U.S. patent application number 09/738062 was filed with the patent office on 2001-08-30 for method and apparatus for inspecting pipelines from an in-line inspection vehicle using magnetostrictive probes.
Invention is credited to Kim, Sang Young, Kwun, Hegeon.
Application Number | 20010017541 09/738062 |
Document ID | / |
Family ID | 24966407 |
Filed Date | 2001-08-30 |
United States Patent
Application |
20010017541 |
Kind Code |
A1 |
Kwun, Hegeon ; et
al. |
August 30, 2001 |
Method and apparatus for inspecting pipelines from an in-line
inspection vehicle using magnetostrictive probes
Abstract
A method and system for implementing magnetostrictive sensor
techniques for the nondestructive evaluation of pipeline
structures. The system consists of a magnetostrictive sensor
instrument unit, a data storage unit, and a plurality of
magnetostrictive sensor probes are positioned on an in-line
inspection vehicle. The instrumentation unit includes electronics
for transmitting excitation pulses to a transmitting
magnetostrictive sensor probe as well as electronics for amplifying
and conditioning the signals detected by a receiving
magnetostrictive sensor probe. The magnetostrictive sensor probes
include both plate magnetostrictive sensors and permanent magnets
which provide a DC bias magnetic field necessary for
magnetostrictive sensor operation. The transmitting and receiving
probes are attached to the in-line inspection vehicle by way of
mechanical arms on opposing sides of the vehicle. The mechanical
arms are spring loaded and are equipped with rollers which maintain
the probes at approximately constant distances from the inside
diameter of the pipe wall. The method involves generating pulses of
shear horizontal waves of frequencies less than 200 kHz. The
transmitting magnetostrictive sensor probe generates a wave that
propagates in both directions around the circumference of the pipe
wall from a point adjacent to the transmitting probe. Both waves
are thereafter received at the receiving probe spaced 180 degrees
apart from the transmitting probe. Any defect present in the pipe
wall within the circumference being investigated will show up in
the received signal.
Inventors: |
Kwun, Hegeon; (San Antonio,
TX) ; Kim, Sang Young; (San Antonio, TX) |
Correspondence
Address: |
TED D. LEE
GUNN, LEE & KEELING
Suite 1500
700 N. St. Mary's Street
San Antonio
TX
78205
US
|
Family ID: |
24966407 |
Appl. No.: |
09/738062 |
Filed: |
December 18, 2000 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
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09738062 |
Dec 18, 2000 |
|
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09519530 |
Feb 25, 2000 |
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09519530 |
Feb 25, 2000 |
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PCT/US00/06359 |
Feb 25, 2000 |
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60124763 |
Mar 17, 1999 |
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Current U.S.
Class: |
324/240 ;
324/220 |
Current CPC
Class: |
G01N 2291/0422 20130101;
G01N 2291/2632 20130101; G01N 29/22 20130101; G01N 2291/2636
20130101; G01N 2291/015 20130101; G01N 22/00 20130101; G01N 29/265
20130101; G01N 2291/2623 20130101; G01N 2291/0421 20130101; G01N
2291/102 20130101; G01N 2291/044 20130101; G01N 2291/2634 20130101;
G01N 29/2412 20130101; G01N 2291/0423 20130101; G01N 29/11
20130101 |
Class at
Publication: |
324/240 ;
324/220 |
International
Class: |
G01N 027/72; G01N
027/82 |
Claims
We claim:
1. A system for the non-destructive evaluation of a pipeline
structure comprising: a mobile in-line transport vehicle for
translational movement through the interior of said pipeline
structure; a linear displacement sensor positioned on said vehicle
for generating a signal indicative of said translational movement
of said vehicle through the interior of said pipeline structure; at
least one magnetostrictive sensor positioned on said vehicle, said
magnetostrictive sensor comprising; an elongated core, said core
having a length much longer than dimensions of its cross-section; a
coil wound around said length of said elongated core; and means for
establishing a bias magnetic field proximate to said elongated
core; wherein said at least one magnetostrictive sensor is
positioned on said transport vehicle so as to maintain a generally
constant close-spaced position with respect to an inside wall of
said pipeline structure as said transport vehicle is moved through
the interior of said pipeline structure.
2. The system of claim 1 wherein said at least one magnetostrictive
sensor is operable as both a transmitting magnetostrictive sensor
and a receiving magnetostrictive sensor.
3. The system of claim 1 wherein said at least one magnetostrictive
sensor comprises at least one transmitting magnetostrictive sensor
and at least one receiving magnetostrictive sensor, said at least
one receiving sensor positioned at a fixed separation from said at
least one transmitting sensor.
4. The system of claim 1 wherein said mobile in-line transport
vehicle further comprises at least one spring-loaded mechanical arm
extending from said transport vehicle to a point of movable contact
with said pipeline structure, said at least one magnetostrictive
sensor positioned on said at least one mechanical arm proximate to
said pipeline structure.
5. The system of claim 4 wherein said in-line transport vehicle
further comprises a plurality of wheels positioned on said at least
one mechanical arm and contacting said pipeline structure so as to
permit said translational movement through the interior of said
pipeline structure by said transport vehicle.
6. The system of claim 1 where in said elongated core of said at
least one magnetostrictive sensor is oriented such that a
longitudinal axis of said core is parallel with a longitudinal axis
of said pipeline structure and is therefore oriented in the
direction of said translational movement of said transport
vehicle.
7. The system of claim 1 wherein said means for establishing a bias
magnetic field comprises a permanent magnet positioned adjacent to
said elongated core of said at least one magnetostrictive
sensor.
8. The system of claim 1 wherein said in-line transport vehicle
further comprises a spring-loaded mechanical arm extending from
said transport vehicle to said pipeline structure and wherein said
linear displacement sensor is positioned on said mechanical arm in
movable contact with said pipeline structure so as to track said
translational movement of said transport vehicle.
9. The system of claim 1 wherein said in-line transport vehicle
further comprises electronic instrumentation for generating an
interrogating signal through said at least one magnetostrictive
sensor, receiving a return signal through said at least one
magnetostrictive sensor, receiving said signal indicative of said
translational movement of said vehicle from said linear
displacement sensor, and recording said signals in a memory
means.
10. A method for the non-destructive evaluation of a pipeline
structure comprising the steps of: positioning at least one
transmitting magnetostrictive sensor adjacent to an inside wall
surface of said pipeline structure; establishing a bias magnetic
field adjacent said at least one transmitting magnetostrictive
sensor and within a volume of a wall of said pipeline structure;
positioning at least one receiving magnetostrictive sensor adjacent
to an inside wall surface of said pipeline structure; establishing
a bias magnetic field adjacent said at least one receiving
magnetostrictive sensor and within a volume of a wall of said
pipeline structure; generating a pulsed signal and delivering said
pulsed signal to said transmitting magnetostrictive sensor, said
transmitting magnetostrictive sensor thereby generating a shear
horizontal wave in said wall of said pipeline structure; receiving
said shear horizontal wave and any reflected waves deriving
therefrom, at said receiving magnetostrictive sensor, said
receiving a magnetostrictive sensor generating a received signal
having signal elements characterizing said shear horizontal wave
and any reflected waves deriving therefrom; and identifying
anomalous elements within said received signal, said anomalous
elements indicative of known and unknown anomalies in said wall of
said pipeline.
11. The method of claim 10 wherein said steps of positioning at
least one transmitting magnetostrictive sensor and positioning at
least one receiving magnetostrictive sensor, comprise positioning
said sensors in an opposing configuration within said pipeline
structure along a diameter of said pipeline structure.
12. The method of claim 10 wherein said step of generating a pulsed
signal comprises generating a signal having a frequency of less
than 200 kHz.
13. The method of claim 10 further comprising the step of moving
said at least one transmitting magnetostrictive sensor and said at
least one receiving magnetostrictive sensor in a longitudinal
direction through the interior of said pipeline structure.
14. The method of claim 13 further comprising the step of
positioning at least one linear displacement sensor adjacent to and
in contact with an inside wall surface of said pipeline
structure.
15. The method of claim 10 further comprising the step of storing
said received signal and said signal indicative of said
translational movement in a memory device for later retrieval and
analysis.
16. The method of claim 10 wherein said step of identifying
anomalous elements within said received signal comprises the step
of comparing said received signal with a benchmark signal
previously obtained and recorded in association with an inspection
of said pipeline structure.
17. The method of claim 10 wherein said step of identifying
anomalous elements within said received signal comprises
identifying occurrences within said received signal wherein an
amplitude of said signal exceeds a predefined range.
Description
RELATIONSHIP TO OTHER APPLICATIONS
[0001] The present application is a continuation-in-part of U.S.
patent application Ser. No. 09/519,530 filed Feb. 25, 2000, which
is the National Phase Entry of PCT Patent Application Ser. No.
PCT/US00/06359 filed Feb. 25, 2000, which claims the priority
filing of U.S. Provisional Patent Application Ser. No. 60/124,763
filed Mar. 17, 1999.
BACKGROUND OF THE INVENTION
[0002] 1. Field of the Invention
[0003] The present invention relates generally to methods and
devices for the nondestructive evaluation of materials. The present
invention relates more specifically to a magnetostrictive sensor
based system for the inspection of pipeline structures from an
in-line inspection vehicle.
[0004] 2. Description of the Related Art
[0005] The use of magnetostrictive sensors (MsS) in the
nondestructive evaluation (NDE) of materials has proven to be very
effective in characterizing defects, inclusions, and corrosion
within various types of ferromagnetic and non-ferromagnetic
structures. A MsS launches a short duration (or a pulse) of elastic
guided waves in the structure under investigation and detects
guided wave signals reflected from anomalies such as defects in the
structure. Since guided waves can propagate long distances
(typically 100 ft or more), the MsS technique can inspect a
significant volume of a structure very quickly. In comparison,
other conventional NDE techniques such as ultrasonics and eddy
current inspect only the local area immediately adjacent to the
probes used. Therefore, the use of magnetostrictive sensors offers
a very cost effective means for inspecting large areas of steel
structures such as strands, cables, pipes, and tubes quickly with
minimum support requirements such as surface preparation,
scaffolding, and insulation removal. The ability to use
magnetostrictive sensors with little preparation of the object
under inspection derives from the fact that direct physical contact
between the sensors and the material is not required.
[0006] Efforts have been made in the past to utilize
magnetostrictive sensor technologies in association with the
inspection of both ferromagnetic and non-ferromagnetic materials.
Included in these efforts are systems described in U.S. Pat. Nos.
5,456,113, 5,457,994 and 5,501,037 which are each commonly owned by
the assignee of the present invention. The disclosures of U.S. Pat.
Nos. 5,456,113, 5,457,994 and 5,501,037 provide background on the
magnetostrictive effect and its use in NDE and are therefor
incorporated herein by reference. These efforts in the past have
focused primarily on the external inspection of piping, tubing and
steel strands/cables wherein the nature of the structure is such
that uninterrupted internal access to the pipe wall is very
limited. While these systems and their external application to
longitudinal structures find significant applications, there are
yet other inspection techniques structures that could benefit from
the use of magnetostrictive based NDE.
BACKGROUND OF THE MAGNETOSTRICTIVE EFFECT
[0007] The nondestructive evaluation of materials using
magnetostrictive sensors is based upon the magnetostrictive effect
and its inverse effect. The magnetostrictive effect is a phenomenon
that causes the physical dimensions of a ferromagnetic material to
change slightly when the material is magnetized or demagnetized or
otherwise experiences a changing magnetic field. The inverse effect
is a phenomenon that causes a magnetic flux in the material to
change when the material is stressed. Systems utilizing
magnetostrictive sensors use the magnetostrictive effect and its
inverse effect to generate and detect guided waves that travel
through the ferromagnetic material.
[0008] In general, a magnetostrictive sensor consists of a
conductive coil and a means for providing a DC bias magnetic field
in the structure under inspection. The means for providing a bias
magnetic field can include the use of either permanent magnets or
electromagnets. In a transmitting magnetostrictive sensor, an AC
electric current pulse is applied to the coil. The resulting AC
magnetic field (a changing magnetic field) produces elastic waves
(also known as guided waves) in an adjacent ferromagnetic material
through the magnetostrictive effect. In the receiving
magnetostrictive sensor, a responsive electric voltage signal is
produced in the conductive coil when the elastic waves (transmitted
or reflected from anomalies within the material) pass the sensor
location, through the inverse magnetostrictive effect.
[0009] With MsS techniques, defects are typically detected by using
the pulse-echo method well known in the field of ultrasonics. Since
the sensor relies on the magnetostrictive behavior found in
ferromagnetic materials, this technology is primarily applicable to
the inspection of ferromagnetic components such as carbon steel
piping or steel strands. It is also applicable, however, to the
inspection of nonferrous components if a thin layer of
ferromagnetic material, such as nickel, is plated or coupled onto
the component in the area adjacent to the magnetostrictive
sensors.
[0010] The magnetostrictive sensor technique has the advantage of
being able to inspect a large area of material from a single sensor
location. Such sensors have, for example, been used to accurately
inspect a length of pipe or cable of significantly more than 100
feet. Further, magnetostrictive sensor techniques are comprehensive
in their inspection in that the methods can detect both internal
and external defects, thereby providing a 100% volumetric
inspection. The techniques are also quite sensitive, being capable
of detecting a defect with a cross-section less than 1% of the
total metallic cross-section of cylindrical structures such as
pipes, tubes, or rods. Finally, as indicated above,
magnetostrictive sensor techniques do not require direct physical
contact between the component surface and the sensor itself. This
eliminates the need for surface preparation and permits the
movement of the sensor across the surface without concern for
abrasive contact.
APPLICATION TO PIPELINE STRUCTURES
[0011] Gas transmission pipelines are typical of tubular structures
that regularly require inspection for defects to insure their
structural integrity and their safe operation. The primary
traditional tool utilized to inspect such pipelines is referred to
an in-line inspection (ILI) vehicle or pig that is equipped with an
inspection device and travels down the length of the pipeline
inside the conduit. The detection of corrosion metal loss is
typically accomplished using devices based on the magnetic flux
leakage (MFL) technique. Magnetic flux leakage devices work well,
although they are heavy and difficult to handle. In most instances,
MFL devices lack the flexibility to accommodate different pipe
diameters, and as such different devices are needed for each
pipeline diameter to be inspected.
[0012] For the detection of cracks such as stress corrosion
cracking (SCC) that occur in the longitudinal direction of a
pipeline, devices based on ultrasonic techniques are frequently
used. Ultrasonic devices, such as those developed by British Gas,
employ an array of wheel type piezoelectric transducers to couple
an ultrasonic wave into and out from the pipe wall without the need
of a liquid couplant. Such ultrasonic devices work reasonably well
but tend to be very expensive to build and operate. Because of the
high inspection costs associated with ultrasonic devices, the gas
pipeline industry has devoted much research to finding a more
economical approach to pipeline inspection.
[0013] One current direction of the active research and development
in the gas pipeline industry focuses on the use of electromagnetic
acoustic transducers (EMATs) which require no liquid couplant to
convey a signal to and from the investigated material. Other
research and development efforts are focusing on systems that use
the high-pressure gas as a coupling medium to convey the
interrogating signal. Recent applications of plate magnetostrictive
sensor probes have shown promise in a variety of structural
geometrys. In addition to the benefits associated with not
requiring a liquid couplant, magnetostrictive sensor probes offer
further advantages in that: (1) they can detect both corrosion
metal loss and stress-corrosion cracking as well as coating
disbond; (2) they are simple in design, lightweight, and easy to
handle; (3) they can readily accommodate different pipeline
diameters; and (4) they are economical to manufacture and
operate.
[0014] A plate magnetostrictive sensor operates by using the
magnetostrictive force as described above and thus differs from
EMATs which are based on the Lorentz force. EMATs used on
ferromagnetic steel also encounter the magnetostrictive force and
can utilize the magnetostrictive force for wave generation and
detection. However, EMATs use a meandering coil type design where
the adjacent coil lines are separated by a half wave length
distance in order to reinforce a localized excitation and detection
in the material. In order to maintain a reasonable sensor size,
EMATs are designed to operate at relatively high frequency
(typically over 500 kHz). A few EMAT sensors have been developed
that are capable of operating down to about 250 kHz.
[0015] Plate type magnetostrictive sensor probes are designed quite
differently from EMAT based sensors. Plate type magnetostrictive
sensors consist of a coil wound on a U-shaped core. Typically the
coil is 50 to 100 turns and the U-shaped core is 6 to 10 inches
long. The plate type magnetostrictive sensor probes typically
operate below 200 kHz. Because of the unique sensor design and low
frequency operation, the magnetostrictive probes have good
sensitivity, are more tolerant to lift off, and have a longer
inspection range than generally available EMATs.
[0016] Efforts at providing methods and devices for detecting
defects in pipelines have included the following:
[0017] U.S. Pat. No. 5,907,100 issued to Cook on May 25, 1999
entitled Method and System for Detecting and Displaying Defects in
Piping. This patent describes a typical EMAT sensor based device
wherein an EMAT transmitter sends an ultrasonic wave through the
pipe wall and receives a reflected ultrasonic signal from a defect
in the pipe.
[0018] U.S. Pat. No. 5,675,251 issued to MacLean et al. on Oct. 7,
1997 entitled Device and Method for Inspection of Pipelines. This
patent describes a plurality of housing units that are generally
spherical in shape for inspecting the integrity of water
distribution pipelines. The housing units are connected by flexible
connections that permit movement of the inspection device easily
through bends and constricted areas within the pipeline.
[0019] U.S. Pat. No. 4,439,730 issued to Kaufmann on Mar. 27, 1984
entitled Nondestructive Inspection Apparatus and Method Utilizing
Combined Inspection Signals Obtained from Orthogonal Magnetic
Fields. This patent describes one of the above mentioned magnetic
flux leakage (MFL) techniques currently utilized in conjunction
with in-line inspection vehicles. The process described involves
establishing a steady magnetic flux field through an area in a
first direction and then passing a magnetic flux field through the
same area in an orthogonal direction.
[0020] U.S. Pat. No. 5,454,276 issued to Wernicke on Oct. 3, 1995
entitled Multidirectional Magnetic Flux Pipe Inspection Apparatus
and Method. This patent likewise describes a magnetic flux leakage
(MFL) technique device positioned on a pipeline inspection pig
having a drive mechanism and magnetic field generators. The method
anticipates a helical progression through the pipeline so as to
generate a grid of helical sensor signals from a plurality of MFL
sensors.
[0021] U.S. Pat. No. 5,864,232 issued to Laursen on Jan. 26, 1999
entitled Magnetic Flux Pipe Inspection Apparatus for Analyzing
Anomalies in a Pipeline Wall. This patent describes yet another
magnetic flux leakage technique device whose functional principles
are schematically explained in FIG. 2 of the patent. A variety of
mechanisms for maintaining the sensors in close proximity to the
pipeline wall are described. Wear plates and wear pads mounted on
the top of the sensor body are described for reducing wear on the
contacting sensor.
[0022] U.S. Pat. No. 5,581,037 issued to Kwun et al. on Dec. 3,
1996 entitled Nondestructive Evaluation of Pipes and Tubes Using
Magnetostrictive Sensors. This patent describes an application of
magnetostrictive technologies and techniques as applied externally
on a longitudinal body such as a pipe tube or other cylindrical
shell. The system anticipates the establishment of longitudinally
directed mechanical waves within the pipeline which are detected at
distant magnetostrictive sensors.
[0023] U.S. Pat. No. 6,023,986 issued to Smith et al. on Feb. 15,
2000 entitled Magnetostrictive Flux Leakage Inspection Technique
for Pipelines. This patent describes yet another MFL system that
includes an inertial navigation system and a global positioning
system. The basic structure for establishing a magnetic flux
leakage sensor is shown in FIG. 1 of the patent where magnetic
coupling to the wall of the pipeline is made by way of pliable
steel brushes.
[0024] As indicated above, it would be desirable to benefit from
the advantages that magnetostrictive sensor probes have over EMAT
and MFL based sensor probes within a structure and with a technique
that traverses the internal space of a gas pipeline for inspection
purposes. It would be advantageous to be able to utilize plate
magnetostrictive sensor probes as are currently externally applied
to materials under investigation to an in-line transport device
capable of moving the sensors down the length of a gas pipeline or
the like.
[0025] It would therefore be desirable to implement
magnetostrictive sensor techniques in conjunction with pipeline
structures in a manner similar to, and with the accuracy of, such
systems utilized externally in conjunction longitudinal cylindrical
structures. It would be desirable if an inspection of pipeline
structures could be carried out in an efficient manner that did not
require access to the outside surface of the pipeline. Such a
magnetostrictive sensor system would be able to investigate long
lengths of a pipeline structure and would provide a cost effective
global inspection of the structure.
SUMMARY OF THE PRESENT INVENTION
[0026] It is therefore an object of the present invention to
provide a sensor device for implementing magnetostrictive based NDE
in association with pipeline structures in order to evaluate the
condition of the structures and determine the presence of anomalies
indicative of fractures, deteriorations, and the like.
[0027] It is a further object of the present invention to provide
magnetostrictive sensor devices appropriate for use in conjunction
with the inspection of pipeline structures that is capable of
transmitting and receiving guided waves within the pipeline wall
structures and generating signals representative of the
characteristics of such waves appropriate for the analysis and
detection of anomalies therein.
[0028] It is a further object of the present invention to provide
magnetostrictive sensor devices appropriate for use in conjunction
with the inspection of pipeline structures that progressively
inspect the circumference of the pipeline structure for anomalies,
corrosion, fractures, and the like in a cost effective manner.
[0029] It is a further object of the present invention to provide a
method for the inspection of pipeline structures that includes the
use of a magnetostrictive sensor specifically adapted for directing
guided waves into the pipeline wall and detecting such waves as may
be reflected from anomalies within the pipeline wall.
[0030] It is a further object of the present invention to provide a
method and apparatus for the nondestructive evaluation of pipeline
structures utilizing magnetostrictive sensors that are capable of
progressively investigating large volumes of the pipeline
structures without access to the external surface area of the
pipeline.
[0031] In fulfillment of these and other objectives, the present
invention provides a method and system for implementing
magnetostrictive sensor techniques for the nondestructive
evaluation of pipeline structures. The system consists of a
magnetostrictive sensor instrument unit, a data storage unit, and a
plurality of magnetostrictive sensor probes that are positioned on
an in-line inspection vehicle. The instrumentation unit includes
electronics for transmitting excitation pulses to a transmitting
magnetostrictive sensor probe as well as electronics for amplifying
and conditioning the signals detected by a receiving
magnetostrictive sensor probe. The magnetostrictive sensor probes
include both plate magnetostrictive sensors and permanent magnets
which provide a DC bias magnetic field necessary for
magnetostrictive sensor operation. The transmitting and receiving
probes are attached to the in-line inspection vehicle by way of
mechanical arms on opposing sides of the vehicle. The mechanical
arms are spring loaded and are equipped with rollers which maintain
the probes at approximately constant distances from the inside
diameter of the pipe wall. The method involves generating pulses of
shear horizontal waves of frequencies less than 200 kHz. The
transmitting magnetostrictive sensor probe generates a wave that
propagates in both directions around the circumference of the pipe
wall from a point adjacent to the transmitting probe. Both waves
are thereafter received at the receiving probe spaced 180 degrees
apart from the transmitting probe. Any defect present in the pipe
wall within the circumference being investigated will show up in
the received signal.
BRIEF DESCRIPTION OF THE DRAWINGS
[0032] FIG. 1 is a longitudinal cross section of a pipeline
carrying the in-line inspection vehicle of the present
invention.
[0033] FIG. 2 is a transverse cross section of the pipeline shown
in FIG. 1 disclosing in greater detail the positioning of the
magnetostrictive sensors adjacent the insider diameter of the pipe
wall.
[0034] FIG. 3 is a signal plot showing an example of detected
signals from a generated wave utilizing the system and method of
the present invention.
[0035] FIG. 4 is a signal plot of the same pipeline section shown
in FIG. 3 but with a defect established in the pipe wall.
[0036] FIG. 5 is a signal plot showing a characteristic form where
the defect detected is located at a midpoint between the
transmitting and receiving probes.
[0037] FIG. 6 is a perspective view of the magnetostrictive sensor
utilized as a transmitting sensor in the system of the present
invention.
[0038] FIG. 7 is a detailed perspective view of the sensor shown in
FIG. 6 mounted on a moveable carriage appropriate for use in
conjunction with the system of the present invention.
DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT
[0039] Reference is made first to FIG. 1 for a description of the
structure of a preferred embodiment of the present invention shown
in longitudinal cross section and positioned within a typical gas
pipeline. In FIG. 1, pipeline wall 12 may be any of a number of
standard sized gas pipelines, an example of which might be a 24
inch outside diameter, 0.562 inch thick pipe wall. In-line
inspection vehicle 10 is comprised primarily of battery section 14
and sensor/instrument section 16. Sections 14 and 16 are connected
together by a flexible coupling 18 which provides the necessary
power connections between the sections and permits movement of
in-line inspection vehicle 10 through bends and curves in pipeline
12.
[0040] In-line inspection vehicle 10 is propelled down the length
of pipeline 12 by the pressurized gas carried through the pipeline.
This propulsion is accomplished by use of a number of flexible cups
20, 22, 24 and 26 that are positioned in spaced arrangement on
battery section 14 and instrument section 16. These flexible cups
provide a loose seal against the inside diameter of the pipeline
wall in a manner that allows the pressurized gas to push the
vehicle down the pipeline. The speed of the vehicle may of course
be controlled by varying the pressure behind the vehicle.
[0041] Sensor/instrument section 16 retains the electronics and
sensors necessary for directing the interrogating waves into the
pipe wall and receiving such reflected or transmitted waves from
the pipe wall for recording. It is anticipated that this stand
alone vehicle would generate and record signal data that would
later be analyzed after the vehicle is removed from the pipeline.
Flexibly attached to sensor/instrument section 16 are movable
mechanical arms 40 and 42 which are spring loaded and are equipped
with rollers 36 and 38 that maintain magnetostrictive sensor probes
32 and 34 at approximately a constant distance from the inside
diameter of pipeline wall 12. Also shown in FIG. 1 is a rolling
odometer 28 positioned on a third mechanical arm 30 which tracks
and records the linear displacement of the in-line inspection
vehicle along the length of the pipe.
[0042] Reference is now made to FIG. 2 for a detailed description
of a transverse view of the in-line inspection vehicle 10 shown in
FIG. 1. Particular focus in FIG. 2 is made on the sensor/instrument
section 16. Within sensor/instrumentation section 16 are positioned
magnetostrictive sensor instrument unit 46 and data storage unit
48. On opposing sides of sensor/instrument section 16 are
positioned mechanical arms 40 and 42 which terminate in rollers 36
and 38 which make contact with the inside diameter of pipeline wall
12. Positioned in association with the end of mechanical arms 40
and 42 are plate magnetostrictive sensors 32 and 34. As indicated
above, the sensors themselves are positioned so as to be held at a
constant distance separated from the pipeline wall, which in the
preferred embodiment constitutes a distance of approximately 0.1
inches.
[0043] Signal lines 56 and 58 connect magnetostrictive sensor
instrument unit 46 to each of the magnetostrictive sensors 32 and
34. In the embodiment shown in FIG. 2 magnetostrictive sensor 34 is
configured to be the transmitting sensor while sensor 32 is
configured to be the receiving sensor. It is understood by those
skilled in the art that the structure of these sensors may be
identical and that their function is determined by the
instrumentation control electronics. Associated with
magnetostrictive sensors 32 and 34 are permanent bias magnets 33
and 35. These bias magnets 33 and 35 are shown in dashed outline in
FIG. 2 for clarity. The manner in which bias magnets 33 and 35 are
positioned in conjunction with magnetostrictive sensors 32 and 34
is described in more detail below with respect to FIG. 7.
[0044] The process of inspecting a circumferential section of pipe
wall involves generating a pulse of shear horizontal (SH) waves at
the transmitting magnetostrictive sensor probe 34. In the preferred
embodiment these waves have frequencies of no more than 200 kHz.
The actual (optimal) wave frequency is adjusted before launching
the in-line inspection vehicle and depends upon factors associated
with the specific pipeline under inspection. The factors that are
considered in selecting the wave frequency include the wave
attenuation per circumference of the pipe section, the beam
spreading properties of the pipeline material, and the presence of
higher mode shear horizontal waves. Optimum frequency selection
involves achieving a detected signal that minimizes the signal to
noise ratio and yet accurately detects defects above a critical
size. As indicated above, magnetostrictive sensors in general have
been shown to provide interpretable output signals when the input
wave frequency is less than 200 kHz.
[0045] Once transmitting magnetostrictive probe 34 generates the
pulsed wave in pipe wall 12, the wave propagates in both clockwise
and counterclockwise directions. In FIG. 2 these wave propagations
are indicated at 52 and 54. Since receiving probe 32 is positioned
180 degrees apart from transmitting probe 34, generated waves 52
and 54 propagating in opposite directions arrive at receiving probe
32 at the same time. As a result, the two opposite travelling waves
52 and 54 add constructively producing a single large amplitude
signal. The initially generated waves 52 and 54 continue to travel
around the pipe circumference until their energies are dissipated.
This continued circumferential wave motion produces signals at
regular intervals that are equal to the transit time for the shear
horizontal waves to travel around the full circumference. Any
defects or anomalies, such as defect 50 shown in FIG. 2,
encountered along the way, reflect a portion of the transmitted
wave in a manner that provides a new signal component received at
magnetostrictive sensor probe 32.
[0046] Reference is made to FIGS. 6 and 7 for a more detailed
description of the structure and function of the plate type
magnetostrictive sensors utilized in the present invention. The
novel structure of magnetostrictive sensor 34, as shown in FIG. 6,
may be utilized as either a transmitter sensor or a receiver
sensor. In FIG. 6, magnetostrictive sensor 34 is shown as it might
be implemented as a transmitter. In the preferred embodiment,
magnetostrictive sensor 34 is comprised of a plurality of U-shaped
cross-section cores stacked in a lengthwise direction to form
sensor core 29 having a longitudinal axis that is long in
comparison to the dimensions of its cross-section. Sensor core 29
in the preferred embodiment may be made from a stack of U-shaped
ferrites, transformer steel sheets, milled steel or other
ferromagnetic material. Sensor core 29 may have other shapes;
however, U-shaped or E-shaped core elements have been found to be
more efficient. If an E-shaped core is used, a transmitter may be
located on one part of the E with a receiver function carried out
by the other part of the E.
[0047] Surrounding sensor core 29 is wire coil 57. The number of
turns for coil 57 is dependent upon the driving current and the
magnetic permeability of sensor core 29 and may be varied as is
well known in the art. Wire coil 57 terminates with signal line 56
which connects to sensor instrument unit 46 as described above.
[0048] As indicated above plate type magnetostrictive sensor 34
generates shear horizontal waves shown at 52 and 54 in FIG. 6.
These opposite traveling waves, also as shown in FIG. 2, provide
the necessary interrogating signal that is then received either
directly or with reflected components at the receiving
magnetostrictive sensor.
[0049] FIG. 7 is a detailed perspective view of one of the two
carriage assemblies shown associated with in-line inspection
vehicle 10 of the present invention. The carriage assembly shown in
FIG. 7 may be either of the two oppositely positioned assemblies
shown generally in both FIG. 1 and FIG. 2. The end of mechanical
arm 42 pivotally retains carriage element 37. In the preferred
embodiment carriage element 37 is a frame that supports a number of
wheels 38 that permit movement of the carriage along the inside
surface of the pipe wall, and at the same time serve to maintain
the spacing between the magnetostrictive sensor and the pipeline
wall as described above. In FIG. 7, magnetostrictive sensor 34 is
surrounded by bias magnet 35 in the longitudinal direction. Wire
coil 57 and signal line 56 are not shown in FIG. 7 for clarity.
Carriage element 37 retains bias magnet 35 and magnetostrictive
sensor 34 in fixed relationship to each other and in fixed spaced
relationship to the inside surface of the pipe wall. Movement of
the carriage assembly is shown in FIG. 7 with arrows in either
direction along the longitudinal axis of magnetostrictive sensor
34. The pivot point in carriage element 37 permits the inspection
vehicle of the present invention to be utilized in conjunction with
a variety of pipeline diameters. It is anticipated that the system
of the present invention, including the instrumentation section and
sensor sections shown in FIG. 2, could be incorporated into a unit
that is attachable to any of a number of different already known
in-line inspection vehicles or transport mechanisms. This
versatility facilitates the low cost implementation of the system
of the present invention in that any of a number of transport
vehicles may be utilized with the basic system structure shown in
FIG. 2 and in detail in FIG. 7.
[0050] Reference is now made to FIGS. 3 through 5 for examples of
signals received using the method and system of the present
invention. If a defect (such as 50 in FIG. 2) is present in the
pipe wall, "defect signals" will occur between adjacent primary
signals produced by the initial waves traveling circumferentially
around the pipe. FIG. 3 provides an example of a detected signal
from just the initial transmitted waves generated as described
above. In the example shown in FIG. 3, the detected signal is from
waves travelling in a 24 inch outside diameter, 0.562 inch thick
wall pipe. The long inspection range characteristic of plate
magnetostrictive sensor probes permits the entire pipe
circumference to be inspected using only the single pair of
transmitting/receiving probes described above. Many other devices
require an array of sensors (see Prior Art described above) in
order to accomplish the same circumferential inspection.
[0051] Signal 70 disclosed in FIG. 3 is comprised of a sequence of
pulse components 72 through 84 that represent only the initial
interrogating signals propagated through the pipe wall. Signal
element 72, as an example, comprises the response of the
magnetostrictive sensor acting as the receiving sensor when the two
wave pulses traveling in opposite directions arrive at the sensor
at the same time. As indicated above, because the transmitter and
receiving sensors are located at 180 degrees from each other, the
two waves arrive at the same time thus adding their amplitudes at
the receiving sensor. The gradual decrease in amplitude shown in
FIG. 3 is of course a result of the attenuation of the waves and
the divergence of the wave beam as they repeatedly circle the
circumference of the pipe wall.
[0052] Again, as indicated above, if a defect is present in the
pipe wall, the defect signals will be discernable between two
adjacent primary signals produced by the initial waves revolving
around the pipe. An example of defect signals is given in FIG. 4
which was obtained from the same pipe identified above with FIG. 3
after inducing a notch in the pipe wall such as that shown in FIG.
2. Because the waves generated propagate in both directions from
the point adjacent to the transmitting sensor, a single defect
produces two distinct defect signals, one caused by the wave
propagating in a clockwise direction, and the other caused by the
wave propagating in the counter-clockwise direction. The time
separation 104 between a defect signal and the nearest signal of
the initial wave revolving around the pipe is equal to 2 d/V where
d is the distance between the defect and the nearest sensor probe
(either transmitting or receiving) and V is the shear-horizontal
wave velocity in steel.
[0053] Signal 90 in FIG. 4 is seen to comprise a plurality of
defect signals 92 through 102, again because of the continued
travel of the waves around the circumference of the pipe wall
gradually being attenuated over time. The first intermediate defect
signal in the pair of defect signals 92 is a result of the first of
the two initial waves encountering the defect on "its side" of the
pipe wall circumference. The second of the two defect signals in
defect pair 92 is a result of the second initial wave encountering
the defect at a later time than the first of the initial waves.
From this it can be seen that time difference 104 will be equal to
time difference 106 shown in FIG. 4.
[0054] When the defect is located at a midpoint between the
transmitting and receiving probes, the two defect signals converge
to the midpoint between the two adjacent initial wave signals as
illustrated in FIG. 5. In signal 110 shown in FIG. 5, defect
signals 112 through 122 are actually the constructive convergence
of the two defect signals which were separated in FIG. 4. If the
defect is located at exactly the center point between the two
sensor probes, the defect signals will fully merge into a single
signal.
[0055] The benefits of utilizing the inspection method described
above with the apparatus identified are many. The system is simple
in construction because it utilizes only a single transmitting
probe and a single receiving probe. As such, the system can readily
accommodate different pipeline diameters with little or no
alteration to the basic device structure. Under the design shown,
one system structure can be utilized to inspect pipelines ranging
from 10 to 48 inches in outside diameter. In addition, the initial
wave signals allow the wave attenuation to be determined which in
turn can be utilized to detect a coating disbond area which will
reflect a lower wave attenuation. It is also possible to utilize
the ratio between the defect signal amplitude and the initial wave
signal amplitude to determine and characterize the defect size. The
initial wave signals thus provide a self calibration wherein the
amplitude of various signal elements are indicative of the
element's source.
[0056] The manner in which defect signals are exposed in pairs
(when the defect is not at the center point between the transmitter
and receiver probes), allows confirmation of the source of the
signal component as a defect rather than an extraneous signal
features. One shortcoming of the inspection technique and method
described above, relates to the inability to identify the exact
circumferential location of the defect because two defect signals
are generated from a single defect. Reference to FIG. 4 confirms
that it is not possible to determine which of the two
simultaneously generated waves first encounters the defect in the
pipe wall. The time differential shown in FIG. 4 reflects a
circumferential position apart from the transmitting probe in
either the clockwise or counter-clockwise direction but cannot
identify which of the two directions it reflects.
[0057] Exact defect location can be determined by generating a
transmitted wave in a single direction (instead of both directions
simultaneously) and by employing two transmitting and receiving
probe pairs. This of course requires additional complexity in
instrumentation that would control signal timing and direction.
These additional control factors further complicate analysis of the
signal data that is received. In most instances, it is not worth
the additional complexity to obtain the exact circumferential
location. In most cases pipeline industries are looking for an
in-line inspection device that can identify the existence of a
defect at a particular linear displacement along the length of the
pipeline. The odometer of the present invention provides such
linear data while the magnetostrictive sensor probes provide the
identification of a defect in a specific circumferential ring of
pipe wall.
[0058] It should further be noted that due to the dead zone
associated with the magnetostrictive sensors the inspection
approach described leaves a small section of the pipe circumference
uninspected. It may be desirable in order to cover the entire
circumference to provide a second set of magnetostrictive sensor
probes with associated instrumentation on the in-line inspection
vehicle. The magnetostrictive sensor probes of the second set would
be oriented at a different angular position from that of the first
set. Although the angle could be any angle that displaces the
sensors sufficiently one from the other, an optimal arrangement
might have the second sensor pair oriented orthogonally to the
first sensor pair. The signal data from the second set of probes
would not only eliminate the uninspected area (associated with the
pipe wall immediately adjacent the initial set of probes) but would
also serve as a backup and confirmation of the data acquired from
the first set. Comparisons could be made between the two sets of
data to confirm a defect signal as not originating from a
non-defect source.
[0059] Although a description of a preferred embodiment of the
apparatus and method of the present invention has been provided, it
is anticipated that variations in the manner in which the basic
sensor structure of the present invention may be utilized are
possible. No optimal dimensions for the sensor structure described
have been identified as such would be dependent upon the geometry
of specific pipeline structures to be investigated. It is
anticipated that sensors of a variety of sizes operating at a
variety of frequencies could be utilized depending upon the
requirements of the environment of investigation. In general, the
basic structure of the sensors described in the present invention
may be utilized wherever ferromagnetic pipeline material is
utilized. It is anticipated that other applications of the basic
sensor structure described herein will be discerned by those
skilled in the art of nondestructive evaluation of pipeline
materials.
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