WO2017107913A1 - 埋地管道管体缺陷非开挖检测方法及装置 - Google Patents

埋地管道管体缺陷非开挖检测方法及装置 Download PDF

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WO2017107913A1
WO2017107913A1 PCT/CN2016/111263 CN2016111263W WO2017107913A1 WO 2017107913 A1 WO2017107913 A1 WO 2017107913A1 CN 2016111263 W CN2016111263 W CN 2016111263W WO 2017107913 A1 WO2017107913 A1 WO 2017107913A1
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magnetic
sensor
magnetic field
defect
pipe body
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PCT/CN2016/111263
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English (en)
French (fr)
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宋强
帅健
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中国石油大学(北京)
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Publication of WO2017107913A1 publication Critical patent/WO2017107913A1/zh
Priority to ZA2017/06003A priority Critical patent/ZA201706003B/en

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N27/00—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means
    • G01N27/72—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating magnetic variables
    • G01N27/82—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating magnetic variables for investigating the presence of flaws

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  • the present disclosure relates to the field of buried pipeline detection methods and equipment, for example, to a buried pipeline pipe body defect non-excavation detection method and a device for implementing the above detection method.
  • Pipeline transportation is the main mode of transportation for oil and natural gas.
  • Land long-distance oil and gas pipelines are generally buried. Buried oil and gas pipelines are affected by corrosion of soil and transport media during operation, fatigue, natural disasters, illegal construction, drilling and theft, and are prone to corrosion, deformation, cracking, leakage, burning, explosion, etc., to ensure the safe operation of oil and gas pipelines.
  • Pipeline defects must be detected and discovered in a timely manner and their impact on pipe safety must be evaluated.
  • the buried oil and gas pipeline inspection is divided into internal detection and external detection: (1) The internal inspection is to place the detection instrument inside the pipeline, and the pipeline pressure drive is used to complete the detection.
  • the disadvantages are the diameter of the pipe, the radius of curvature of the pipe, the pressure, the flow rate of the medium, etc. There are restrictions, the need for pigging before testing, high detection costs, and the risk of blockage.
  • (2) External inspection is to place the detection instrument outside the pipeline. According to whether the instrument is in direct contact with the pipeline body, it is divided into excavation detection and non-excavation detection. Among them, excavation detection is destructive detection and needs excavation and stripping. To pipeline anti-corrosion (insulation) layer, inspection, pipeline coating, backfilling, etc., the amount of engineering is large, time-consuming, and the reliability of evaluation is related to the excavation pipe section. At present, buried oil and gas pipelines urgently need non-excavation detection technology. On the one hand, they do not directly contact with pipelines, and there is no need for pigging and excavation, which reduces inspection costs. On the other hand, there are no restrictions on pipeline parameters and operating conditions, and low detection requirements. The operation risk is small.
  • the present disclosure proposes a non-excavation detection method for buried pipe body defects, which can quantitatively evaluate the defect level, and the accuracy and reliability of the defect evaluation are high.
  • the present disclosure also proposes a buried pipeline pipe body defect non-excavation detecting device, which has high resolution to the pipe body symbiotic defect.
  • a non-excavation detecting method for a pipe body defect of a buried pipeline comprising: the detecting device obtaining a distance value between the pipe body defect point and the ground measuring point according to the magnetic gradient tensor and the magnetic field vector value;
  • the detecting device obtains the tube body defect magnetic moment according to the distance value between the tube body defect point and the ground measurement point and the magnetic field vector value to quantitatively evaluate the tube body defect level.
  • the magnetic gradient tensor is obtained by calculating a plurality of magnetic field vector values and a preset distance value between the sensors, wherein the magnetic field vector values are obtained by sensor detection at different orientations, the preset distance value Is the distance between two adjacent sensors on the same axis.
  • the obtaining the distance value between the tube defect point and the ground measurement point according to the magnetic gradient tensor and the magnetic field vector value including:
  • the obtaining the tube body defect magnetic moment according to the distance value of the tube body defect point and the ground measurement point and the magnetic field vector value to quantitatively evaluate the tube body defect level including:
  • the projection values of the magnetic moment of the tube body in the X, Y, and Z directions are obtained by calculating the magnetic field vector value, the distance between the tube defect point and the ground measurement point, and the three projection values thereof;
  • the tube defect level is quantitatively evaluated based on the magnetic field of the tube defect.
  • the detecting device comprises:
  • the magnetic sensor No. 0 is located at the center;
  • the magnetic sensor No. 1 and the magnetic sensor No. 2 are located on both sides of the magnetic sensor No. 0 in the X-axis direction, and the distance from the magnetic sensor No. 0 is d/2;
  • the magnetic sensor No. 3 and the magnetic sensor No. 4 are located on both sides of the magnetic sensor No. 0 in the Y-axis direction, and the distance from the magnetic sensor No. 0 is d/2;
  • B 1x represents the X-direction magnetic field value detected by the No. 1 sensor
  • B 2x represents the X-direction magnetic field value detected by the No. 2 sensor
  • B 3x represents the X-direction magnetic field value detected by the No. 3 sensor
  • B 4x represents the X-detected X of the No. 4 sensor.
  • B 1y represents the Y-direction magnetic field value detected by the No. 1 sensor
  • B 2y represents the Y-direction magnetic field value detected by the No. 2 sensor
  • B 3y represents the Y-direction magnetic field value detected by the No. 3 sensor
  • B 4y represents the No. 4 sensor detection Y-direction magnetic field value
  • B 1z represents the Z-direction magnetic field value detected by the No.
  • B 2z represents the Z-direction magnetic field value detected by the No. 2 sensor
  • B 3z represents the Z-direction magnetic field value detected by the No. 3 sensor
  • B 4z represents the No. 4 The Z-direction magnetic field value detected by the sensor.
  • the projection values r x , r y , and r z of the distance r between the tube defect point and the ground measurement point in the X, Y, and Z directions are:
  • G is the magnetic field gradient tensor
  • B 0x represents 0 magnetic field sensor for detecting the value of X
  • B 0y represents 0 sensor for detecting the Y-direction magnetic field values
  • B 0z represents 0 magnetic field sensor for detecting the Z value.
  • the projection values m x , m y , and m z of the tube defect magnetic moment m in the X, Y, and Z directions are:
  • ⁇ 0 is a constant.
  • the larger the magnetic moment density of the tube body defect is, the higher the magnetic charge density is, and the sharper the shape of the tube body defect; the larger the magnetic moment m of the tube body defect is, the larger the size of the tube body defect is.
  • a buried pipeline pipe body defect non-excavation detecting device for realizing the above detection method comprises:
  • the detecting element is disposed within the housing for detecting a magnetic field vector value.
  • the detecting component is a three-axis magnetic sensor.
  • the detecting component comprises: a magnetic sensor No. 0, a magnetic sensor No. 1, a magnetic sensor No. 2, a magnetic sensor No. 3, and a magnetic sensor No. 4;
  • the magnetic sensor No. 0 is located at the center;
  • the magnetic sensor No. 1 and the magnetic sensor No. 2 are located on both sides of the magnetic sensor No. 0 in the X-axis direction, and the distance from the magnetic sensor No. 0 is d/2;
  • the magnetic sensor No. 3 and the magnetic sensor No. 4 are located on both sides of the magnetic sensor No. 0 in the Y-axis direction, and the distance from the magnetic sensor No. 0 is d/2.
  • the buried pipe body defect non-excavation detection method of the present disclosure obtains the distance value between the pipe body defect point and the ground measurement point according to the magnetic gradient tensor and the magnetic field vector value; according to the distance value between the pipe body defect point and the ground measurement point, the magnetic field
  • the vector value obtains the magnetic moment of the tube body to quantitatively evaluate the defect level of the tube body. Since the magnetic gradient tensor is mainly caused by the tube body defect (the background magnetic field such as the geomagnetic field and the pipe magnetic field has little influence on the magnetic gradient tensor), Therefore, the defect magnetic field can be better highlighted and the signal-to-noise ratio of the defect signal can be improved.
  • the detection method of the present disclosure detects by selecting the magnetic gradient tensor because each component of the magnetic gradient tensor has a specific direction filtering characteristic, which can identify the direction of the tube defect, especially the crack defect; the magnetic gradient tensor pairs are superimposed
  • the magnetic target has higher resolution and can be used to detect and evaluate the symbiotic defect of the tube; the magnetic gradient tensor has a rotation-invariant feature quantity, so that the measurement process does not need to be strictly oriented to the detection device; the magnetic gradient tensor has rich data processing and features.
  • the extraction method can better describe the distribution characteristics and laws of the defect magnetic field, thereby improving the accuracy and reliability of the defect evaluation.
  • the detection of magnetic gradient tensor is a brand-new concept, which solves many problems in the related art through magnetic detection, and is of great significance for the development of non-excavation detection technology for buried pipeline pipe defects.
  • 1 is a ground magnetic field distribution diagram of a defect-free pipe body provided by an alternative embodiment
  • FIG. 2 is a ground magnetic field distribution diagram of a defective pipe body provided by an alternative embodiment
  • FIG. 3 is a schematic structural view of a buried pipeline pipe body defect non-excavation detecting device provided by an alternative embodiment
  • FIG. 4 is a flow chart of a method for detecting a non-excavation of a buried pipe body defect provided by an alternative embodiment.
  • a buried pipeline non-excavation magnetic detection method has the following steps: the magnetic field of the buried pipeline itself magnetized by the earth magnetic field is an excitation source, and the buried pipeline is a detection object, and the magnetic field strength is used for resolution.
  • the fluxgate sensor with a rate of 1nT measures the strength and attenuation of the magnetic field above the ground.
  • the detection result is extended downward and the derivative data is processed.
  • the quality of the buried pipeline is processed according to the processed data. Detecting, so as to achieve the purpose of detecting the presence or absence of defects and corrosion of the buried pipeline.
  • the above magnetic detection has the following defects: (1) the detection accuracy is related to the sensitivity of the magnetic sensor; (2) in addition to the gradient processing and the derivative conversion, more perfect data processing means are needed to suppress the geomagnetic field, the pipeline magnetic field and other disturbing magnetic fields. (3) lack of effective data analysis methods, can not quantitatively analyze tube defects; (4) downward extension is ill-posed problem, there is no strict and accurate theoretical calculation method, and downward extension has high-pass filtering Characteristics, local noise and interference are amplified, allowing downward continuation calculations failure.
  • the present invention discloses a buried pipe body defect non-excavation detecting method and a detecting device for implementing the method.
  • the buried pipeline pipe body defect non-excavation detecting device comprises: a casing and five detecting elements disposed in the casing for detecting a magnetic field vector value, wherein the detecting component may be a three-axis magnetic sensor.
  • the detecting device is actually a magnetic gradient tensor detecting instrument, as shown in FIG. 3, which may include a magnetic sensor No. 0 located at the center, and is located on both sides of the magnetic sensor No. 0 in the X-axis direction.
  • the number of detecting elements can also be set according to actual use requirements, and the arrangement manner is not limited to the structure in the embodiment, and may be arranged according to the needs of the detecting method.
  • the inspector When in use, the inspector holds the magnetic gradient tensor detector on the ground (ie, the buried pipeline pipe body defect non-excavation detection device), and realizes the on-line detection of the pipe body defect by detecting the change of the ground magnetic field intensity above the pipe.
  • the comparison chart shown in 2 (the line above the pipe is the ground magnetic field distribution of the pipe).
  • the magnetic gradient tensor detection method is mainly used, and the magnetic gradient tensor is mainly caused by the tube body defect (the background magnetic field such as the geomagnetic field and the pipeline magnetic field has little influence on the magnetic field), and therefore, the defect magnetic field can be better highlighted.
  • each component of the magnetic gradient tensor has a specific direction filtering characteristic, which can identify the tube defect.
  • the magnetic gradient tensor has a higher resolution for the superimposed magnetic target, and can be used to detect and evaluate the symbiotic defect of the tube;
  • the magnetic gradient tensor has a rotation-invariant feature quantity, so that the measurement process does not need a detection device Strict orientation;
  • magnetic gradient tensor has rich data processing and feature extraction methods, which can better describe the distribution characteristics and laws of defect magnetic fields, thus improving the accuracy and reliability of defect evaluation.
  • the trenchless pipe body defect non-excavation detecting method may include the following steps:
  • Step A obtaining a magnetic gradient tensor G by using a magnetic field vector value and a preset distance value
  • B 1x represents the X-direction magnetic field value detected by the No. 1 sensor
  • B 2x represents the X-direction magnetic field value detected by the No. 2 sensor
  • B 3x represents the X-direction magnetic field value detected by the No. 3 sensor
  • B 4x represents the X-detected X of the No. 4 sensor.
  • B 1y represents the Y-direction magnetic field value detected by the No. 1 sensor
  • B 2y represents the Y-direction magnetic field value detected by the No. 2 sensor
  • B 3y represents the Y-direction magnetic field value detected by the No. 3 sensor
  • B 4y represents the No. 4 sensor detection Y-direction magnetic field value
  • B 1z represents the Z-direction magnetic field value detected by the No.
  • B 2z represents the Z-direction magnetic field value detected by the No. 2 sensor
  • B 3z represents the Z-direction magnetic field value detected by the No. 3 sensor
  • B 4z represents the No. 4 The Z-direction magnetic field value detected by the sensor.
  • Step B Calculating the distance r of the tube defect point from the ground measurement point by the magnetic gradient tensor and the magnetic field vector value, and the projection values r x , r y , and r z in the X, Y, and Z directions are:
  • G is the magnetic field gradient tensor; B 0x represents 0 sensor for detecting a magnetic field value X; B 0y represents 0 sensor for detecting a magnetic field value Y; B 0z represents 0 magnetic field sensor for detecting the Z value.
  • Step C Calculating the projection value m x of the tube body defect magnetic moment m in the X, Y, and Z directions by calculating the distance between the tube defect point and the ground measurement point, the three projection values obtained in step B, and the magnetic field vector value.
  • m y , m z are:
  • ⁇ 0 is a constant.
  • Step D quantitatively evaluating the defect level of the tube body according to the magnetic moment of the tube body defect, wherein the magnitude of the magnetic moment m of the tube body defect is proportional to the magnetic charge density and the number of magnetic charges, and the magnetic flux density is larger when the magnetic flux m of the tube body defect is larger.
  • the shape of the tube defect is sharper; the larger the magnetic moment m of the tube body defect, the larger the number of magnetic charges, and the larger the size of the tube body defect.
  • the detection method is as follows: the distance value between the tube defect point and the ground measurement point is obtained according to the magnetic gradient tensor and the magnetic field value in different directions; the tube body is obtained according to the distance value of the tube body defect point and the ground measurement point, and the magnetic field vector value.
  • the method of quantitatively evaluating the defect level of the tube to quantitatively evaluate the defect level of the tube body is within the protection scope of the present disclosure. For example, it can be calculated and analyzed by different matrix calculation formulas or other fitting formulas and optimized data processing methods, and can be quantitatively evaluated.
  • the tube defect level can be obtained.
  • the above-mentioned detection method using the magnetic gradient tensor is a new concept of the detection method of the tube body defect, and overcomes the technical prejudice that the person skilled in the art cannot detect the tube body defect with the magnetic gradient tensor, and solves the related art in the magnetic field.
  • the method detects problems such as low detection accuracy, improper data processing and analysis methods under the limitation of the accuracy of the detection device.
  • the pipeline may be a pipeline of oil and gas pipelines, ferromagnetic pipelines or other materials. Therefore, the above defect detection method is versatile and applicable. A wide range.
  • the detection method provided by the present disclosure obtains the distance value between the tube defect point and the ground measurement point according to the magnetic gradient tensor and the magnetic field vector value; the tube body defect magnetic moment is obtained according to the distance value between the tube body defect point and the ground measurement point and the magnetic field vector value Therefore, the tube defect level is quantitatively evaluated. Since the magnetic gradient tensor is mainly caused by the tube body defect (the background magnetic field such as the geomagnetic field and the pipe magnetic field has little influence on the magnetic gradient tensor), the defect magnetic field can be better highlighted and the defect signal can be improved. Signal-to-noise ratio improves the accuracy and reliability of defect evaluation.

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Abstract

一种埋地管道管体缺陷非开挖检测方法及装置，属于埋地管道检测方法及设备领域。所述埋地管道管体缺陷非开挖检测方法包括：检测装置根据磁梯度张量和磁场矢量值获得管体缺陷点与地面测量点的距离值；以及所述检测装置根据管体缺陷点与地面测量点的距离值、磁场矢量值获得管体缺陷磁矩从而定量评价管体缺陷等级。

Description

埋地管道管体缺陷非开挖检测方法及装置 技术领域
本公开涉及埋地管道检测方法及设备领域，例如涉及一种埋地管道管体缺陷非开挖检测方法及用于实现上述检测方法的装置。
背景技术
管道运输是石油、天然气的主要运输方式，陆地长输油气管道一般采用埋地铺设方式。埋地油气管道在运行中受土壤与输送介质腐蚀、疲劳、自然灾害、违章施工、打孔偷盗等影响，易发生腐蚀、变形、开裂、泄漏、燃烧、爆炸等事故，为确保油气管道安全运行，必须及时检测、发现管道缺陷并评价其对管道安全的影响。埋地油气管道检测分为内检测和外检测：(1)内检测是将检测仪器置于管道内部，利用管道压力驱动完成检测，缺点是对管径、弯管曲率半径、压力、介质流速等有限制，检测前需清管、检测成本高、存在堵管风险。(2)外检测是将检测仪器置于管道外部，根据仪器是否与管道本体直接接触，又分为开挖检测和非开挖检测，其中，开挖检测属破坏性检测，需要开挖、剥去管道防腐(保温)层、检测、管道包覆、回填等操作，工程量大、耗时长、且评估可靠性与开挖管段有关。当前埋地油气管道迫切需要非开挖检测技术，一方面，不与管道直接接触，无需清管、开挖，降低检测成本，另一方面，对管道参数及其运行条件无限制，检测要求低，操作风险小。
发明内容
本公开提出了一种埋地管道管体缺陷非开挖检测方法，该方法能够定量评价缺陷等级，并且缺陷评价的准确性和可靠性较高。
本公开还提出了一种的埋地管道管体缺陷非开挖检测装置，该装置对管体共生缺陷具有较高分辨力。
本公开采用以下技术方案：
一种埋地管道管体缺陷非开挖检测方法，包括：检测装置根据磁梯度张量和磁场矢量值获得管体缺陷点与地面测量点的距离值；以及
所述检测装置根据所述管体缺陷点与地面测量点的距离值、磁场矢量值获得管体缺陷磁矩从而定量评价管体缺陷等级。
可选的，所述磁梯度张量通过多个磁场矢量值和传感器之间的预设距离值计算获得，其中，所述磁场矢量值通过位于不同方位的传感器检测获得，所述预设距离值为位于同一轴线上的相邻两个传感器之间的距离。
可选的，所述根据磁梯度张量和磁场矢量值获得管体缺陷点与地面测量点的距离值，包括：
通过所述磁梯度张量、磁场矢量值计算获得管体缺陷点与地面测量点的距离在X、Y、Z轴方向的投影值；
所述根据所述管体缺陷点与地面测量点的距离值、磁场矢量值获得管体缺陷磁矩从而定量评价管体缺陷等级，包括：
通过磁场矢量值、管体缺陷点与地面测量点的距离及其三个投影值计算获得管体缺陷磁矩在X、Y、Z轴方向的投影值；
根据管体缺陷磁矩定量评价管体缺陷等级。
可选的，其中，所述检测装置包括：
0号磁传感器、1号磁传感器、2号磁传感器、3号磁传感器和4号磁传感器；
所述0号磁传感器位于中心；
所述1号磁传感器和2号磁传感器在X轴方向上，位于所述0号磁传感器两侧，且与所述0号磁传感器间距均为d/2；
所述3号磁传感器和4号磁传感器在Y轴方向上，位于所述0号磁传感器两侧，且与所述0号磁传感器间距均为d/2；
其中，所述磁梯度张量G的计算公式为：
Figure PCTCN2016111263-appb-000001
其中，B1x表示1号传感器检测的X向磁场值；B2x表示2号传感器检测的X向磁场值；B3x表示3号传感器检测的X向磁场值；B4x表示4号传感器检测的X向磁场值；B1y表示1号传感器检测的Y向磁场值；B2y表示2号传感器检测的Y向磁场值；B3y表示3号传感器检测的Y向磁场值；B4y表示4号传感器检测的Y向磁场值；B1z表示1号传感器检测的Z向磁场值；B2z表示2号传感器检测的Z向磁场值；B3z表示3号传感器检测的Z向磁场值；B4z表示4号传感器检测的Z向磁场值。
可选的，管体缺陷点与地面测量点的距离r在X、Y、Z轴方向的投影值rx、ry、rz为：
Figure PCTCN2016111263-appb-000002
其中，G为磁梯度张量；B0x表示0号传感器检测的X向磁场值；B0y表示0号传感器检测的Y向磁场值；B0z表示0号传感器检测的Z向磁场值。
可选的，管体缺陷磁矩m在X、Y、Z轴方向的投影值mx、my、mz为：
Figure PCTCN2016111263-appb-000003
其中，
Figure PCTCN2016111263-appb-000004
μ0为常数。
可选的，管体缺陷磁矩m越大时磁荷密度越高，管体缺陷的形状越尖锐；管体缺陷磁矩m越大时磁荷数量越多，管体缺陷的尺寸越大。
一种用于实现上述检测方法的埋地管道管体缺陷非开挖检测装置，包括：
壳体和多个检测元件；
所述检测元件设置在所述壳体内，用于检测磁场矢量值。
可选的，所述检测元件为三轴磁传感器。
可选的，所述检测元件包括：0号磁传感器、1号磁传感器、2号磁传感器、3号磁传感器和4号磁传感器；
所述0号磁传感器位于中心；
所述1号磁传感器和2号磁传感器在X轴方向上，位于所述0号磁传感器两侧，且与所述0号磁传感器间距均为d/2；
所述3号磁传感器和4号磁传感器在Y轴方向上，位于所述0号磁传感器两侧，且与所述0号磁传感器间距均为d/2。
本公开的埋地管道管体缺陷非开挖检测方法根据磁梯度张量和磁场矢量值获得管体缺陷点与地面测量点的距离值；根据管体缺陷点与地面测量点的距离值、磁场矢量值获得管体缺陷磁矩从而定量评价管体缺陷等级，由于磁梯度张量主要由管体缺陷引起(地磁场、管道磁场等背景磁场对磁梯度张量影响很小)， 因此，能更好突出缺陷磁场，提高缺陷信号信噪比。
本公开的检测方法通过选取磁梯度张量进行检测是由于：磁梯度张量的每个分量都具有特定方向滤波特性，可识别管体缺陷、尤其是裂纹缺陷的方向；磁梯度张量对叠加磁性目标具有较高分辨力，可用于检测、评价管体共生缺陷；磁梯度张量具有旋转不变特征量，使得测量过程无需对检测装置严格定向；磁梯度张量有丰富的数据处理和特征提取方法，能更好刻画缺陷磁场的分布特征与规律，从而提高缺陷评价的准确性和可靠性。通过磁梯度张量进行检测是一种全新的理念，解决了相关技术中通过磁法检测时存在的诸多问题，对埋地管道管体缺陷非开挖检测技术的发展具有重要意义。
附图概述
图1是一可选实施例提供的无缺陷管体的地面磁场分布图；
图2是一可选实施例提供的有缺陷管体的地面磁场分布图；
图3是一可选实施例提供的埋地管道管体缺陷非开挖检测装置的结构示意图；
图4是一可选实施例提供的埋地管道管体缺陷非开挖检测方法的流程图。
具体实施方式
下面结合附图并通过具体实施方式来说明本公开的技术方案。以下实施例以及实施例中的特征在不冲突的情况下可以相互组合。
相关技术中一种埋地管道非开挖磁法检测方法，检测步骤为：经地磁场磁化后的埋地管道本身所具有的磁性为励磁源，埋地管道为检测对象，采用磁场强度的分辨率为1nT的磁通门传感器，磁通门传感器测量出地面以上的磁场强度和衰减量，同时对检测结果进行向下延拓、导数换算数据处理，根据处理后的数据对埋地管道质量进行检测，从而达到检测埋地管道有无缺陷及腐蚀程度的目的。
上述磁法检测存在以下缺陷：(1)检测精度与磁传感器灵敏度有关；(2)除梯度处理、导数换算外，还需更完善的数据处理手段，以抑制地磁场、管道磁场及其它干扰磁场，并突出缺陷磁场；(3)缺乏有效数据分析方法，不能定量分析管体缺陷；(4)向下延拓属不适定问题，没有严密准确的理论计算方法，且向下延拓具有高通滤波特性，局部噪声和干扰会被放大，使得向下延拓计算 失败。
可选实施例：
本可选实施例公开一种埋地管道管体缺陷非开挖检测方法和用于实现该方法的检测装置。埋地管道管体缺陷非开挖检测装置包括：壳体和设置在壳体内的用于检测磁场矢量值的五个检测元件，其中，检测元件可以为三轴磁传感器。
本实施例中，检测装置实际上是一种磁梯度张量检测仪器，如图3所示，可以是包括位于中心的0号磁传感器、在X轴方向上且位于0号磁传感器两侧的与其间距均为d/2的1号磁传感器和2号磁传感器，以及在Y轴方向上且位于0号磁传感器两侧的与其间距均为d/2的3号磁传感器和4号磁传感器。
检测元件的数量也可以根据实际使用需求进行设置，排布方式也不局限于本实施例中的结构，也可以根据检测方法的需要进行排布。
使用时，检测人员在地面手持磁梯度张量检测仪(即埋地管道管体缺陷非开挖检测装置)，通过探测管道上方地面磁场强度的变化实现管体缺陷的在线检测。
基于上述埋地管道管体缺陷非开挖检测装置的检测方法，其中，检测机理是由于地磁场和缺陷应力通过改变管体材料磁导率会引起管道空间磁场的强度变化，如图1和图2中所示的对比图(管道上方的线条即为管体的地面磁场分布图)。本实施例中，主要采用磁梯度张量的检测方式，磁梯度张量主要由管体缺陷引起(地磁场、管道磁场等背景磁场对其影响很小)，因此，能更好突出缺陷磁场，提高缺陷信号信噪比，此外，选择通过磁梯度张量的计算检测管体缺陷是由于磁梯度张量具有如下优势：磁梯度张量每个分量都具有特定方向滤波特性，可识别管体缺陷、尤其是裂纹缺陷的方向；磁梯度张量对叠加磁性目标具有较高分辨力，可用于检测、评价管体共生缺陷；磁梯度张量具有旋转不变特征量，使得测量过程无需对检测装置严格定向；磁梯度张量有丰富的数据处理和特征提取方法，能更好刻画缺陷磁场的分布特征与规律，从而提高缺陷评价的准确性和可靠性。
如图4所示，埋地管道管体缺陷非开挖检测方法可以是包括下述步骤：
步骤A、通过磁场矢量值、预设距离值计算获得磁梯度张量G；可以为：
Figure PCTCN2016111263-appb-000005
其中，B1x表示1号传感器检测的X向磁场值；B2x表示2号传感器检测的X向磁场值；B3x表示3号传感器检测的X向磁场值；B4x表示4号传感器检测的X向磁场值；B1y表示1号传感器检测的Y向磁场值；B2y表示2号传感器检测的Y向磁场值；B3y表示3号传感器检测的Y向磁场值；B4y表示4号传感器检测的Y向磁场值；B1z表示1号传感器检测的Z向磁场值；B2z表示2号传感器检测的Z向磁场值；B3z表示3号传感器检测的Z向磁场值；B4z表示4号传感器检测的Z向磁场值。
步骤B、通过磁梯度张量、磁场矢量值计算获得管体缺陷点与地面测量点的距离r在X、Y、Z轴方向的投影值rx、ry、rz为：
Figure PCTCN2016111263-appb-000006
其中，G为磁梯度张量；B0x表示0号传感器检测的X向磁场值；B0y表示0号传感器检测的Y向磁场值；B0z表示0号传感器检测的Z向磁场值。
步骤C、通过管体缺陷点与地面测量点的距离、步骤B中获得的三个投影值以及磁场矢量值计算获得管体缺陷磁矩m在X、Y、Z轴方向的投影值mx、my、mz为：
Figure PCTCN2016111263-appb-000007
其中，
Figure PCTCN2016111263-appb-000008
μ0为常数。
步骤D、根据管体缺陷磁距定量评价管体缺陷等级，其中，管体缺陷磁距m的大小与磁荷密度和磁荷数量成正比，管体缺陷磁距m越大时磁荷密度越高，管体缺陷的形状越尖锐；管体缺陷磁距m越大时磁荷数量越多，管体缺陷的尺寸越大。
本实施例中仅给出了一种可选的检测和计算方式，但本公开并不局限于上 述方式的检测，只要是根据磁梯度张量和不同方向的磁场值获得管体缺陷点与地面测量点的距离值；根据管体缺陷点与地面测量点的距离值、磁场矢量值获得管体缺陷磁矩从而定量评价管体缺陷等级的方法都在本公开的保护范围之内，例如，可以通过不同的矩阵计算公式或其他拟合公式以及优化的数据处理方式进行计算和分析，能够定量评价获得管体缺陷等级即可。
上述采用磁梯度张量的检测方式是一种管体缺陷检测方式的新理念，克服了本领域技术人员对磁梯度张量无法进行管体缺陷检测所存在的技术偏见，解决了相关技术中磁法检测在检测装置精度局限下检测精度较低、数据处理和分析方法不当等问题，此外，管道可以是油气管道、铁磁性管道或者其他材料的管道，因而，上述缺陷检测方法通用性强、适用范围广泛。
在本文中，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素，而且还可以是包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、物品或者设备中还存在另外的相同要素。
以上是结合附图给出的实施例，仅是实现本公开的可选方案。
工业实用性
本公开提供的检测方法根据磁梯度张量和磁场矢量值获得管体缺陷点与地面测量点的距离值；根据管体缺陷点与地面测量点的距离值、磁场矢量值获得管体缺陷磁矩从而定量评价管体缺陷等级，由于磁梯度张量主要由管体缺陷引起(地磁场、管道磁场等背景磁场对磁梯度张量影响很小)，因此，能更好突出缺陷磁场，提高缺陷信号信噪比，提高缺陷评价的准确性和可靠性。

Claims (10)

  1. 一种埋地管道管体缺陷非开挖检测方法，包括：检测装置根据磁梯度张量和磁场矢量值获得管体缺陷点与地面测量点的距离值；以及
    所述检测装置根据所述管体缺陷点与地面测量点的距离值、磁场矢量值获得管体缺陷磁矩从而定量评价管体缺陷等级。
  2. 根据权利要求1所述的埋地管道管体缺陷非开挖检测方法，其中，所述磁梯度张量通过多个磁场矢量值和传感器之间的预设距离值计算获得，其中，所述磁场矢量值通过位于不同方位的传感器检测获得，所述预设距离值为位于同一轴线上的相邻两个传感器之间的距离。
  3. 根据权利要求1所述的埋地管道管体缺陷非开挖检测方法，其中，所述根据磁梯度张量和磁场矢量值获得管体缺陷点与地面测量点的距离值，包括：通过所述磁梯度张量、磁场矢量值计算获得管体缺陷点与地面测量点的距离在X、Y、Z轴方向的投影值；
    所述根据所述管体缺陷点与地面测量点的距离值、磁场矢量值获得管体缺陷磁矩从而定量评价管体缺陷等级，包括：
    通过磁场矢量值、管体缺陷点与地面测量点的距离及其三个投影值计算获得管体缺陷磁矩在X、Y、Z轴方向的投影值；以及
    根据管体缺陷磁矩定量评价管体缺陷等级。
  4. 根据权利要求1-3任一所述的埋地管道管体缺陷非开挖检测方法，其中，所述检测装置包括：
    0号磁传感器、1号磁传感器、2号磁传感器、3号磁传感器和4号磁传感器；
    所述0号磁传感器位于中心；
    所述1号磁传感器和2号磁传感器在X轴方向上，位于所述0号磁传感器两侧，且与所述0号磁传感器间距均为d/2；
    所述3号磁传感器和4号磁传感器在Y轴方向上，位于所述0号磁传感器两侧，且与所述0号磁传感器间距均为d/2；
    其中，所述磁梯度张量G的计算公式为：
    Figure PCTCN2016111263-appb-100001
    其中，B1x表示1号传感器检测的X向磁场值；B2x表示2号传感器检测的X向磁场值；B3x表示3号传感器检测的X向磁场值；B4x表示4号传感器检测的X 向磁场值；B1y表示1号传感器检测的Y向磁场值；B2y表示2号传感器检测的Y向磁场值；B3y表示3号传感器检测的Y向磁场值；B4y表示4号传感器检测的Y向磁场值；B1z表示1号传感器检测的Z向磁场值；B2z表示2号传感器检测的Z向磁场值；B3z表示3号传感器检测的Z向磁场值；B4z表示4号传感器检测的Z向磁场值。
  5. 根据权利要求4所述的埋地管道管体缺陷非开挖检测方法，其中，管体缺陷点与地面测量点的距离r在X、Y、Z轴方向的投影值rx、ry、rz为：
    Figure PCTCN2016111263-appb-100002
    其中，G为磁梯度张量；B0x表示0号传感器检测的X向磁场值；B0y表示0号传感器检测的Y向磁场值；B0z表示0号传感器检测的Z向磁场值。
  6. 根据权利要求5所述的埋地管道管体缺陷非开挖检测方法，其中，管体缺陷磁矩m在X、Y、Z轴方向的投影值mx、my、mz为：
    Figure PCTCN2016111263-appb-100003
    其中，
    Figure PCTCN2016111263-appb-100004
    μ0为常数。
  7. 根据权利要求6所述的埋地管道管体缺陷非开挖检测方法，其中，管体缺陷磁矩m越大时磁荷密度越高，管体缺陷的形状越尖锐；管体缺陷磁矩m越大时磁荷数量越多，管体缺陷的尺寸越大。
  8. 一种用于实现如权利要求1-7任一所述的检测方法的埋地管道管体缺陷非开挖检测装置，包括：
    壳体和多个检测元件；其中
    所述检测元件设置在所述壳体内，用于检测磁场矢量值。
  9. 根据权利要求8所述的埋地管道管体缺陷非开挖检测装置，其中，所述检测元件为三轴磁传感器。
  10. 根据权利要求9所述的埋地管道管体缺陷非开挖检测装置，其中，所述检测元件包括：0号磁传感器、1号磁传感器、2号磁传感器、3号磁传感器和4号 磁传感器；
    所述0号磁传感器位于中心；
    所述1号磁传感器和2号磁传感器在X轴方向上，位于所述0号磁传感器两侧，且与所述0号磁传感器间距均为d/2；
    所述3号磁传感器和4号磁传感器在Y轴方向上，位于所述0号磁传感器两侧，且与所述0号磁传感器间距均为d/2。
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