WO2017213552A1 - Dispositif pour le diagnostic sans contact des pipelines souterrains - Google Patents

Dispositif pour le diagnostic sans contact des pipelines souterrains Download PDF

Info

Publication number
WO2017213552A1
WO2017213552A1 PCT/RU2017/000355 RU2017000355W WO2017213552A1 WO 2017213552 A1 WO2017213552 A1 WO 2017213552A1 RU 2017000355 W RU2017000355 W RU 2017000355W WO 2017213552 A1 WO2017213552 A1 WO 2017213552A1
Authority
WO
WIPO (PCT)
Prior art keywords
field
magnetic field
sensors
generator
magnetometer
Prior art date
Application number
PCT/RU2017/000355
Other languages
English (en)
Russian (ru)
Inventor
Игорь Константинович АНТОНОВ
Александр Алексеевич ЕЛИСЕЕВ
Владимир Всеволодович СЕМЕНОВ
Андрей Дмитриевич ФОГЕЛЬ
Original Assignee
Общество С Ограниченной Ответственностью "Феникс"
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Общество С Ограниченной Ответственностью "Феникс" filed Critical Общество С Ограниченной Ответственностью "Феникс"
Publication of WO2017213552A1 publication Critical patent/WO2017213552A1/fr

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R33/00—Arrangements or instruments for measuring magnetic variables
    • G01R33/02—Measuring direction or magnitude of magnetic fields or magnetic flux
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R33/00—Arrangements or instruments for measuring magnetic variables

Definitions

  • the present invention relates to devices for non-contact non-pipe diagnostics of the technical condition of underground ferromagnetic oil and gas pipes.
  • the proposal is especially effective in the diagnosis of field and transport pipes of small and medium diameter (100-500 mm), as well as in flaw detection of steel and cast iron metal structures. There are various technical solutions in this area.
  • RF patents N ° N22504762, 2504763, 2510500 various sensor nodes are used to measure the induction of a constant magnetic field over the pipeline.
  • sensors flux-gate or magnetoresistive sensors are used, which are subject to periodic calibration.
  • none of the known patents provides the ability to calibrate field sensors and the measuring unit in the field.
  • a three-component measure MM is installed with known values of non-orthogonality between its axes 1, 2, 3, on which they build their own orthogonal coordinate system of the measure (SOSKM), in which MM column vectors of positive and negative polarity are alternately reproduced, at With this magnetometer, the corresponding magnetic inductions are measured and their matrix of measurement results is built in the orthogonal coordinate system of the magnetometer.
  • the method requires determining the non-orthogonality of a model measure with high accuracy, unattainable in the field.
  • Patent RU X ° 2497139 (IPC G01R33 / 00, published October 27, 2013) describes a method for calibrating a three-component magnetometer using a three-component magnetic induction measure by placing the magnetometer sensor in the center of the measure, compensating for an external constant magnetic field, and alternately reproducing constant induction along each half axis measures and registration of response readings of the magnetometer, which determine the distortion matrix of the calibrated magnetometer first in the COCK of the center of the measure, and then in the COCK of the magnetometer.
  • Patent RU 226271 1 (IPC G01R33 / 02, published. 20.10.2005) protected variants of the method for determining the calibration matrix of a three-component magnetometer. The problem to which the invention is directed, is to increase the accuracy of determining the calibration matrix.
  • the technical result obtained by carrying out the invention consists in the possibility of determining the calibration matrix of the magnetometer without careful orientation of the non-orthogonal magnetometer in a non-orthogonal measure.
  • the technical result in the implementation of the invention - the method according to the first embodiment below is achieved by the fact that in the method for determining the correction matrix of a three-component magnetometer, including the placement of the magnetometer sensor in the center of a model three-component magnetic induction measure, the orientation of the sensitive axes of the magnetometer along the axis of the measure, compensation of the external magnetic field, reproduction by a measure of the exact value of magnetic induction along its each axis, registration of all components of the measurement results at the output de magnetometer corresponding to the magnetic field reproduced by the measure, the construction of the normalized instrument matrix from the normalized vector columns of the measurement results and its use to find the calibration matrix, in contrast to the known method, previously using an independent modular magnetometer measure the non-orthogonality of the axes of the model measure, according to
  • the sensitivity matrix of the magnetometer SM in its own coordinate system of the measure and decompose it into the product of the diagonal sensitivity matrix with dimension B / T; and matrices of unit sensitive axes of the magnetometer in the form of Km vector rows in the measure’s own coordinate system; with the help of which three non-orthogonality of the axes are determined, according to which the matrix of axes of the magnetometer 10 is built in its own orthogonal coordinate system, in which the sensitivity matrix is determined and the desired calibration matrix is found.
  • the technical result of increasing the accuracy of determining the parameters of the calibration measure by other variants of the method is achieved by an independent modular magnetometer.
  • the disadvantage of this method is its inapplicability for calibration of triaxial magnetometers-gradiometers in the field.
  • tuning a precision three-component magnetometer consisted mainly in minimizing the non-orthogonality of the axes of the magnetometer to eliminate angular errors from spurious connections between the axes.
  • a feature of the correction matrix method is that it does not require minimization of non-orthogonalities when setting up the magnetometer, but assumes their exact determination for reliable exclusion of spurious connections.
  • the correction matrix allows not only to take into account the errors of the three-component magnetometer, but also to automatically eliminate these errors from the MI measurement result.
  • the solution to the problem of achieving maximum accuracy in determining the calibration matrix is described in the above patents RU ..229727 and N ° 226271 1.
  • Patent RU JN ° 2386141 presents a method for determining the calibration characteristics of a magnetometer, which includes combining the magnetically sensitive axis (MCO) of the magnetometer with the direction axis of the reference magnetic induction vector of known value, determining the result of the conversion of this value by a magnetometer, and then determining the results of the conversion of the sequence of additional exemplary values of magnetic induction acting on the magnetometer input.
  • MCO magnetically sensitive axis
  • the total number of input actions and, accordingly, their transformations by a magnetometer is equal to the degree of approximating the characteristic of the polynomial, then determining the parameters of the calibration characteristic in the form of the results of solving a system of equations given in the form of a system of functions of input actions and parameters of the magnetometer characteristic.
  • the Earth’s magnetic field induction vector was chosen as the reference vector of magnetic induction, and the formation of a sequence of additional input actions of the model field is carried out by a sequence of fixed rotations of the magneto-magnetic magnetometer relative to the direction axis of the MPS induction vector in the rotation plane passing through this axis.
  • the MCH of the magnetometer with the direction of the MPD induction vector is first made by the approximate (rough) initial setting of the MCH in the direction of the MPS induction vector, then by turning the MCH relative to its initial position at angles of + 90 ° and -90 ° in the same rotation plane, the magnetometer readings are determined at the corresponding rotation angles, it is adjusted for different readings initial installation, cornering procedures, definitions readings, and according to the results of the readings, the adjustments to the initial position are repeated until the magnetometer readings are completely equal when turning + 90 ° and -90 °, then the procedures for adjusting the initial setup of the MCO are continued in the same way by turning the MCO relative to the direction of the induction vector of the MPZ in the plane of its rotation perpendicular the initial rotation plane, if necessary, the initial installation procedures in different rotation planes are repeated until the separation is finally equal to zero
  • magnetometer readings are determined at the corresponding rotation angles, it is adjusted for different readings initial installation, cornering procedures, definitions readings
  • the time-fluctuating vector of the Earth's magnetic field induction which also creates additional errors, was selected as a reference signal;
  • the calibration method is not applicable in full measure to gradiometer magnetometers.
  • RU j ⁇ ° 2503026 (IPC G01R33 / 02, published. 12/27/2013) describes a method of calibration of magnetic measuring instruments using a dipole measure of magnetic moment located at a fixed distance from the object being verified.
  • the problem to which the invention is directed is to provide a comprehensive dismountable calibration of magnetometric (multi-sensor) systems for searching for magnetic field sources.
  • the technical result obtained by carrying out the invention consists in determining the errors of the magnetometric search system, taking into account the errors introduced by the ferromagnetic carrier of the search means.
  • the method of calibration of magnetic measuring instruments using a dipole measure of the magnetic moment located at a fixed distance from the object being verified is characterized in that the sensors magnetometers located in regular places of the search system for MP sources measure increments of the magnetic field induction relative to the reference sensor, and the three-component measure of the magnetic moment is oriented along the axes of the search coordinate system, then the radius vector between the center of the coordinate system and the center of the measure is measured using a standard measure, some measure is reproduced the magnetic moment, which is calculated, and also measures the corresponding increments of induction, which indirectly measure the radius vector to the source and its magnet pleasing time after which the measurement error as a difference between the measured and set values taking into account the errors introduced by the carrier on which the SRM apparatus.
  • the disadvantages of the known solutions are: the difficulty of preserving the measurement conditions during transportation of the device, and, therefore, the unsuitability of use in field calibration and the error in setting the dipole measure of the magnetic moment located at a fixed distance.
  • Device for non-contact diagnostic of technical the state of the underground pipeline contains a node of sensors of a constant magnetic field with compensation windings and devices for adding and subtracting signals of a constant magnetic field, a data acquisition and control unit (BSDU) and a field computer, while the sensor node consists of at least Here, of the 7 three-component permanent magnetic field sensors with central symmetry and the location of one sensor in the center of symmetry, and one straight line along each of the three orthogonal coordinate axes, at least three three-component sensors are configured so that the components of the same magnetic field each of the sensors along the same axis of the sensors were pine.
  • BSDU data acquisition and control unit
  • orthogonal sensors the components of the same name along the same axis of the sensors are parallel, and the opposite components are orthogonal and form a right-handed coordinate system.
  • a three-section compensation winding and three-channel devices for adding and subtracting signals of a constant magnetic field
  • three-channel subtraction devices are connected to the corresponding pair of sensors located in the center of symmetry and sensors located at the extreme points from the center of symmetry along each of the three orthogonal coordinate axes.
  • the BSDU contains at least 8 analog-to-digital converters, the inputs of which are connected to the outputs of the devices for subtracting and adding signals of a constant magnetic field, at least 8 relay modules connected to analog-to-digital converters and through interaction channels with receiving modules, the outputs of which are connected to the output driver, which is connected via USB- ⁇ to the field personal computer.
  • the main disadvantage of the prototype is the inability to calibrate field sensors in the field.
  • the objective of the invention is to provide a device for non-contact diagnostics of the technical condition of underground pipelines with the ability to calibrate field sensors in the field, with improved technical characteristics, due to which the disadvantages of the known solutions will be eliminated.
  • the technical result of the invention is to expand the functionality and improve the characteristics of the device for non-contact diagnostics of the technical condition of underground pipelines.
  • the technical result is achieved by the fact that in a device for non-contact diagnostics of the technical condition of underground pipelines, containing a node of sensors of a constant magnetic field, consisting of at least two one-component sensors connected by mounts of non-magnetic non-conductive material, a device for adding and subtracting constant magnetic field signals, a data acquisition and control unit (BSDU) and a field computer, according to a utility model, coils with solenoidal windings are additionally introduced, creating a calibrating alternating low-frequency magnetic field located in the central part of the non-magnetic non-conductive sensors material, precision resistor unit, generator, matching and control unit, measuring unit.
  • BSDU data acquisition and control unit
  • coils with solenoidal windings are connected with a precision resistor unit and a generator using a bifilar wire.
  • the block of precision resistors is connected to the BSDU, which, in turn, is connected to the field computer.
  • the number of one-component sensors can be from 2 to 8;
  • a field generator with battery power is used as a generator, creating a set stabilized current with an error of +/- 1%.
  • FIG. 1 shows one example of a General view of the proposed device, which uses 6 one-component sensors of a constant magnetic field, located as described in the prototype, where:
  • a device for non-contact diagnostics of the technical condition of underground pipelines contains a node of sensors of a constant magnetic field with devices for adding and subtracting signals of a constant magnetic field and a field computer 4.
  • the design of the sensor assemblies can be different, for example, those described in the patents ⁇ °, ⁇ ° 24553760, 2568808, etc.
  • the measuring unit of the equipment uses the measuring unit of the equipment to calculate the suitability of the controlled equipment for diagnosing the technical condition of pipelines.
  • the signal is added and subtracted.
  • the location of the solenoidal coil 6 is determined by obtaining a zero reference by the sum of the components A + B.
  • Coils with solenoidal windings 6 are connected via a bifilar wire to a block of precision resistors 2 and a generator 3.
  • Block 2 of precision resistors is connected to a matching and control block 1, which, in turn, is connected to a field computer 4.
  • the solenoidal windings 6 create at the ends of three fluxgate transducers (two sensors connected by a fastener), forming a right-handed coordinate system, the signals are the same in magnitude but different in direction.
  • a field generator with battery (battery) power is used, for example, from the ERA-MAX kit, which generates an adjustable stabilized current with an error of +/- 1%.
  • the signal level created by instrumental noise and fluctuations of the variable magnetic field of the Earth is measured.
  • a stabilized current is established, the level of which creates a magnetic field, not less than 100 times the noise level.
  • the frequency of the stabilized current is 2.44 or 4.88 Hz
  • the precision resistor is 10 ohms, c 10, where co is the number of turns on the converter.
  • the sum of the signals from the sensors (A + B) is 0 when the sensitivity of the sensors is equal at points A and B for components oriented along the longitudinal axis of each sensor, given their opposite direction. This controls the same sensitivity of the longitudinal gradients along the axes (x, y, z).
  • the magnitude of 2A or 2B calculate the absolute sensitivity (g) of the converters, based on the following ratios:
  • g is the sensitivity of the sensors in ⁇ " T ⁇ /
  • XI is the distance from the center of the solenoidal coil on the transducers to the center of the measuring coil of the sensor
  • R is the radius of the coil with the coil
  • i is the stabilized current set
  • ⁇ ( ⁇ 1) is a geometric parameter.
  • Sensitivity monitoring on sensors can be carried out simultaneously on all three converters using three equal-sized (with an error of +/- 1%) calibration resistors of the required power.
  • the methodology allows the calibration and verification of the longitudinal field components in each transducer at the same time.
  • To carry out the calibration it is necessary to select a flat section of the earth’s surface with a size of at least 10 * 10 meters, remote from industrial structures, with a level of horizontal and vertical magnetic field gradients of not more than 10 nT / m.
  • the proposed device has improved characteristics compared to known solutions. Namely, it is possible to use it in the field without disassembling the structure, the ability to control components and gradients at the same time, the control results do not depend on the level of fluctuations of the Earth's magnetic field.

Landscapes

  • Physics & Mathematics (AREA)
  • Condensed Matter Physics & Semiconductors (AREA)
  • General Physics & Mathematics (AREA)
  • Geophysics And Detection Of Objects (AREA)

Abstract

L'invention concerne les dispositifs pour le diagnostic sans contact et s'effectuant en dehors des tubes des pipelines ferromagnétiques souterrains tels que oléoducs ou gazoducs. L'invention est particulièrement efficace dans le diagnostic de pipelines d'extraction ou de transport de petit ou grand diamètre (100-500 mm) ainsi que la détection de défauts des structures métalliques en acier ou en fonte. Le résultat technique de l'invention consiste à élargir les fonctionnalités et à améliorer les caractéristiques du dispositif pour le diagnostic sans contact de l'état technique des pipelines souterrains. Le résultat technique est obtenu grâce au fait que le dispositif de diagnostic sans contact de l'état technique des pipelines souterrains comprenant une unité de capteurs de champ magnétique permanent qui comprend au moins deux capteurs à composant unique reliés par des fixations en matériau non conducteur non magnétique, un dispositif de surveillance et de soustraction des signaux de champ magnétique permanent, une bloc de collecte de données et de commande (BCDC) et un ordinateur de terrain; dans ce modèle d'utilité, il comprend en outre des bobines supplémentaires dotées d'enroulements de solénoïdes qui créent un champ magnétique variable à basse fréquence et, disposé dans la partie centrale des fixations en matériau non conducteur non magnétique, un bloc de résistances de précision, un générateur, un bloc de concertation et de commande et un bloc de mesure. Les bobines avec des enroulements de solénoïdes sont reliées à l'aide d'un câble bifilaire au bloc de résistances de précision et au générateur. En outre, le bloc de résistances de précision est relié au BCDC qui, à son tour, est relié à l'ordinateur de terrain.
PCT/RU2017/000355 2016-06-09 2017-05-26 Dispositif pour le diagnostic sans contact des pipelines souterrains WO2017213552A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
RU2016122950 2016-06-09
RU2016122950A RU2620326C1 (ru) 2016-06-09 2016-06-09 Устройство для бесконтактной диагностики технического состояния подземных трубопроводов с возможностью калибровки в полевых условиях

Publications (1)

Publication Number Publication Date
WO2017213552A1 true WO2017213552A1 (fr) 2017-12-14

Family

ID=58882612

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/RU2017/000355 WO2017213552A1 (fr) 2016-06-09 2017-05-26 Dispositif pour le diagnostic sans contact des pipelines souterrains

Country Status (2)

Country Link
RU (1) RU2620326C1 (fr)
WO (1) WO2017213552A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
RU2751577C1 (ru) * 2020-10-13 2021-07-15 Федеральное государственное казенное военное образовательное учреждение высшего образования "Военный учебно-научный центр Военно-воздушных сил "Военно-воздушная академия имени профессора Н.Е. Жуковского и Ю.А. Гагарина" (г. Воронеж) Министерства обороны Российской Федерации Трехкоординатный индукционный магнитометр с самокалибровкой

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6751560B1 (en) * 2000-08-01 2004-06-15 The Charles Stark Draper Laboratory, Inc. Non-invasive pipeline inspection system
RU2410538C2 (ru) * 2008-12-02 2011-01-27 Общество С Ограниченной Ответственностью "Газпром Трансгаз-Кубань" Устройство для исследования технического состояния ферромагнитных труб
US7880484B2 (en) * 2008-11-10 2011-02-01 Saudi Arabian Oil Company Method and apparatus for estimating the condition of a coating on an underground pipeline
RU2568808C2 (ru) * 2014-04-11 2015-11-20 Открытое акционерное общество "Газпром нефть" Способ и устройство для бесконтактной диагностики технического состояния подземных трубопроводов

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6751560B1 (en) * 2000-08-01 2004-06-15 The Charles Stark Draper Laboratory, Inc. Non-invasive pipeline inspection system
US7880484B2 (en) * 2008-11-10 2011-02-01 Saudi Arabian Oil Company Method and apparatus for estimating the condition of a coating on an underground pipeline
RU2410538C2 (ru) * 2008-12-02 2011-01-27 Общество С Ограниченной Ответственностью "Газпром Трансгаз-Кубань" Устройство для исследования технического состояния ферромагнитных труб
RU2568808C2 (ru) * 2014-04-11 2015-11-20 Открытое акционерное общество "Газпром нефть" Способ и устройство для бесконтактной диагностики технического состояния подземных трубопроводов

Also Published As

Publication number Publication date
RU2620326C1 (ru) 2017-05-24

Similar Documents

Publication Publication Date Title
US8669763B2 (en) Multi-axis fluxgate magnetic sensor
US9360533B2 (en) Reading circuit for a magnetic field sensor with sensititivy calibration, and related reading method
EP0363370B1 (fr) Systeme de magnetometre independant du roulis
CN113325353B (zh) 一种磁强计空间姿态标定方法及系统
WO2017061513A1 (fr) Capteur de détection de microsubstance magnétique et appareil de détection de corps étranger
US20130207648A1 (en) Detection of a Metal or a Magnetic Object
US5689445A (en) Electronic compass and attitude sensing system
CN102853760A (zh) 一种三轴磁传感器磁轴垂直度的标定方法
Sapunov et al. Ground overhauser DNP geophysical devices
US4439732A (en) Electrically balanced fluxgate gradiometers
CN115542225B (zh) 一种提升悬丝扭秤装置磁性测量精度的校正方法
RU2620326C1 (ru) Устройство для бесконтактной диагностики технического состояния подземных трубопроводов с возможностью калибровки в полевых условиях
US4972593A (en) Method and apparatus for measuring the undistorted magnetic field of the earth
US7084622B2 (en) Methods for eliminating magnetic field and temperature related errors in magnetic sensors used for the measurement of coating thickness
Zikmund et al. Calibration of the 3-d coil system's orthogonality
US2491736A (en) Magnetic pickup device and method of balancing the device
CN109100664B (zh) 一种空间小磁场的测量方法
CN111624531B (zh) 一种用于tmr三轴集成磁传感器的分量解算方法
RU2751577C1 (ru) Трехкоординатный индукционный магнитометр с самокалибровкой
RU2207599C1 (ru) Устройство для определения индукции геомагнитного поля с подвижного объекта
RU2247404C1 (ru) Устройство для определения параметров, характеризующих намагниченность подвижного объекта
RU2166735C1 (ru) Устройство для дистанционного определения координат и углового положения объекта (варианты)
Melent’ev et al. Review of problems and methods of calibration of space magnetometers based on anisotropic magnetoresistive effect
US8878537B1 (en) Method and apparatus to minimize gradient errors in buried utility depth measurements
Hall et al. Best practice guide for the generation and measurement of DC magnetic fields in the magnetic field range of 1 nT to 1 mT.

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 17810627

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

32PN Ep: public notification in the ep bulletin as address of the adressee cannot be established

Free format text: NOTING OF LOSS OF RIGHTS PURSUANT TO RULE 112(1) EPC (EPO FORM 1205A DATED 16.04.2019)

122 Ep: pct application non-entry in european phase

Ref document number: 17810627

Country of ref document: EP

Kind code of ref document: A1