At some step of the odometer, the logical signals corresponding to the circumferential seam at the outputs of the shift registers Рг1 ... Ргn will begin to disappear, and the voltage at the output of the voltage adder Σ will begin to decrease, falling below the threshold set by Rreg. In this case, the logical signal corresponding to the feature of the circumferential seam at the output of the SKS comparator Kom will disappear.

The CKS logical signal generated by the Kom comparator is fed to the input of the modulator of the radio transmitting device RP (not shown in the figures) mounted on the flaw detector shell 1. The radio transmitting device RP emits a modulated signal. The radio signal propagates through the pipe and leaves its open end in the surrounding space. The radio waves reach the antenna of the radio receiving device 13 (FIG. 1b) mounted on the movable marking module 12. The demodulated radio signal is converted at the output of the radio receiving device 13 into a power signal that drives the ink marking device 14. The spray gun 27 of the ink application device 14 starts to supply paint to sprinkler 28 (Fig. 2). The sprinkler 28 sprays bright paint on the ground under the movable marking module 12, marking a place on the ground above the pipe, which corresponds to the place on the pipe 15 where the annular seam was found. After the whole pipe inspection complex has passed the entire controlled section of the pipe, marks on the soil surface above the pipe will be marked with paint, under which there are circular seams on the pipe 15.

After processing the magnetogram recorded by the recorder of the flaw detector 1, the distance to the defective places from the corresponding circumferential seams is determined in the records. The distance between the annular seams is usually within 10-12 meters. To determine the location of defects from the soil surface, it is enough to use the tape measure to measure the necessary distance from the mark corresponding to the particular seam. Projections of defective places on the ground surface are marked in any convenient way. Further, punching in marked places and repair of the pipe wall is carried out.

Claims (1)

A complex of in-line defectoscopy with a cable pull, consisting of:
- in-line magnetic flaw detector,
- the first winch,
- second winch,
- exhaust cable,
- power cable
- crawler;
- computer
introduced:
- movable marking module with spray gun,
- radio transmitting device,
- radio receiver,
- guide wire
- the first holder of the guide cable,
- a second guide cable holder,
- intermediate guide cable holder,
- identifier of the annular seam,
moreover, the first guide cable holder is installed on the ground surface above the pipe near the moat above the entrance to the controlled pipe, the second guide cable holder is installed on the soil surface above the pipe near the moat above the exit from the controlled pipe, and the guide cable is fixed at one end to the first guide cable holder, the second end - to the second guide cable holder, and when the pipe is turned in a horizontal plane, the guide cable is attached to the intermediate guide cable holder with an elastic egg stretch marks,
moreover, the guide cable is inserted into the grooves of the first and second guide pulleys of the movable marking module and is pressed by the first rubberized roller to the first (passive) pulley with a rubberized groove, and the second rubberized roller is pressed to the second (leading) pulley with the rubberized groove of the truck drive of the movable marking device connected through a speed reducer with an output shaft of an electric motor, the electrical terminals of which are connected to the corresponding outputs of the drive control unit, and the inputs of the control unit ivodom connected to respective sensor signal processing unit outputs, at which the engine speed control inputs are connected to the terminals of the magnetic sensor and the engine shutdown input is connected to the movable limit switch marking module,
moreover, the magnetic sensor is installed in the geometric center of the trolley of the movable marking module,
while the spray gun of the moving marking module is turned by the sprayer towards the ground, and the control outputs of the spray gun of the spray gun are connected to the corresponding outputs of the radio receiver, the antenna of which is mounted on the outer surface of the carriage of the moving marking module,
moreover, the radio-transmitting device and its antenna are installed in the aft part of the tube detector-flaw detector, and the output of the annular weld identifier is connected to the inputs of the modulator of the radio transmitter, the outputs of the magnetic sensors of the flaw detector shell are connected to its multiple inputs.

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