Pipeline detection robot based on eddy current magnetic flux leakage composite detection technology

Abstract

The utility model discloses a pipeline detection robot based on an eddy current magnetic flux leakage composite detection technology, which comprises a mobile carrier capable of moving along the inside of a pipeline, and an eddy current magnetic flux leakage detection unit, a detection control unit and a power supply module which are arranged on the mobile carrier, the mobile carrier comprises a pipe body and multiple columns of steering engine walking wheels arranged on the circumferential outer wall between the two ends of the pipe body, and the detection control unit and the power module are arranged in the rear end of the pipe body. The power output end of the power module is electrically connected with the power end of the steering engine walking wheel, the power end of the eddy current magnetic flux leakage testing unit and the power end of the detection control unit. The control end of the mobile carrier and the detection output end of the eddy current magnetic flux leakage testing unit are connected with the detection control unit. The detection control unit comprises a central controller, a positioning module, a wireless communication module and an attitude sensor. The device can efficiently clean the inner wall of the pipeline and detect damage defects of the inner wall of the pipeline, and automatic cleaning and defect detection work is achieved.

Description

Technical Field

[0001] The utility model belongs to the technical field of pipeline cleaning and detection, and in particular relates to a pipeline detection robot based on eddy current magnetic leakage composite detection technology. Background Art

[0002] With the popularization of clean energy, the application of natural gas transportation pipelines has reached a new height. The large-scale use of natural gas pipelines has also brought us new problems, that is, how to clean, inspect and maintain the inside of the pipeline. Pipeline inspection robots developed for the cleaning, inspection and maintenance of oil and gas pipelines mainly include crawler type, bionic type, vehicle type and support wheel type. They mainly integrate intelligent mobile technology and non-destructive testing technology to perform non-destructive testing on oil and gas pipelines in working state to ensure the safe and stable operation of pipelines; At present, domestic and foreign oil and gas pipeline inspection robots only have a single detection method for online non-contact detection of pipeline deformation, surface corrosion, wall thickness, cracks and other defects, which is difficult to adapt to the rapid and continuous cleaning and accurate detection of the inner wall of oil and gas pipelines. In view of the problems existing in the existing technology, a pipeline inspection robot based on eddy current leakage magnetic composite detection technology is studied to effectively solve the problems of rapid pipeline cleaning and accurate defect positioning detection methods, so as to improve the cleaning and detection effect of pipeline stains, which has strong technical value and economic value. Utility Model Content

[0003] The purpose of the utility model is to provide a pipeline inspection robot based on eddy current leakage magnetic composite detection technology. The utility model can efficiently clean the inner wall of the pipeline and detect damage defects on the inner wall of the pipeline, realize automatic cleaning and defect detection, and obtain the real-time latitude and longitude information of the inspection robot during the cleaning and inspection process to accurately obtain the position information of the robot inside the pipeline, and transmit the real-time information of the inspection robot to the outside world through the wireless communication module, so that the outside world can accurately control the working status of the robot at any time. In order to achieve the above purpose, the utility model adopts the following technical effects:

[0004] According to one aspect of the utility model, the utility model provides a pipeline inspection robot based on eddy current leakage magnetic flux composite detection technology, the pipeline inspection robot includes a mobile carrier capable of moving along the pipeline and an eddy current leakage magnetic flux measurement unit, a detection control unit and a power supply module arranged on the mobile carrier, the mobile carrier includes a pipe body and a plurality of rows of steering gear running wheels arranged on the circumferential outer wall between the two ends of the pipe body, the detection control unit and the power supply module are arranged inside the rear end of the pipe body, the power output end of the power supply module is electrically connected to the power supply end of the steering gear running wheel, the power supply end of the eddy current leakage magnetic flux measurement unit and the power supply end of the detection control unit respectively, the control end on the mobile carrier and the detection output end of the eddy current leakage magnetic flux measurement unit are respectively connected to the detection control unit; the detection control unit includes a central controller, a positioning module, a wireless communication module and a posture sensor, the control end of the steering gear running wheel, the detection output end of the eddy current leakage magnetic flux measurement unit, the signal output end of the positioning module, the communication end of the wireless communication module and the acquisition output end of the posture sensor are respectively connected to the central controller.

[0005] The above scheme is further preferred, wherein the eddy current leakage magnetic field measurement unit includes a data acquisition card arranged inside the rear end of the tube body, a circular ring detection bracket arranged on the periphery of the rear end of the tube body, and a plurality of sensor detection components arranged at equal intervals along the circumference of the circular ring detection bracket, the sensor detection component includes an eddy current detection probe and a leakage magnetic field sensor, and the detection output end of the eddy current detection probe and the detection output end of the leakage magnetic field sensor are respectively connected to the collection input end of the central controller through the data acquisition card.

[0006] The above scheme is further preferred, wherein the eddy current detection probe includes an armature, a permanent magnet and an eddy current leakage magnetic coil, the armature is connected to the circular detection bracket by a screw, permanent magnets with opposite polarities are vertically arranged at both ends of the armature, the eddy current leakage magnetic coil and the leakage magnetic sensor are arranged in the area between the two permanent magnets with opposite polarities, and the detection output end of the eddy current leakage magnetic coil is connected to the acquisition input end of the central controller through a data acquisition card.

[0007] The above scheme is further preferred, wherein the eddy current leakage magnetic coil is composed of an excitation coil and an induction coil distributed on both sides of the excitation coil, the excitation coil is arranged in a periodic "X" shape, and the induction coil is continuously distributed along the edges on both sides of the periodic "X" shape of the excitation coil, and the output end of the induction coil is connected to the acquisition input end of the central controller through a data acquisition card.

[0008] The above scheme is further preferred that the induction coil at the opening position of the periodic S-shaped recessed area of ​​the excitation coil has two bending parts protruding horizontally from the opening edge of the excitation coil to the center.

[0009] The above scheme is further preferred that an image detection mechanism is arranged on the periphery of the rear end of the tube body and close to the back side of the eddy current leakage magnetic measurement unit, and an image detection mechanism is arranged on the periphery of the circumference of the tube body near the rear end of the ring detection bracket.

[0010] The above scheme is further preferred, that the image detection mechanism includes a detection support ring and an image acquisition module arranged on the detection support ring, the height of the detection support ring relative to the outer wall of the tube body is lower than the height of the ring detection bracket, a groove is arranged on the circumferential outer wall of the detection support ring, and the image acquisition module is arranged in the groove.

[0011] The above scheme is further preferred, wherein the image acquisition module is a camera, and the camera is an infrared CCD camera.

[0012] The above scheme is further preferred, that the pipe cleaning unit includes a brush head and a rotary cleaning motor, the pipe inspection robot also includes a pipe cleaning unit arranged on the mobile carrier, the pipe cleaning unit is arranged outside the circumference of the front end of the pipe body, and the eddy current leakage magnetic measurement unit is arranged outside the circumference of the rear end of the pipe body, the power output end of the power module is electrically connected to the power end of the pipe cleaning unit, the control end of the pipe cleaning unit is connected to the central controller, the pipe cleaning unit includes a brush head and a rotary cleaning motor, the power end of the rotary cleaning motor and the power end of the variable diameter driving motor are respectively connected to the power output end of the power module, the fixed end of the rotary cleaning motor is fixed at the center of the front end of the pipe body, and the output shaft of the rotary cleaning motor is extended along the center of the pipe body toward the outer axis of the front end and is provided with a brush head.

[0013] The utility model adopts the above technical solution, and the utility model has the following technical effects:

[0014] (1) The utility model can efficiently clean the inner wall of the pipeline and detect damage defects on the inner wall of the pipeline, realizing automated cleaning and defect detection. During the cleaning and detection process, the real-time latitude and longitude information of the detection robot can be obtained to accurately obtain the position information of the robot inside the pipeline, and the real-time information of the detection robot can be transmitted to the outside world through the wireless communication module, so that the outside world can accurately control the working status of the robot at any time;

[0015] (2) The utility model can ensure a high degree of cleanliness while performing accurate detection, thus saving manpower and material resources. Through rapid detection, the natural gas pipeline section with hidden dangers can be identified and replaced in time, thus preventing the occurrence of natural gas leakage accidents and reducing existing safety hazards. The cleaning mechanism and the walking mechanism are designed as adjustable distance structures, which can adapt to pipelines of different calibers and can automatically adjust to small size changes during the cleaning process. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic diagram of the overall structure of a pipeline inspection robot based on eddy current magnetic leakage composite inspection technology of the utility model;

[0017] Figure 2 This is a schematic diagram of the exploded structure of a pipeline inspection robot based on eddy current magnetic leakage composite inspection technology of the utility model;

[0018] Figure 3 This is a schematic diagram of the control principle of a pipeline inspection robot based on eddy current magnetic leakage composite inspection technology of the utility model;

[0019] Figure 4 This is a schematic diagram of the cross-sectional structure of a pipeline inspection robot based on eddy current magnetic leakage composite inspection technology of the utility model;

[0020] Figure 5 It is a structural schematic diagram of the pipeline cleaning unit of the utility model;

[0021] Figure 6 It is a schematic diagram of the installation structure of the brush head of the utility model;

[0022] Figure 7 It is a schematic diagram of the detection structure of the sensor detection component of the utility model;

[0023] Figure 8 It is a schematic diagram of the coil distribution of the eddy current detection probe of the utility model;

[0024] In the drawings, there are a mobile carrier 1, a pipeline cleaning unit 2, an eddy current magnetic leakage measurement unit 3, a detection control unit 4, a power module 5, an image detection mechanism 6, a pipe body 10, a steering gear walking wheel 11, a detection support ring 60, an image acquisition module 61, a groove 62, a pipeline 100, an annular support seat 110, a steering wheel bracket 111, a buffer support seat 112, a suspension support spring 113, a sliding support rod 114, a screw motor 115, and a sliding limit block 116;

[0025] Brush head 200, brush head supporting ring 201, rotary cleaning motor 202, variable diameter driving motor 203, brush body supporting turntable 204, arc block 201a, radial telescopic cylinder arm 205, variable diameter driving disk 206, variable diameter driving arm 207, variable diameter driving connecting rod 208, fixed supporting sleeve 209, pressure sensor 210, sealing cover 211;

[0026] Data acquisition card 300 , annular detection bracket 301 , sensor detection assembly 302 , eddy current detection probe 303 , magnetic flux leakage sensor 304 , armature 3030 , permanent magnet 3031 , eddy current magnetic flux leakage coil 3032 , excitation coil 3032 a , induction coil 3032 b , bending portion 3032 c , screw 3033 . DETAILED DESCRIPTION

[0027] In order to make the purpose, technical solution and advantages of the utility model more clear, the utility model is further described in detail below with reference to the accompanying drawings and preferred embodiments. However, it should be noted that many details listed in the specification are only for the purpose of enabling readers to have a thorough understanding of one or more aspects of the utility model, and these aspects of the utility model can be realized even without these specific details.

[0028] like Figure 1 , Figure 2 , Figure 3 and Figure 4As shown, according to the utility model, a pipeline detection robot based on eddy current leakage magnetic composite detection technology, the pipeline detection robot comprises a mobile carrier 1 capable of moving along a pipeline 100 and an eddy current leakage magnetic measurement unit 3, a detection control unit 4 and a power module 5 arranged on the mobile carrier 1, the mobile carrier 1 comprises a pipe body 10 and a plurality of rows of steering gear walking wheels 11 arranged on the circumferential outer wall between the two ends of the pipe body 10, the pipeline detection robot also comprises a pipe cleaning unit 2 arranged on the mobile carrier (1), the pipe cleaning unit 2 is arranged on the periphery of the front end circumference of the pipe body 10, the eddy current leakage magnetic measurement unit 3 is arranged on the periphery of the rear end circumference of the pipe body 10, the pipe cleaning unit 2 is arranged on the periphery of the front end circumference of the pipe body 10, the pipe body 10 is made of 1.5mm aluminum tube, ABS The detection control unit 4 and the power module 5 are arranged inside the rear end of the pipe body 10, and the power output end of the power module 5 is electrically connected to the power end of the steering gear walking wheel 11, the power end of the pipeline cleaning unit 2, the power end of the eddy current leakage magnetic measurement unit 3 and the power end of the detection control unit 4 respectively. The control end on the mobile carrier 1, the control end of the pipeline cleaning unit 2, and the control end of the eddy current leakage magnetic measurement unit 3 are respectively connected to the detection control unit 4; the detection control unit 4 includes a central controller, a positioning module, a wireless communication module and a posture sensor, and the control end of the steering gear walking wheel 11, the control end of the pipeline cleaning unit 2, the control end of the eddy current leakage magnetic measurement unit 3, the signal output end of the positioning module, the communication end of the wireless communication module and the collection output end of the posture sensor are respectively connected to the central controller; the steering gear driving walking roller on the steering gear walking wheel 11 moves on the inner wall of the pipeline to drive the pipe body 10 to move together in the pipeline 100, and the front end of the pipe body 10 is connected to the pipeline cleaning unit 2 The inner wall of the pipeline 100 is effectively contacted and cleaned. At the rear end of the pipe body 10, the eddy current leakage magnetic measurement unit 33 is used to detect the corrosion and scratches on the inner wall of the pipeline 100, so as to detect the damage defects of the inner wall of the pipeline, and the detected defect data is sent to the remote host computer through the wireless communication module. The attitude sensor is used to detect the attitude of the pipe body 10 in the process to prevent the pipe body 10 from shaking and deflecting. The central controller adopts the STM32F407 controller, and the attitude sensor adopts the WT901C nine-axis attitude sensor to obtain the attitude of the machine. The sensor feedback frequency can reach 200Hz, and the accuracy error is <0.2°, which can achieve high-precision and low-latency transmission, and is convenient for system attitude adjustment; the positioning module is used to obtain the longitude and latitude position information of the pipe body 10 moving in the pipeline 100. The wireless communication module adopts the Lora communication module, the wireless frequency can reach 510MHz, and the serial port baud rate can reach 115200bps. Under normal use, the signal transmission can achieve the characteristics of low latency and fast response.

[0029] In the present utility model, if Figure 1 , Figure 2 and Figure 4 As shown, annular support seats 110 (flanges) are arranged at intervals on the circumferential outer wall of the tube body 10, and the tube body 10 is composed of multiple sections of cylinders connected in series through the annular support seats 110. The steering gear running wheels 11 on the same circumferential outer wall of the tube body 10 are connected to the annular support seats 110 through steering wheel brackets 111, wherein one end of the steering wheel bracket 111 is rotatably connected to the annular support seat 110 through a pin, and the other end of the steering wheel bracket 111 is tilted upward and extended toward the rear end of the tube body 10 and fixedly connected to the base of the steering gear running wheel 11. A buffer support seat 112 is arranged on the circumferential outer periphery of the tube body 10 below each steering gear running wheel 11, and a suspension support spring 113 is arranged on the outer wall of the steering wheel bracket 110 close to the side of the steering gear running wheel 11. One end of the suspension support spring 113 is connected to the steering wheel bracket 110, and the other end of the suspension support spring 113 is connected to the buffer support seat 112. When the entire mobile carrier 1 is placed in the pipeline 100 for cleaning and inspection, the steering gear running wheel 11 is squeezed toward the tube body 10, so that the steering gear running wheel 11 is rotated toward the outer wall of the tube body 10 through the steering wheel bracket 111, and then the tube body 10 is gradually sent into the pipeline 10. Under the elastic force of the suspension support spring 113, the steering gear running wheel 11 is ensured to be closely fitted with the inner wall of the pipeline, so that the steering gear running wheel 11 can form a tight pressure contact with the inner wall of the pipeline 100, and the steering gear of the steering gear running wheel 11 is started to rotate and drive the tube body 10 to move along the inner wall of the pipeline 100, which can ensure the stability of walking during the inspection process.

[0030] As the best embodiment of the utility model, Figure 1 , Figure 2 , Figure 4As shown, all buffer support seats 112 located in the same row of the outer circumference of the tube body 10 are arranged on the outer circumference between the two ends of the tube body 10 through the same sliding support rod 114 along the axial direction. The sliding support rod 114 is a threaded screw. The center of the buffer support seat 112 is sleeved on the sliding support rod 114 through a threaded hole. The sliding support rod 114 is penetrated and arranged on the annular support seat 110, and the two ends of the sliding support rod 114 are rotatably arranged on the annular support seat 110 on the outer circumference of the front and rear ends of the tube body 10. The outer circumference of the rear end of the tube body 10 is respectively provided. There is a screw motor 115 connected to each sliding support rod 114. When the extrusion contact between the steering gear walking wheel 11 and the inner wall of the pipeline 100 is adjusted, the screw motor 115 connected to the front end of each sliding support rod 114 is started. When the screw motor 115 rotates, the buffer support seat 112 moves back and forth on the sliding support rod 114. During the forward and backward movement, the buffer support seat 112 drives the steering wheel bracket 110 to swing between the inner wall of the pipeline 100 and the outer wall of the pipe body 10 by hanging the support spring 113, thereby adjusting the distance between the steering gear walking wheel 11 and the inner wall of the pipeline and The contact pressure enables the steering gear running wheel 11 to roll closely against the inner wall of the pipe and drive the pipe body 10 to move along the inner wall of the pipe, so that the pipe body 10 can move within different pipe inner diameters through the steering gear running wheel 11, and can adapt to the changes in different pipe diameters, and ensure that the steering gear running wheel 11 and the inner wall of the pipe can achieve close contact. A sliding limit block 116 is provided on the circumferential outer wall of the sliding support rod 113 on one or both sides of the buffer support seat 112. The sliding limit block 116 can limit the distance that the buffer support seat 112 moves on the sliding support rod 113 (screw rod). The running wheel 11 can be continuously buffered and squeeze the inner wall of the pipe during rolling; the steering gear running wheel 11 adopts a steering gear tire to provide good grip and traction. The steering gear running wheel 11 plays a good guiding and supporting role for the pipe body 10 during operation, improves the stability of the pipe body 10 during movement, reduces the fluctuation of magnetic leakage detection of the inner wall of the pipe 100, improves the accuracy of detection, ensures the stable walking of the cleaning mechanism during the cleaning process, enables the cleaning mechanism to move and clean in the pipe, and also effectively cleans the pollutants in the pipe, ensuring the smoothness and cleanliness of the pipe.

[0031] In the present utility model, if Figure 1 , Figure 2 , Figure 4 , Figure 5 and Figure 6As shown, the control end of the pipeline cleaning unit 2 is connected to the central controller, and the pipeline cleaning unit 2 includes a brush head 200 and a rotating cleaning motor 202. The power supply end of the rotating cleaning motor 202 and the power supply end of the variable diameter driving motor 203 are respectively connected to the power output end of the power module 5. The fixed end of the rotating cleaning motor 202 is fixed at the center of the front end of the tube body 10. The output shaft of the rotating cleaning motor 202 extends from the center of the tube body 1 to the direction of the external axis of the front end and is provided with a brush head 200. The pipeline cleaning unit 2 also includes a brush head supporting ring 201 and a variable diameter driving motor 203. The rotating cleaning motor The control end of the rotating cleaning motor 202 and the control end of the variable diameter driving motor 203 are respectively connected to the central controller, and the output shaft of the rotating cleaning motor 202 is extended along the center of the tube body 10 to the front end of the external axis direction, and a brush body supporting turntable 204 is arranged, and the variable diameter driving motor 203 is arranged outside the brush body supporting turntable 204. The brush head supporting ring 201 is composed of at least 3 arc blocks 201a close to each other end to end, and the brush heads 200 are evenly arranged on the arc outer wall of the arc block 201a. A radial telescopic cylinder arm 205 extending radially outward for supporting the arc block 201a is arranged on the circumference of the brush body supporting turntable 204. The free end of the radial telescopic cylinder arm 205 is fixedly connected to the arc-shaped inner wall of the arc block 201a, and a diameter-changing driving disk 206 close to the outer side of the brush body supporting turntable 204 is provided on the output shaft of the diameter-changing driving motor 203 through a bearing sleeve, and a diameter-changing driving arm 207 corresponding to each radial telescopic cylinder arm 205 is provided along the tangential direction of the diameter-changing driving disk 206. The free end of the diameter-changing driving arm 207 is transmission-connected to the outer wall of the free end of the radial telescopic cylinder arm 205 through a diameter-changing driving connecting rod 208, and a fixed support sleeve 209 is provided near the outer wall of the free end of the radial telescopic cylinder arm 205. The diameter-changing driving connecting rod 208 One end of the variable diameter driving arm 207 is rotatably connected to the free end of the variable diameter driving arm 207, and the other end of the variable diameter driving connecting rod 208 is rotatably connected to the outer wall of the fixed support sleeve 209; a pressure sensor 210 is arranged in the groove on the cross section of the free end of each radial telescopic cylinder arm 205, and the collection output end of the pressure sensor 210 is connected to the central controller, and a sealing cover 211 is arranged on the outside of the variable diameter driving motor 203, and the brush body supporting turntable 204 has a certain width, and the mouth of the sealing cover 211 extends into the inner edge of the ring of the brush body supporting turntable 204 to prevent stains from damaging the variable diameter driving motor 203 and the rotating cleaning motor 202 during the cleaning process;The central controller issues a control command to rotate the cleaning motor 202 to drive the brush body supporting turntable 204, so that the brush head 200 on the brush body supporting turntable 204, the variable diameter drive motor 203, and the variable diameter drive disk 206 rotate synchronously, and the inner wall of the pipeline is cleaned to remove the rust or dirt on the inner wall of the pipeline. During the cleaning process, the radial telescopic arm 205 rotates with the brush body supporting turntable 204. According to the pressure sensor 210 on the free end section of the radial telescopic arm 205, the pressure between the inner wall of the pipeline 100 is detected; the central controller issues a control command to start the variable diameter drive motor 203 to rotate, and the output shaft of the variable diameter drive motor 203 drives the variable diameter drive disk 206 to rotate, thereby driving the variable diameter drive on the variable diameter drive disk 206. The movable arm 207 and the variable diameter driving connecting rod 208 can drive the radial telescopic cylinder arm 205 to perform telescopic action in the radial direction, and the cleaning brush body 200 is pushed to move in the radial direction by the radial telescopic cylinder arm 205. Each arc block 201a moves back and forth synchronously in the radial direction under the drive of the variable diameter driving connecting rod 208. The circumference formed by each variable diameter driving connecting rod 208 changes along the radial direction of the pipeline, thereby adjusting the diameter of the entire brush head 200 inside the pipeline, so that the pipeline cleaning unit 2 can adapt to the inner wall cleaning of different pipeline diameters; the diameter of the brush head support ring 201 is set to 400mm-800mm, the height of the brush head 200 is about 200mm, and the brush head 200 is selected from a steel wire material with good wear resistance and cleaning effect. The brush head 200 is in a three-section structure on the brush head support ring 201, and each section can be adjusted independently, and when combined, a complete circular brush head is formed. A pressure sensor is set so that each part of the brush head can move inward or outward to adapt to different pipeline sizes. ;

[0032] In the present utility model, if Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 7As shown, the eddy current leakage magnetic field measurement unit 3 includes a data acquisition card 300 arranged inside the rear end of the tube body 10, a ring detection bracket 301 arranged on the periphery of the rear end of the tube body 10, and a plurality of sensor detection components 302 arranged at equal intervals along the circumference of the ring detection bracket 301. The sensor detection component (302) includes an eddy current detection probe 303 and a leakage magnetic field sensor 304. The detection output end of the eddy current detection probe 304 and the detection output end of the leakage magnetic field sensor are respectively connected to the collection input end of the central controller through the data acquisition card 300; the data acquisition card 300 adopts a USB-DAQ-V1.2 data acquisition card, which is a multifunctional signal acquisition card based on the USB bus, and has 8 differential signals (or 16 single-ended signals), 2 analog signal outputs, 6 digital signal input / outputs, 1 PWM input, 1 counter and 2 PWM outputs, and can realize the detection data collection of multiple coils and sensors; in the utility model, as Figure 7As shown, the eddy current detection probe 303 includes an armature 3030, a permanent magnet 3031 and an eddy current leakage magnetic coil 3032. The armature 3030 is connected to the ring detection bracket 301 through a screw 3033. Permanent magnets 3031 with opposite polarities are vertically arranged at both ends of the armature 3030. The eddy current leakage magnetic coil 3032 and the leakage magnetic sensor 304 are arranged in the area between the two permanent magnets 3031 with opposite polarities. The detection output end of the eddy current leakage magnetic coil 3032 is connected to the collection input end of the central controller through the data acquisition card 300; the magnetic field lines between the two permanent magnets 3031 with opposite polarities are from the N pole to the S pole, and there is a certain gap between the ends of the two poles of the permanent magnet 3031 and the inner wall of the pipeline. A part of the magnetic field lines will be magnetized when entering from the inner wall of the pipeline. The magnetic leakage sensor 304 is used for magnetic leakage detection, and the eddy current magnetic leakage coil 3032 is used for eddy current detection. The eddy current magnetic leakage coil 3032 and the magnetic leakage sensor 304 continuously detect the magnetic lines passing through the inner wall surface of the surface pipeline, and the magnetic leakage sensor 304 is used to obtain the changes in the magnetic flux inside and outside the pipeline 10. If the inner wall of the pipeline 10 is intact, the detected magnetic flux should be a constant value. If a large change in the magnetic flux is detected, it can be determined that magnetic leakage occurs on the inner wall of the pipeline, and it can be determined that there is a defect in the inner wall of the pipeline at that position. The magnetic leakage sensor 304 can effectively detect defects in the pipeline 10, and as the depth of the defect increases, the amplitude of the magnetic leakage signal increases, and the rate of increase slows down as the depth of the defect increases. Therefore, defect detection is performed in combination with the eddy current leakage coil 3032, thereby improving the detection parameters such as the depth and width of the defect. After the side wall of the pipeline 10 is magnetized, eddy currents will be generated inside it, and the eddy currents will generate a secondary magnetic field. When there is a defect in the side wall of the pipeline at the eddy current leakage coil 3032, the defect will cause the eddy current in the pipeline 10 to change, and the eddy currents will generate a secondary magnetic field. The flow change will cause the secondary magnetic field to change, thereby causing a series of changes in the impedance of the eddy current leakage coil 3032, the induced electromotive force and the spatial electromagnetic field. The defect detection is achieved by measuring the changes in these physical quantities. At the same time, the eddy current leakage coil 3032 is used to detect the defects of the inner wall of the pipeline more accurately and locate them. At the same time, the two detection parameters are sent to the data acquisition card 300 for amplification and sampling changes to obtain leakage magnetic data and eddy current data. The induced voltage of the induction coil changes to obtain the defect detection data of the inner wall of the pipeline. The detected inner wall defect data is transmitted to the remote host computer (back-end server or data processing platform) through the Lora communication module, and the host computer (back-end server or data processing platform) will analyze the data.After the robot enters the pipeline, it interacts with the detection control unit 4 inside the pipeline through the positioning module and the eddy current leakage magnetic measurement unit 3. After that, the control command can be manually issued through the wireless communication module to command the robot to move forward and clean the pipeline. After the command is issued to the main control board, the robot moves and cleans in the pipeline. During operation, the robot will automatically complete operations such as brushing and cleaning the pipeline according to the predetermined driving path, thereby effectively cleaning the pollutants in the pipeline and ensuring the smoothness and cleanliness of the pipeline. During the robot's cleaning and advancement, the eddy current detection probe 303 and the leakage magnetic sensor 304 will perform defect detection on the inner wall of the pipeline, send the detection data and instructions to the central controller, and transmit the data information detected by the Lora wireless module to the host computer (backend server) for data analysis, so as to obtain what type of defects exist in the pipeline at what position. According to the analysis feedback results, humans can take countermeasures to the defects in the pipeline.

[0033] In the present utility model, if Figure 8As shown, the eddy current leakage magnetic coil 3032 is composed of an excitation coil 3032a and an induction coil 3032b distributed on both sides of the excitation coil 3032a, the excitation coil 3032a is arranged in a periodic "" shape, the induction coil 3032b is continuously distributed along the edges of both sides of the periodic "" shape of the excitation coil 3032a, and the output end of the induction coil 3032b is connected to the acquisition input end of the central controller through the data acquisition card 300; the induction coil 3032b at the opening position of the periodic "" shape concave area of ​​the excitation coil 3032a has two bending parts 3032c protruding horizontally from the opening edge of the excitation coil 3032a to the center, and the bending part 3032c They are symmetrically arranged in the opening of the excitation coil 3032a, and can sense as much magnetic field as possible through the opening position of the excitation coil 3032a; the length of one period of the excitation coil 3032a in space is called the spatial wavelength, and the current passing through the excitation coil 3032a is called the excitation current. The excitation current has a certain fluctuation amplitude, fluctuation shape and fluctuation frequency. The excitation current will generate a periodically changing induced magnetic field around the coil. The induced magnetic field acts on the material to be tested, and a periodically changing circular current is excited inside the material to be tested, which is called eddy current. The eddy current will generate a periodically changing magnetic field around it, and the magnetic field and the magnetic field induced by the excitation current act together on the induction coil. The two induction coils 3032b are distributed on both sides of the excitation coil 3032a. Each induction coil 3032b includes multiple sub-coils, which are embedded in the "J"-shaped concave area (in the groove) of the excitation coil 3032a. Each sub-coil will generate an induced voltage when it is acted upon by the magnetic field. The induced voltages on multiple sub-coils on an induction coil are accumulated to become the induced voltage of the induction coil. If the inspected material at any sub-coil position has defects, the induced voltage of the sub-coil will change, thereby changing the induced voltage of the induction coil, thereby realizing the detection of defects. After the alternating voltage is applied to both ends of the excitation coil 3032a, an induced magnetic field will be generated inside the excitation coil 3032a, and the induced magnetic field will act on the inner wall of the measured pipe, and eddy currents will be generated inside the inner wall of the measured pipe, and the eddy currents will generate secondary magnetic fields, which act on the induction coil 3032b. The secondary magnetic field is affected by changes in the shape, size, material properties, etc. of the measured pipe. The detection signal of eddy current change can be obtained by measuring the secondary magnetic field with the induction coil 3032b, and the defect can be evaluated by the change of the detection signal; the eddy current leakage coil 3032 composed of the excitation coil 3032a and the induction coil 3032b has the ability of rapid scanning, ensuring the accuracy and stability of detection, thereby further improving the accuracy of pipeline detection. The induction signal detected by the eddy current leakage coil 3032 and the induction coil 3032b is uploaded to the central controller for processing through the data acquisition card 300, and then sent to the remote host computer through the wireless communication module.By using two permanent magnets 3031 with opposite polarities to provide the magnetic field required for magnetic flux leakage detection, magnetic flux leakage detection is performed on the side wall of the tested pipeline, and defects on the inner and outer surfaces of the tested pipeline can be detected. At the same time, the eddy current detection effect of the tested pipeline in a magnetized saturated state is better than the eddy current detection effect of an unmagnetized ferromagnetic workpiece. The excitation coil 3032a and the induction coil 3032b are placed above the inner wall of the tested pipeline in a magnetized saturated or near-saturated state, and the surface defects of the inner wall of the tested pipeline can be detected. Combined with the detection result of the magnetic flux leakage sensor 304, the upper and lower surface conditions of the defects can be determined. Not only is the structure simple and the detection accuracy high, but it can also well meet the requirements of natural gas pipeline detection.

[0034] In the present utility model, if Figure 4 As shown, the image detection mechanism 6 is arranged on the periphery of the circumference of the tube body 10 near the periphery of the rear end of the tube body 10 and close to the rear end side of the ring detection bracket 301, and the image detection mechanism 6 fixed to the periphery of the circumference of the tube body 10 is arranged on the periphery of the screw motor 33 near the rear end side of the ring detection bracket 301. The image collected by the image detection mechanism 6 is uploaded to the host computer through the data acquisition card 300 and the central controller. The image detection mechanism 6 includes a detection support ring 60 and an image acquisition module 61 arranged on the detection support ring 60. The height of the detection support ring 60 relative to the outer wall of the tube body 10 is lower than the height of the ring detection bracket 301. A groove 62 is arranged on the circumferential outer wall of the detection support ring 60, and an image acquisition module 61 is arranged in the groove 62 for detecting the condition of the inner wall of the tube body 1 before and after cleaning. The image acquisition module 61 is a camera, and the camera adopts an infrared CCD camera.

[0035] In the present utility model, combined with Figures 1 to 8As shown, when the entire mobile carrier 1 is placed in the pipeline for cleaning and defect detection, the pipeline cleaning unit 2 and the eddy current leakage magnetic measurement unit 3 on the mobile carrier 1 are moved into the pipeline in sequence. According to the size of the inner diameter of the pipeline, the screw motor 115 is first started to adjust the distance and contact pressure between the steering gear walking wheel 11 and the inner wall of the pipeline to ensure that the steering gear walking wheel 11 can stably guide and support the entire pipe body 10, and then the variable diameter driving motor 203 of the pipeline cleaning unit 2 is started to drive the variable diameter driving disk 206, the variable diameter driving arm 207, and the variable diameter driving connecting rod 208 to rotate together, and drive the radial telescopic cylinder arm 205 to perform a telescopic action in the radial direction, so that each arc block 201a moves radially outward or radially inward, and the radial distance of the entire brush head 200 inside the pipeline is adjusted, so that the pipeline cleaning The cleaning unit 2 adapts to the diameter of the inner wall of the pipeline for cleaning, and then starts the rotating cleaning motor 202 to drive the brush head 200 to rotate to clean the inner wall of the pipeline. At the same time, the steering gear walking wheel 11 drives the pipe body 10 to move along the inner wall of the pipeline during the rolling process. The eddy current leakage magnetic coil 3032 and the leakage magnetic sensor 304 arranged on the ring detection bracket 301 perform leakage magnetic and eddy current change detection on the inner wall of the pipeline, obtain the defect data of the inner wall of the pipeline, and transmit the detection data to the remote host computer (backend server) through the wireless communication module. The positioning module adopts the Beidou positioning module to obtain the real-time latitude and longitude information of the detection robot, so as to accurately obtain the position information of the robot inside the pipeline, and can transmit the real-time information of the detection robot to the outside world through the wireless communication module, so that the outside world can accurately control the working status of the robot at any time.

[0036] The above is only a preferred embodiment of the utility model. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the utility model. These improvements and modifications should also be regarded as the scope of protection of the utility model.

Claims

1. A pipeline inspection robot based on eddy current magnetic flux leakage composite inspection technology, characterized by: The pipeline inspection robot comprises a mobile carrier (1) capable of moving along a pipeline (100), an eddy current leakage magnetic measurement unit (3), a detection control unit (4) and a power module (5) arranged on the mobile carrier (1), the mobile carrier (1) comprising a pipe body (10) and a plurality of rows of steering gear running wheels (11) arranged on a circumferential outer wall between two ends of the pipe body (10), the detection control unit (4) and the power module (5) being arranged inside the rear end of the pipe body (10), the power output end of the power module (5) being connected to the power end of the steering gear running wheels (11), the eddy current leakage magnetic measurement unit (3), the detection control unit (4) and the power module (5) being connected to the power output end of the eddy current leakage magnetic measurement unit (3), the detection control unit (4) and the power module (5) being connected to the power output end of the eddy current leakage magnetic measurement unit (3), the detection control unit (4) and the power module (5) The power supply end of the magnetic flux leakage measurement unit (3) is electrically connected to the power supply end of the detection control unit (4); the control end on the mobile carrier (1) and the detection output end of the eddy current magnetic flux leakage measurement unit (3) are respectively connected to the detection control unit (4); the detection control unit (4) comprises a central controller, a positioning module, a wireless communication module and a posture sensor; the control end of the steering gear running wheel (11), the detection output end of the eddy current magnetic flux leakage measurement unit (3), the signal output end of the positioning module, the communication end of the wireless communication module and the acquisition output end of the posture sensor are respectively connected to the central controller.

2. The pipeline inspection robot based on eddy current magnetic flux leakage composite inspection technology according to claim 1 is characterized by: The eddy current magnetic flux leakage measurement unit (3) comprises a data acquisition card (300) arranged inside the rear end of the tube body (10), a circular ring detection bracket (301) arranged outside the circumference of the rear end of the tube body (10), and a plurality of sensor detection components (302) arranged at equal intervals along the circumference of the circular ring detection bracket (301), wherein the sensor detection component (302) comprises an eddy current detection probe (303) and a magnetic flux leakage sensor (304), and the detection output end of the eddy current detection probe (303) and the detection output end of the magnetic flux leakage sensor are respectively connected to the collection input end of the central controller through the data acquisition card (300).

3. The pipeline inspection robot based on eddy current magnetic flux leakage composite inspection technology according to claim 2 is characterized by: The eddy current detection probe (303) comprises an armature (3030), a permanent magnet (3031) and an eddy current leakage magnetic coil (3032); the armature (3030) is connected to the annular detection bracket (301) via a screw (3033); permanent magnets (3031) with opposite polarities are respectively arranged vertically at both ends of the armature (3030); the eddy current leakage magnetic coil (3032) and the leakage magnetic sensor (304) are arranged in the area between the two permanent magnets (3031) with opposite polarities; and the detection output end of the eddy current leakage magnetic coil (3032) is connected to the collection input end of the central controller via a data collection card (300).

4. The pipeline inspection robot based on eddy current magnetic flux leakage composite inspection technology according to claim 3 is characterized by: The eddy current leakage magnetic coil (3032) is composed of an excitation coil (3032a) and an induction coil (3032b) distributed on both sides of the excitation coil (3032a); the excitation coil (3032a) is arranged in a periodic "X" shape; the induction coil (3032b) is continuously distributed along the edges of both sides of the periodic "X" shape of the excitation coil (3032a); and the output end of the induction coil (3032b) is connected to the collection input end of the central controller through a data collection card (300).

5. The pipeline inspection robot based on eddy current magnetic flux leakage composite inspection technology according to claim 4 is characterized by: The induction coil (3032b) at the opening position of the periodic S-shaped recessed area of ​​the excitation coil (3032a) has two bent portions (3032c) protruding horizontally from the opening edge of the excitation coil (3032a) toward the center.

6. The pipeline inspection robot based on eddy current magnetic flux leakage composite inspection technology according to claim 2 is characterized by: An image detection mechanism (6) is arranged on the circumference of the tube body (10) near the rear end of the tube body (10) and close to the rear end of the annular detection bracket (301).

7. The pipeline inspection robot based on eddy current magnetic flux leakage composite inspection technology according to claim 6 is characterized by: The image detection mechanism (6) comprises a detection support ring (60) and an image acquisition module (61) arranged on the detection support ring (60); the height of the detection support ring (60) relative to the outer wall of the tube body (10) is lower than the height of the ring detection bracket (301); a groove (62) is arranged on the circumferential outer wall of the detection support ring (60), and the image acquisition module (61) is arranged in the groove (62).

8. The pipeline inspection robot based on eddy current magnetic flux leakage composite inspection technology according to claim 7 is characterized by: The image acquisition module (61) is a camera, which is an infrared CCD camera.

9. The pipeline inspection robot based on eddy current magnetic flux leakage composite inspection technology according to claim 1 is characterized by: The pipeline inspection robot further comprises a pipeline cleaning unit (2) arranged on the mobile carrier (1), the pipeline cleaning unit (2) being arranged on the periphery of the front end circumference of the pipe body (10), and the eddy current leakage magnetic measurement unit (3) being arranged on the periphery of the rear end circumference of the pipe body (10), the power output end of the power module (5) being electrically connected to the power end of the pipeline cleaning unit (2), the control end of the pipeline cleaning unit (2) being connected to the central controller, the pipeline cleaning unit (2) comprising a brush head (200) and a rotary cleaning motor (202), the power end of the rotary cleaning motor (202) and the power end of the variable diameter driving motor (203) being respectively connected to the power output end of the power module (5), the fixed end of the rotary cleaning motor (202) being fixed at the center of the front end of the pipe body (10), and the output shaft of the rotary cleaning motor (202) extending from the center of the pipe body (10) to the front end of the outer axial direction and then being provided with a brush head (200).

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