Intelligent magnetic flux leakage internal detector for natural gas pipeline with high hydrogen sulfide content

Abstract

The invention relates to the field of pipeline detection devices, in particular to an intelligent magnetic flux leakage internal detector for a natural gas pipeline with high hydrogen sulfide content. Comprising a first battery compartment and a second battery compartment, a mileage system is arranged on the second battery compartment, the first battery compartment and the second battery compartment are connected through a first universal joint, a magnetic conduction assembly is installed at the front end of the first battery compartment, a magnetic field sensor is fixedly arranged on the first battery compartment in a sleeving mode, and leather cups are fixedly arranged on the first battery compartment and the second battery compartment in a sleeving mode. By starting the electric telescopic rod, the included angle between the first elastic piece and the second elastic piece can be changed, meanwhile, the first elastic piece and the second elastic piece can expand towards the outer side direction of the connecting rod, the device can be suitable for pipelines with different diameters, and in the process that the detector moves in the pipeline, it can be guaranteed that the steel brush makes contact with the inner wall of the pipeline all the time; the magnetic force can be effectively transmitted to the pipeline, the pipe wall of the pipeline can be effectively saturated and magnetized, and the accuracy of magnetic flux leakage detection of the pipeline is improved.

Description

Technical Field

[0001] The present invention relates to the field of pipeline detection devices, and particularly to an intelligent magnetic flux leakage internal detector for high hydrogen sulfide content natural gas pipelines. Background Art

[0002] The pipeline transportation of oil and natural gas is one of the five major transportation industries in China, with advantages such as large transportation volume, being unrestricted by climate and other ground factors, continuous operation, and low cost.

[0003] In pipeline safety engineering, pipeline detection is a basic method to ensure pipeline safety. Among many types of pipeline detection technologies, the magnetic flux leakage internal detection technology is the most widely used and technically mature ferromagnetic pipeline defect detection technology.

[0004] Currently, some pipeline magnetic flux leakage detection devices include: permanent magnets and probes. In the detection of long-distance pipelines, the permanent magnets are used to magnetize the pipe wall of the pipeline to saturation, forming a magnetic circuit in the measured pipe wall. When there are no defects in the pipe wall, the magnetic lines of force are within the pipe wall. When there are defects in the pipe wall, the magnetic lines of force will penetrate the pipe wall, forming a magnetic leakage field. By using the probe to pick up the magnetic flux leakage signal at the damaged part of the pipeline, the degree of damage and the location of the damage in the pipeline can be determined for fixed-point maintenance.

[0005] When used in pipelines of different sizes, the permanent magnets and probes of small-sized pipeline magnetic flux leakage detection devices cannot closely adhere to the pipe wall of large-sized pipelines, resulting in low detection accuracy. Therefore, pipeline magnetic flux leakage detection devices of corresponding sizes need to be used for each size of pipeline, which greatly increases the detection cost.

[0006] Some pipeline magnetic flux leakage detection devices use steel brushes to magnetize the pipeline. When detecting high sulfur content pipelines, the steel brushes are easily corroded, resulting in a low service life of the steel brushes and requiring frequent replacement of the steel brushes. Summary of the Invention

[0007] The technical problem to be solved by the present invention is a magnetic flux leakage internal detector that can improve the magnetic conduction effect on the pipeline and the cleaning effect on the inner wall of the pipeline.

[0008] To achieve the above object, the technical solution provided by the present invention is:

[0009] An intelligent magnetic flux leakage internal detector for high hydrogen sulfide content natural gas pipelines, comprising a first battery compartment and a second battery compartment. A mileage system is provided on the second battery compartment. The first battery compartment and the second battery compartment are connected by a first universal joint. A magnetic conduction component is installed at the front end of the first battery compartment. A magnetic field sensor is sleeved and fixed on the first battery compartment. Rubber cups are sleeved and fixed on both the first battery compartment and the second battery compartment. The second battery compartment and the electronic compartment are connected by a second universal joint. A data analysis module and a controller are arranged in the electronic compartment. The magnetic flux leakage signals collected by the magnetic field sensor are transmitted to the data analysis module. A plurality of deformation probes are evenly distributed and fixed on the outer circumference of the electronic compartment. An annular SMU is fixed on the outside of the electronic compartment. The deformation probes are in communication connection with the data analysis module through the annular SMU. The pipeline deformation signals collected by the deformation probes are transmitted to the data analysis module. The electronic compartment and the inertial navigation and mapping system are connected by a third universal joint.

[0010] Specifically, the magnetic conduction component includes a connecting rod fixed and concentric with the first battery compartment. An inner sleeve is fixed on the outside of the connecting rod. An outer sleeve is sleeved on the outside of the inner sleeve. A plurality of permanent magnets are evenly distributed and fixed around the circumference between the inner sleeve and the outer sleeve. A plurality of electric telescopic rods are evenly distributed and fixed on the outer circumference of the outer sleeve. A deformation component is rotatably connected to the telescopic end of the electric telescopic rod. The deformation component includes an arc-shaped first elastic sheet and an arc-shaped second elastic sheet. The first elastic sheet and the second elastic sheet are rotatably connected to the telescopic end of the electric telescopic rod. The first elastic sheet and the second elastic sheet are arranged in a cross manner. In adjacent deformation components, the adjacent ends of the first elastic sheet and the second elastic sheet are rotatably connected. A plurality of steel brushes are fixed on the end face of the second elastic sheet facing away from the outer sleeve.

[0011] Specifically, rubber cups are sleeved and fixed on both the front and rear ends of the electronic compartment and the inertial navigation and mapping system.

[0012] Specifically, a transmitter is fixed at the rear end of the inertial navigation and mapping system. The transmitter is in communication connection with the control terminal.

[0013] Specifically, the mileage system includes a plurality of brackets elastically rotatably connected to the rear end of the second battery compartment. The plurality of brackets are evenly distributed around the axis of the second battery compartment. A mileage wheel is rotatably connected to the brackets. A fixed magnetic strip is installed near the edge of the mileage wheel. A Hall element receives the magnetic signal of the fixed magnetic strip on the mileage wheel. The pulse voltage signal generated by the Hall element is sent to a counter. The counter can record the walking distance of this detector by accumulating the pulse voltage signal. The counter transmits the data information of the accumulated pulse voltage signal to the control terminal.

[0014] Specifically, a collision prevention head is fixed at the front end of the connecting rod. A liquid inlet channel concentric with it is opened on the front side of the collision prevention head. A plurality of liquid discharge channels are evenly distributed in the circumferential direction of the collision prevention head. The liquid discharge channels are communicated with the liquid inlet channel.

[0015] Specifically, a filter screen is fixed in the liquid inlet channel.

[0016] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0017] 1. By starting the electric telescopic rod, the present invention can change the angle between the first elastic sheet and the second elastic sheet. At the same time, the first elastic sheet and the second elastic sheet can expand towards the outside of the connecting rod, and can be applicable to pipes with different diameters. During the movement of the detector in the pipe, it can ensure that the steel brush is always in contact with the inner wall of the pipe, ensure the effective transmission of magnetic force to the pipe, effectively saturate the magnetization of the pipe wall, and improve the accuracy of pipeline magnetic flux leakage detection.

[0018] 2. After the second elastic sheet expands and rotates towards the outside of the connecting rod, the steel brush on the second elastic sheet can comprehensively brush the inner wall of the pipe, effectively scrape off the impurities on the inner wall of the pipe, and ensure the accuracy of the magnetic flux leakage detection result. The steel brush has strong corrosion resistance and is suitable for use in high-sulfur pipelines. The service life of the steel brush is long, and there is no need to frequently replace the steel brush.

[0019] 3. By setting the deformation probe, the deformation probe can detect the deformation condition of the pipe, and at the same time, in cooperation with the mileage system, it can accurately obtain the distance of the deformed end of the pipe.

[0020] 4. The inertial sensor continuously measures the inertial data generated by the movement of the detector, and realizes the calculation of the position and attitude of the detector at any time. The acceleration information measured in the navigation coordinate system is calculated to obtain the ground speed information, and the ground speed information can obtain the displacement change under the ground through this calculation, which is convenient for the movement detection of the detector. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of this detector.

[0022] Figure 2 It is a schematic diagram of the cooperation between the electric telescopic rod, the first elastic sheet and the second elastic sheet.

[0023] Figure 3 It is a schematic diagram of the cooperation between the first elastic sheet and the second elastic sheet.

[0024] Figure 4 It is a cross-sectional view of the anti-collision head.

[0025] The names of the components in the drawings are:

[0026] 1. Steel brush; 2. First battery compartment; 3. Anti-collision head; 4. Liquid inlet channel; 5. Liquid discharge channel; 6. Filter screen; 7. First universal joint; 8. Second battery compartment; 9. Odometer wheel; 10. Second universal joint; 11. Electronic compartment; 12. Deformation probe; 13. Ring-shaped SMU; 14. Third universal joint; 15. Inertial navigation and mapping system; 16. Transmitter; 17. Leather cup; 18. Magnetic field sensor; 101. Connecting rod; 102. Inner sleeve; 103. Permanent magnet; 104. Outer sleeve; 105. Electric telescopic rod; 106. First elastic sheet; 107. Second elastic sheet. Detailed implementation mode

[0027] As Figures 1-4 shown, an intelligent magnetic flux leakage internal detector for high hydrogen sulfide content natural gas pipelines includes a first battery compartment 2 and a second battery compartment 8. A mileage system is arranged on the second battery compartment 8. The first battery compartment 2 and the second battery compartment 8 are connected by a first universal joint 7. A magnetic conduction component is installed at the front end of the first battery compartment 2, and a magnetic field sensor 18 is sleeved and fixed on the first battery compartment 2.

[0028] Leather cups 17 are sleeved and fixed on both the first battery compartment 2 and the second battery compartment 8.

[0029] When the inner diameter of the pipeline is 197 mm, the outer diameter of the selected leather cup 17 is 202 mm. The thickness of the waist of the leather cup 17 is 16 mm, the thickness of the lip of the leather cup 17 is 10.5 mm, and the total thickness of the leather cup 17 is 40 mm. The interference fit of the leather cup 17 in the pipeline is not less than 2.1%.

[0030] The magnetic conduction component includes a connecting rod 101 fixed and concentric with the first battery compartment 2. An inner sleeve 102 is fixed on the outside of the connecting rod 101. An outer sleeve 104 is sleeved on the outside of the inner sleeve 102. A plurality of permanent magnets 103 are circumferentially and evenly fixed between the inner sleeve 102 and the outer sleeve 104.

[0031] A plurality of electric telescopic rods 105 are circumferentially and evenly fixed on the outside of the outer sleeve 104. The telescopic ends of the electric telescopic rods 105 are rotatably connected with a deformation component.

[0032] The deformation component includes an arc-shaped first elastic sheet 106 and an arc-shaped second elastic sheet 107. The first elastic sheet 106 and the second elastic sheet 107 are rotatably connected to the telescopic ends of the electric telescopic rods 105, and the first elastic sheet 106 and the second elastic sheet 107 are arranged in a cross manner. Among adjacent deformation components, the adjacent ends of the first elastic sheet 106 and the second elastic sheet 107 are rotatably connected. A plurality of steel brushes 1 are fixed on the end face of the second elastic sheet 107 facing away from the outer sleeve 104.

[0033] The second battery compartment 8 and the electronic compartment 11 are connected by a second universal joint 10. A data analysis module and a controller are provided in the electronic compartment 11. The magnetic leakage signals collected by the magnetic field sensor 18 are transmitted to the data analysis module.

[0034] A plurality of deformation probes 12 are uniformly fixed on the outer circumference of the electronic compartment 11. An annular SMU 13 is fixed on the outside of the electronic compartment 11. The deformation probes 12 are communicatively connected to the data analysis module through the annular SMU 13. The pipeline deformation signals collected by the deformation probes 12 are transmitted to the data analysis module. After processing the pipeline deformation information, the data analysis module transmits it to the control terminal through the transmitter 16.

[0035] The electronic compartment 11 and the inertial navigation and mapping system 15 are connected by a third universal joint 14.

[0036] Rubber cups 17 are sleeved and fixed on the front and rear ends of the electronic compartment 11 and the inertial navigation and mapping system 15.

[0037] A transmitter 16 is fixed at the rear end of the inertial navigation and mapping system 15. The transmitter 16 is communicatively connected to the control terminal.

[0038] The mileage system includes a plurality of brackets elastically and rotationally connected to the rear end of the second battery compartment 8. The plurality of brackets are circumferentially and uniformly arranged according to the axis of the second battery compartment 8. A mileage wheel 9 is rotationally connected to the brackets.

[0039] A fixed magnetic strip is installed near the edge of the mileage wheel 9. The Hall element receives the magnetic signal of the fixed magnetic strip on the mileage wheel 9. The pulse voltage signal generated by the Hall element is sent to the counter. The counter's accumulation of the pulse voltage signal can record the walking distance of this detector. The counter transmits the data information of the accumulated pulse voltage signal to the control terminal through the transmitter 16. When the magnetic field sensor 18 senses a magnetic leakage signal, the traveling distance of this detector in the pipeline can be determined based on the data information of the pulse voltage signal accumulated by the counter, and the pipeline defect information can be determined.

[0040] A collision-proof head 3 is fixed at the front end of the connecting rod 101. A liquid inlet channel 4 concentric with it is provided on the front side of the collision-proof head 3. A filter screen 6 is fixed in the liquid inlet channel 4. A plurality of liquid discharge channels 5 are circumferentially and uniformly arranged in the circumferential direction of the collision-proof head 3. The liquid discharge channels 5 are communicated with the liquid inlet channel 4.

[0041] When detecting the pipeline, the collision-proof head 3 plays a role in buffering and preventing collision. When there is accumulated liquid in the pipeline, the filter screen 6 filters the accumulated liquid, and the accumulated liquid is shunted through the liquid inlet channel 4 and the liquid discharge channels 5, thereby reducing the resistance of the collision-proof head 3 during the forward movement and improving the resistance reduction effect of the collision-proof head 3.

[0042] Place this detector into the pipeline. The leather cup 17 makes sliding and sealing contact with the inner wall of the pipeline. The outer edge of the odometer wheel 9 contacts the inner wall of the pipeline, and the deformation probe 12 contacts the inner wall of the pipeline and deforms. Start multiple electric telescopic rods 105 simultaneously through the controller. During the elongation of the electric telescopic rods 105, the deformation assembly moves towards the outer side of the connecting rod 101, and the distance between adjacent two deformation assemblies in the circumferential direction of this detector increases. Since the ends of the adjacent first elastic pieces 106 and the ends of the second elastic pieces 107 in adjacent two deformation assemblies are rotatably connected. Therefore, during the process that the distance between adjacent two deformation assemblies in the circumferential direction of this detector increases, the first elastic piece 106 and the second elastic piece 107 of the deformation assembly can rotate, and the included angle between the first elastic piece 106 and the second elastic piece 107 of the deformation assembly increases. After the steel brush 1 contacts the inner wall of the pipeline, turn off the electric telescopic rod 105.

[0043] Apply pressure to the pipeline. Under the action of the pressure in the pipeline, this detector can travel in the pipeline. During the process that this detector travels in the pipeline, the steel brush 1 makes sliding contact with the inner wall of the pipeline, the odometer wheel 9 rotates, and the deformation probe 12 makes sliding contact with the inner wall of the pipeline.

[0044] The permanent magnet 103 transmits the magnetic field through the outer sleeve 104, the electric telescopic rod 105, the first elastic piece 106 and the second elastic piece 107 to the steel brush 1. The steel brush 1 abuts against the inner wall of the pipeline and continuously rubs. The steel brush 1 fully saturates and magnetizes the inner wall of the pipeline that has been rubbed, and forms a magnetic circuit on the inner wall of the pipeline. The steel brush 1 can be far away from or close to the connecting rod 101. This detector can detect pipelines of different sizes, improving the detection accuracy while reducing the detection cost.

[0045] The magnetic field sensor 18 can convert the amount of magnetic field change in the pipeline into a magnetic leakage signal and transmit it to the data analysis module. The data analysis module processes the magnetic leakage information and transmits it to the control terminal through the transmitter 16. And cooperate with the mileage system to determine the location of the pipeline defect.

[0046] By setting the first universal joint 7, the second universal joint 10 and the third universal joint 14, this detector can smoothly pass through the pipeline elbow.

[0047] During the process that this detector travels in the pipeline, when the pipeline has an inner concave or outer convex part, the deformation probe 12 corresponding to the inner concave or outer convex part of the pipeline will change its shape and collect the deformation information of the pipeline. The pipeline deformation signal collected by the deformation probe 12 is transmitted to the data analysis module. The data analysis module processes the pipeline deformation signal and transmits it to the control terminal through the transmitter 16. Through the control terminal and the mileage system, the deformation condition and deformation location of the pipeline can be known.

[0048] During the process of the detector moving in the pipeline, the inertial sensors of the inertial navigation mapping system 15 continuously measure the inertial data generated by the movement of the detector, and calculate the position and attitude of the detector at any moment. The acceleration information measured in the navigation coordinate system is processed through calculation to obtain the ground speed information. The ground speed information can obtain the displacement change of the detector under the ground through this calculation, and the movement attitude of the detector in the pipeline can be known in real time. The inertial navigation mapping system 15 is communicatively connected to the control terminal through the transmitter 16.

[0049] To verify the corrosion resistance of the steel brush made of the tested material in the sulfur-containing pipeline, an immersion test was conducted on the steel brush. The steel brush was placed in a sealed container, and a mixed solution for hydrogen sulfide corrosion was poured in: 5.0 wt% NaCl + 0.5 wt% CH3COOH + 94.5 wt% H2O. Saturated hydrogen sulfide gas was introduced into the container until the solution was saturated with hydrogen sulfide. After soaking for 23 hours, the steel brush was taken out and the corrosion condition of the steel brush was observed. The above experiment was repeated after the steel brush was soaked in the corrosion inhibitor.

[0050] After the test, the steel brush was observed. Among them, for the steel brush composed of copper-plated steel wires, part of the copper plating on the upper part peeled off, and the lower part was significantly corroded. The steel brush composed of galvanized steel wires was overall dull in color and severely corroded. The steel brush composed of nickel-plated steel wires had a bright surface as before and did not change color.

[0051] From the perspective of bending performance, when the steel brush composed of copper-plated steel wires, the steel brush composed of galvanized steel wires, and the steel brush composed of nickel-plated steel wires were manually bent repeatedly, no obvious fracture phenomenon was found, but the elasticity became worse. Therefore, the selected steel brush is composed of nickel-plated steel wires.

[0052] The above are only the preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An intelligent magnetic flux leakage internal detector for high hydrogen sulfide - containing natural gas pipelines, comprising a first battery compartment (2) and a second battery compartment (8). A mileage system is provided on the second battery compartment (8). The first battery compartment (2) and the second battery compartment (8) are connected by a first universal joint (7), and it is characterized in that, A magnetic conduction component is installed at the front end of the first battery compartment (2), a magnetic field sensor (18) is sleeved and fixed on the first battery compartment (2), cup leather (17) is sleeved and fixed on both the first battery compartment (2) and the second battery compartment (8), the second battery compartment (8) and the electronic compartment (11) are connected through a second universal joint (10), a data analysis module and a controller are arranged in the electronic compartment (11), the magnetic leakage signal collected by the magnetic field sensor (18) is transmitted to the data analysis module, a plurality of deformation probes (12) are evenly distributed and fixed on the outer circumference of the electronic compartment (11), an annular SMU (13) is fixed on the outside of the electronic compartment (11), the deformation probes (12) are in communication connection with the data analysis module through the annular SMU (13), and the pipeline deformation signal collected by the deformation probes (12) is transmitted to the data analysis module. The electronic compartment (11) and the inertial navigation and mapping system (15) are connected through a third universal joint (14).

2. The intelligent magnetic flux leakage internal detector for high hydrogen sulfide - containing natural gas pipelines according to claim 1, characterized in that, The magnetic conduction component includes a connecting rod (101) fixed and concentric with the first battery compartment (2), an inner sleeve (102) is fixed on the outside of the connecting rod (101), an outer sleeve (104) is sleeved on the outside of the inner sleeve (102), a plurality of permanent magnets (103) are evenly distributed and fixed between the inner sleeve (102) and the outer sleeve (104) in the circumferential direction, a plurality of electric telescopic rods (105) are evenly distributed and fixed on the outer circumference of the outer sleeve (104), a deformation component is rotatably connected to the telescopic end of the electric telescopic rod (105), the deformation component includes an arc-shaped first elastic sheet (106) and an arc-shaped second elastic sheet (107), the first elastic sheet (106) and the second elastic sheet (107) are rotatably connected to the telescopic end of the electric telescopic rod (105), the first elastic sheet (106) and the second elastic sheet (107) are arranged in a crossed manner, in adjacent two deformation components, the adjacent end of the first elastic sheet (106) and the end of the second elastic sheet (107) are rotatably connected, and a plurality of steel brushes (1) are fixed on the end face of the second elastic sheet (107) facing away from the outer sleeve (104).

3. The intelligent magnetic flux leakage internal detector for high hydrogen sulfide - containing natural gas pipelines according to claim 1, characterized in that, Cup leather (17) is sleeved and fixed on both the front and rear ends of the electronic compartment (11) and the inertial navigation and mapping system (15).

4. The intelligent magnetic flux leakage internal detector for high hydrogen sulfide - containing natural gas pipelines according to claim 2, characterized in that, A transmitter (16) is fixed at the rear end of the inertial navigation and mapping system (15), and the transmitter (16) is in communication connection with the control terminal.

5. The intelligent magnetic flux leakage internal detector for high hydrogen sulfide - containing natural gas pipelines according to claim 1, characterized in that, The mileage system includes a plurality of brackets elastically and rotatably connected to the rear end of the second battery compartment (8), the plurality of brackets are evenly distributed according to the axis of the second battery compartment (8) in the circumferential direction, a mileage wheel (9) is rotatably connected to the brackets, a fixed magnetic strip is installed near the edge of the mileage wheel (9), a Hall element receives the magnetic signal of the fixed magnetic strip on the mileage wheel (9), the pulse voltage signal generated by the Hall element is sent to a counter, the counter can record the walking distance of this detector by accumulating the pulse voltage signal, and the counter transmits the data information of the accumulated pulse voltage signal to the control terminal.

6. The intelligent magnetic flux leakage internal detector for high hydrogen sulfide - containing natural gas pipelines according to claim 1, characterized in that, A collision prevention head (3) is fixed at the front end of the connecting rod (101), a liquid inlet channel (4) concentric with it is opened on the front side of the collision prevention head (3), and a plurality of liquid discharge channels (5) are evenly distributed in the circumferential direction of the collision prevention head (3), and the liquid discharge channels (5) are communicated with the liquid inlet channel (4).

7. The intelligent magnetic flux leakage internal detector for high hydrogen sulfide - containing natural gas pipelines according to claim 6, characterized in that, A filter screen (6) is fixed inside the liquid inlet channel (4).

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