WO1989001130A1

WO1989001130A1 - Acoustical length measurement of tubular goods

Info

Publication number: WO1989001130A1
Application number: PCT/US1988/002562
Authority: WO
Inventors: Robert E. Bode; Harlan L. Nicholson
Original assignee: Bode Robert E
Priority date: 1987-07-31
Filing date: 1988-07-28
Publication date: 1989-02-09
Also published as: AU2315988A; GB8718208D0

Abstract

A device (10) for measuring the length of a tubular body (12) includes acoustic transmitter means mounted on a body (16) and positionable at one end of the tube (12) and acoustic receiver means mounted on an elongate probe (24) which extends into the tube (12). The receiver means detect transmitted and reflected signals and, by timing the period of travel, the device measures the length of the tube. The frequency of the signal is selected to be below a specified cut on frequency related to the diameter of the tube so as to avoid spiralling of the acoustic wave, and the actual speed of sound in the tube (12) is measured using first and second acoustic receivers spaced along the probe (24). Other features of the physical design and method of operation are described which enhance the accuracy of measurement and the adaptability of the device.

Description

TITLE: ACOUSTICAL LENGTH MEASUREMENT

OF TUBULAR GOODS

The present invention relates to measurement of the length of tubular bodies such as pipes or the like by reflection of acoustic signals. The examples described herein are particularly concerned with the measurement of drill pipe and tubular casings in the oil industry, however the invention is equally applicable in other fields requiring accurate measurement of tubular bodies.

There is a requirement in the oil industry, and in numerous other fields, to determine the lengths of tubular bodies within close tolerances. In the oil industry, tubes to be measured may vary in length from seventeen to forty seven feet (5.2 to 14.3 m) , or multiples thereof, and at present are measured using steel tape and a forklift or crane to handle the tube. This requires three or more persons (two to handle the tape, a crane or forklift operator and possiblv a fourth to record data) and the best accuracy obtainable is 5/8" to 3/4" (1.6 cm to 1.9 cm) in a forty seven foot (14.3 m) length. Errors arise from misalignment and misreading of the tape, allowing the tape to sag, and failure to correct for thermal expansion of the tape. Manual recording and transcribing of data leads to further errors. This method of measurement is thus costly due to the inherent errors, the numbers of personnel and equipment required, and the risk of physical injury.

Accordingly, there is a requirement for an accurate, reliable method of measuring tube lengths, requiring fewer personnel and mitigating any errors.

Possible solutions to this problem include pulsed light and laser methods, however these are restricted to line of sight applications and anv bow in the tube will introduce an error, or, if the bow is σreat enough, make measurement impossible. Radar methods would not be restricted to line of sight, however a radar signal would have to be tuned to the tube diameter and the equipment required would be too bulky for portable use. A further alternative is the use of acoustic signals. An acoustic wave will propagate down the inside of a tube in a similar manner to high frequency radio waves giving a potentially accurate measurement of curved tubes , and electro-acoustic devices have been developed for this purpose. These have not met with^' widespread^' acceptance, however, due to their lack of accuracy and repeatability. The inaccuracy in such devices arises from factors such as variations in the speed of sound in the operating environment and difficulties in measuring the travel time of the acoustic signal. The speed of sound in a tube varies with the temperature, humidity and density of the medium in the tube, and the diameter, shape and wall conditions of the tube itself, and measurement of the travel time is affected by "spiralling" of the acoustic wave within the tube, inaccuracies in signal detection, and phase shifts occurring during the propagation of the wave and in the associated electronic components.

Existing systems have been improved by the addition of circuitry for sensing temperature and pressure and to correct for the tube diameter so as to obtain a more accurate value for the speed of sound upon which length calculations can be based, however such equipment is relatively complex and expensive and still does not achieve the required levels of accuracy and αrepeatability. It is an object of the present invention to obviate or mitigate the aforesaid disadvantages of existing measurement techniques. A further object of the invention is to provide a portable, reliable and accurate measurement apparatus which may operate in an oilfield environment. In accordance with a first aspect of the invention , a method of measuring the length of a tubular body comprises the steps of transmitting an acoustic signal along the interior of the tubular body using acoustic transmitter means, located at one end of the tubular body, measuring the time taken for the signal to be transmitted along the tubular body and reflected back using acoustic receiver means, and calculating the length of the tubular body from the time of travel of the signal and the speed of sound, wherein the frequency of the signal is set at ^'Or below the cut on frequency for the diameter of the tubular body being measured.

Preferably, the speed of sound in the tubular body is measured by means of first and second acoustic receiver means displaced from one another along the central axis of the tubular body.

Preferably also, the first and second acoustic receiver means are located within the tubular body adjacent the end thereof where the acoustic transmitter means is located, and the receiver means nearest said end is positioned at least one quarter wavelength of the signal inwardly from said end.

Preferably also, the time of travel of the signal is measured from the instant at which the transmitted signal passes said first receiver means to the instant that the reflected signal is detected by said first receiver means, and the distance between the first receiver means and the end of the tube from which the signal was transmitted is added to the length calculated from the time of travel of the signal.

Preferably also, the signal is a single cycle wave and the time of travel of the signal is measured from the zero crossing points of said wave.

Preferably also, the calculated length is corrected to compensate for phase shifts occurring during reflection of the signal and for the response characteristics of the acoustic receiver means.

Preferably also, the gains of the acoustic receiver means are adjusted between detection of the transmitted and reflected signals to compensate for attenuation of the reflected signal.

According to a second aspect of the invention, a device for measuring the length of a tubular body using acoustic signals, comprises transmitter means for transmitting an acoustic signal, means for locating said transmitter at a first end of a tubular body, acoustic receiver means located forwardly of said transmitter means, and control and data processing means for controlling said transmitter, analyzing signals received by said receiver means, measuring the time taken for said signal to travel along said tubular body and be reflected back from a second, opposite end thereof, and for calculating the length of said tubular body from said travel time and the speed of sound, wherein said receiver means comprises first and second receivers spaced apart from one another bv a known distance along the central axis of said tubular body, and wherein said control and data processing means are further adapted to measure the time taken for said signal to travel between said first and second receivers and to calculate the speed of sound therefrom.

Preferably, the frequency of the signal is set at or below the cut on frequency for the diameter of the tubular body. Preferably also, said first receiver means is positioned at a distance from the transmitter means such that, in use, it is located at least one quarter wavelength of the signal inwardly from said first end of the tubular body. Preferably also, said first and second receiver means are mounted on an elongate member which, in use, projects into the tubular body and extends along the central axis thereof.

Preferably also, the elongate member is formed from a material having a relatively low coefficient of linear thermal expansion.

Preferably also, said transmitter and locating means are interchangeable, allowing the apparatus to be adapted for use with tubular bodies of different diameters.

Preferably also, the apparatus further includes reflector means locatable at the second, opposite end of the tubular body.

The apparatus is also preferably provided with a keypad or other data input device, visual display means and a data port for downloading stored data. An embodiment of the invention will now be described, by way of example only, with reference to the accompanying drawings in which,

Figure 1 is a side view of apparatus embodying the invention in use with a tubular body, shown in section; Figure 2 is a side view of a hand held unit forming part of the apparatus of Figure 1;

Figure 3 is a sectional side view of the unit of Figure 2 adapted for use with a smaller diameter tube;

Figure 4 is a sectional end view of the unit of Figure 2;

Figure 5 is a sectional side view of a loud speaker housing for use with the unit of Figure 2;

Figure 6 is a block diagram of the electronic circuitry of the unit of Figure 2; and Figure 7 is a flow diagram illustrating the method of operation of the apparatus of Figures 1 to 6.

Referring now to the drawings, Figure 1 shows an acoustic length measuring unit 10 applied to one end of a length of tubing 12, and a reflector 14 applied to the opposite end, the length of the pipe being measured by means of an acoustic pulse transmitted from the unit 10, the time taken for the pulse to travel along the tubing 12 and be reflected back to the unit 10 being measured such that length of the tubing may be derived from the measured time and the velocity of sound. As is best seen in Figures 2 to 4, the unit 10, which is designed for hand held use, comprises a generally tubular housing body 16 closed at its rearward end by a rear end cap and handle assembly 18 and at its forward end by a loudspeaker housing 20. A circular reference plate 22, corresponding in size to the diameter of the tubing to be measured, is affixed to the forward end of the loudspeaker housing 20 and an elongate probe 24 extends forwardly along the central long axis of the housing body 16. First and second microphones 26 and 28 are mounted on the probe 24, the first, 26, adjacent the forward end thereof and the second, 28, rearwardly of the first and a known distance therefrom. The housing body 16 is provided with a keypad 30 for inputting data and instructions and an LCD visual display unit 32. The handle 18 includes a trigger 33, a store key 34 and a data input/output port 36.

As shown in Figures 3 and 4, the housing body 16 contains tubular battery holders 3δ extending along either side thereof between the rear end cap 18 and a forward fixing plate 40, and first and second circuit boards 42 and 44 mounted above and below the battery holders 40. The unit may be powered by re-chargeable batteries (not shown) and the holders 40 are accessible via closure caps 46. The loudspeaker housing 20 is a screw-fit onto the forward end of the housing body 16 and is interchangeable with differently sized loudspeaker housings such as 48

(Figure 5) . Interchangeable reference plates 22 are threadably attachable to the forward end of the speaker housing 20. Alternatively, a bore reduction sleeve 50 mav be fitted, allowing the unit 10 to be used with smaller pipes. The present example is particularly concerned with oilfield applications and is intended to be used with tubes varying from 2" (5.08 cm) to 20" (50.8 cm) internal diameter. Two loudspeaker housings 20 and 48, mounting 3" (7.62 cm) and 8" (20.32 cm) loudspeakers respectively, are sufficient to cover this range in combination with a suitable range of reference plates 22 and bore reduction sleeves 50, the 3" (7.62 cm) loudspeaker housing 20 being used for tubes up to 8" (20.32 cm) diameter and the 8" (20.32 cm) loudspeaker housing 48 for tubes from 8" (20.32 cm) to 20" (50.8 cm) diameter. The reflector 14 comprises a flat circular plate 52 having a detachable handle 52 attached thereto, and may be provided in a corresponding range of sizes. Figure 6 is a block diagram of the analogue and digital hardware of the unit 10. The analogue hardware includes a main acoustic transducer (loudspeaker) 56, a wave form generator/power amplifier 58 which drives the transducer 56, the first and second microphones 26 and 28, and^' associated variable gain amplifiers 60 and 62. The digital hardware is based on a CMOS 6809 8-bit microprocessor and includes a keyboard decoder 64, an access control interface adapter (ACIA) 66, a peripheral interface (PIA) 68, a central processing unit (CPU) 70, and address decoder 72, 32k random access memory (RAM) 74, 32k random access memory (RAM) 32k erasable programmable read only memory (EPROM) 76 and first and second analogue to digital converters (ADC 1 and ADC 2) 78 and 80, interconnected as shown by data, control and address buses 82, 84 and 86.

The keyboard decoder 64 is connected to the keypad 30, and the ACIA 66 to the data port 36 via an RS232 driver 88. The PIA 68 is connected to the LCD display 32 and also to the waveform generator/power amplifier 58 and the gain controls of the variable gain amplifiers 6C, 62. The outputs of the amplifiers 60, 62 are connected to the ADC's 78 and 80 respectively and the PIA 68 further serves to control a switchable reference voltage 90 for the ADC's 78 and 80. A power supply unit (PSU) 92 powers both the digital and analogue hardware and is controlled by a flip-flop 94 which is powered up by depressing the trigger 33 and powered down by the CPU 70 via the PIA 68, which also controls a switch 96 to control independently the power supply to the analogue hardware. The programming of the microprocessor is arranged to power down the PSU 92 if idle for more than a predetermined time.

As will be described in more detail below, the physical design and method of operation of the unit 10 serves to eliminate or minimize the various factors which contribute to the lack of accuracy in acoustic length measurement.

The first consideration is controlling the frequency of the acoustic pulse to ensure subεtantiallv undistorted plane wave propagation along the tube 12. The wave will begin to "spiral" inside the tube 12, thus erroneousl^y increasing the measured travel time, if the frequency of the pulse exceeds a certain cut on frequency (c.o.f.) which is related to the diameter of the tube 12 by the expression: c.o.f. = (1.84 x Co)/(τ: D) ; where Co is the speed of sound in free air and D is the internal diameter of the tube 12. Thus, the cut on frequency for a 2" (5.08 cm) tube is 3821 HZ and for a 20" (50.8 cm) tube is 382 HZ. Any frequency below the cut on frequency should - give proper plane wave propagation, however for safety the frequency should be set at least 10% below cut on for a given tube diameter. The frequency may thus be tuned to suit the diameter of the tube 12 being measured, however it will be appreciate that the freσuencv may simply be set at a value lower than the cut on frequency for the largest tube of interest and that this freσuencv will also be suitable for all smaller _ Q _

tubes. Thus, in the present example the frequency is set at 300 HZ which will provide proper plane wave propagation in all tubes of 20" (50.8 cm) diameter or less. In this example each pulse is a single cycle sine wave produced by the waveform generator 58 and whose parameters are determined by data stored in the EPROM 76. The waveshape may thus be altered by changing the stored data.

A second major source of error in acoustic measurement techniques arises from variations in the speed of sound in the operating environment. As previously noted, the speed of sound in tube is affected by the temperature, humidity and density of the medium within the tube as well as by the physical characteristics of the tube. The relationships of the speed of sound to temperature and tube diameter are known and may be measured, allowing the speed of sound to be corrected for use in calculating the length of a tube, however such measurements may be inaccurate and increase the complexity of the device. Other factors are not readily measured and their effect on the speed of sound is not easily determined.

In the present case these problems are overcome by measuring the actual speed of sound in the tube 12 during the length measurement process. This is achieved by means of the two microphones 26 and 28 which are displaced from one another along the central axis of the tube 12 by a known distance. The speed of sound in the actual operating environment may thus be determined by measuring the time taken for the acoustic pulse to travel between the microphones 26 and 28.

A further source of error is the acoustic impedance mismatch arising from differences in the sizes of the loudspeaker 56 and the tube 12, which results in a phase shift occurring in the acoustic pulse upon injection into the tube 12. It has been found this phase effect may be eliminated if the microphone 28 nearest the loudspeaker housing 20 is positioned at least a quarter wavelength from the end of the tube ^' 12 to which the unit 10 is applied. Where the diameter of the tube 12 varies near its ends (as with a tapered thread on a drill pipe) , this distance is preferably increased somewhat and may typically be 14" (35.56 cm) with a 300 HZ pulse.

The first microphone 2.6 is also set slightly back from the forward end of the probe 2.4 to minimize the effect of any distortion of the reflected pulse which might occur when it strikes the end of the probe 24.

A phase shift in the pulse may also occur upon reflection of the pulse from the reflector 14, and may be eliminated either by using a material which does not produce a phase shift (such as 1/2" (1.27 cm) stainless steel) or by determining the phase shift produced by the reflector material, such as aluminum, and applying a correction to the measured length.

Further inaccuracies in the measured length of the tube arise from errors in measuring the travel time of the pulse. One such error arises if the pulse is timed from the loudspeaker 56 actually being triggered to the reflected pulse being detected by the first microphone 26, due to the response time of the loudspeaker 56 etc. This may be avoided by timing the pulse from the instant the transmitted pulse passes the microphone 26 to the instant when the reflected pulse is detected. Correction factors may be applied to measured times to compensate for the response times of the microphones 26 and 28.

Timing errors may also be caused by difficulties in clocking the same point^" on the pulse waveform on transmission and reflection. Level detection introduces errors due to attenuation of the reflected pulse, whilst with peak detection, which is potentially more accurate, difficulties are encountered in detecting peaks in the relatively low frequency waves required in larger tubes, this being further exacerbated by the attenuation of the pulse tending to flatten the peak. Accordingly, the present example utilizes zero crossing detection comprising subsequent low - and high - resolution analysis to detect the zero crossing points on which the travel time of the pulse is based. It is also desirable to adjust the gains of the microphone amplifiers 60, 62 between detection of the transmitted and reflected pulses so as to compensate approximately for the attenuation of the reflected pulse. Suitable gain values may be set up by means of a series of test pulses fired prior to the actual measurement process taking place.

Phase shifts in the electronic components of the units themselves present a further source of potential error and mav be avoided by careful design. For example, the use of a buffered attenuator in controlling the gain settings of the microphone amplifiers 60, 62 will eliminate phase shifts which might arise with the more conventional method of altering feedback components.

It is also important that the distance between the two microphones 26, 28 varies as little as possible, so as to preserve the accuracy of the measured speed of sound and the overall length measurement (which requires the known distance between the first microphone 26 and the reference plate 22 to be added to the distance calculated from the first microphone to the reflector 14) .

Accordingly, the probe 24 should be formed from a material which has as low coefficient of thermal linear expansion as possible whilst being sufficiently strong to withstand use in an oilfield environment, bearing in., mind that its cross-sectional area should also be as small as is practicable. Suitable materials include stainless steel and cast nylon.

Figure 7 is a flow diagram illustrating the detailed operation of the system once the trigger 33 is depressed. Once the circuitry is powered up, a series of test pulses is fired to set up the gains of the microphone amplifiers 60, 62. ADC 1 (78) is then selected and a series of four pulses fired for low resolution analysis. For each pulse the transmitted and reflected waves are sampled at a relatively low sampling rate (e.g., 100 μs intervals) and the data for the four pulses averaged to give approximate values for the troughs, peaks and zero-crossings. The peak to trough distances are then checked and an error flag set if an anomalous value is detected. This process is repeated with ADC 2 (80) . A higher resolution analysis is then carried out wherein a series of sixty four pulses are fire , each being sampled at a higher sampling rate (e.g. , 25 yε intervals) , and the samples around the approximate zero-crossings previously determined are stored. This data is then used to determine accurate zero-crossing points wherefrom the speed of sound and the length of the tube 12 may be calculated. The calculated length measurement may be displayed on the LCD display 32, indexed using the keypad 30 and stored by depressing the store key 34. Accumulated data may be downloaded to a computer, hardcopy printer or other storage medium via the data port 36.

The various features of the unit 10 and the measuring method described above all contribute to enhancing the accuracy and repeatability of acoustic length measurement whilst allowing the unit 10 to be relatively compact. In this example, accuracy in the order of plus or minus 1/8"

(3.2 mm) in 100 feet (30.48 m) is achievable. The measurement process is also greatly simplified and accelerated, requiring two persons at most, and the possibilit^y of human error in recording data is also eliminated. It should be noted also that the use of the reflector 12 is not strictly necessarv. In the oil industry, for example, drill pipe may be measured whilst racked in a pipe stand bv determining the reflection phase shift of the material from which the deck of the stand is made (typically oak wood) , using the deck of the stand as a reflector and applying an appropriate correction to the time of travel of the pulse. A reflected pulse will also be obtained in an open ended tube (with a phase shift requiring a timing correction dependent upon the tube diameter) , so that it is feasible that measurements may be obtained without the use of any reflector at all. In this case, of course, the attenuation of the reflected pulse would be significantly greater.

It will be appreciated that the various features of the physical design of the measuring instrument and the method of use are equally applicable in numerous fields outside the oil industry. Since numerous changes or modifications may be made in the disclosed embodiments without departing from the inventive concepts involved, it is the aim of the appended claims to cover all such changes or modifications falling -within the true spirit and scope of the present invention.

Claims

WHAT IS CLAIMED IS: 1. A method of measuring the length of a tubular body, comprising the steps of: transmitting an acoustic signal along the interior of the tubular body; using acoustic transmitter means located at a first end thereof; measuring the time taken for the signal to be transmitted along the tubular body and reflected back; using acoustic receiver means; and calculating the length of the tubular body from the time of travel of the signal and the speed of sound, wherein the frequency of the signal is set at or below the cut-on frequency for the diameter of the tubular body being measured.

2. The method of claim 1 wherein the speed of sound in the tubular body is measured by means of first and second acoustic receiver means displaced from one another by a known distance along the central axis of the tubular body.

3. The method of claim 2 wherein said first and second acoustic receiver means are ^" located within the tubular body adjacent said first end, and said first receiver means, located nearest said first end, is positioned a known distance inwardly from said first end, said distance being at least one quarter wavelength of the signal.

4. The method of claim 3 wherein the time of travel of the signal is measured from the instant at which the transmitted signal passes said first receiver means to the instant that the reflected signal is detected by said first receiver means, and the known distance between the first receiver means and the end of the tube is added to the length calculated from the tine of travel of the signal.

5. The method of claim 1 wherein said signal comprises at least one single cycle pulse, and the time of travel of the pulse is measured from the zero-crossing points thereof.

6. The method of claim 5 wherein a first series of pulses is transmitted and output signals produced by said receiver means in response thereto are sampled at a first, relatively low, sampling rate, and analyzed to determine approximate zero-crossing points for each pulse, whereafter a second series of pulses is transmitted and the output signals from the receiver means sampled at a second, higher sampling rate and sampled data from said second series of pulses falling around said approximate zero-crossing points are selected and analyzed to determine said zero-crossing points more accurately.

7. The method of claim 1 wherein the calculated length of the tubular body is corrected to take account of phase shifts occurring during reflection of said signal.

8. The method of claim 1 or claim 2 wherein the calculated length and calculated speed of sound are corrected to take account of the response characteristics of said receiver means.

9. The method of claim 1 wherein the gain of said receiver means is adjusted between detection of the transmitted and reflected signals to compensate approximately for attenuation of the signal during reflection.

10. The method of claim 9 wherein test signals are transmitted, prior to measurement, to determine the attenuation thereof, and the gain of said receiver means is adjusted in accordance therewith.

11. A device for measuring the length of a tubular body using acoustic signals, comprising: transmitter means for transmitting an acoustic signal; means for locating said transmitter at a first end of a tubular body; acoustic receiver means located forwardly of said transmitter means; and control and data processing means for controlling said transmitter, analyzing signals received by said receiver means, measuring the time taken for said signal to travel along said tubular body and be reflected back from a second, opposite end ^'thereof, and for calculating the length of said tubular body from said travel time and the speed of sound; said receiver means including first and second receivers spaced apart from one another by a known distance along the central axis of said tubular body, said control and data processing means being adapted to measure the time taken for said signal to travel between said first and second receivers and to calculate the speed of sound therefrom.

12. The device of claim 11 wherein the frequency of said acoustic signal is selected to be at or below the cut-on frequency for the diameter of the tubular body being measured.

13. The device of claim 11 wherein- said first receiver is located closer to said transmitter than said second receiver and, in use, is positioned at lease one quarter wavelength of said signal inwardly from said first end of said tubular body.

14. The device of claim 11 wherein said first and second receivers are mounted on an elongate member which, in use, extends into said tubular body along the central axis thereof.

15. The device of claim 14 wherein said elongate member is formed from a material having a low coefficient of thermal expansion.

16. The device of claim 15 wherein said material is stainless steel.

17. The device of claim 15 wherein said material is cast nylon.

18. The device of claim 11, adapted to receive a range of interchangeable transmitter and locating means to suit tubular bodies having a range of different diameters.

19. The device of claim 18 wherein the frequency of said signal is selected to be below the cut-on frequency for the largest of said diameters.

20. The device of claim 18 including a body portion enclosing said control and data processing means, said transmitter comprising a loudspeaker mounted in a housing attachable to said body portion.

21. The device of claim 20 wherein said locating means comprises an annular plate attachable to said housing so as to surround said loudspeaker.

22. The device of claim 20 wherein said locating means comprises a cylindrical tube attachable to said housing in front of said loudspeaker.

23. The device of claim 20 wherein said body portion further encloses power supply means.

24. The device of claim 20 wherein said body portion is generally cylindrical, said transmitter being attachable to a first longitudinal end thereof, and further including a handle member extending from a second, opposite, longitudinal end thereof.

25. The device of claim 11, further including data input means.

26. The device of claim 25 wherein said data input means comprises a keypad.

2~^~. The device of claim II, further including data output means.

28. The device of claim 27, wherein said data output means includes visual display means.

29. The device of claim 27 wherein said data output means includes a data port.

3C. The device of claim 11, further including a separate acoustic reflector positionable to close a second, opposite, end of the tubular body being measured.