Method and device for distinguishing defects of inner and outer walls of pipelines using pipeline internal detector

Abstract

The present invention belongs to the technical field of non-destructive testing of pipelines. In order to obtain the precise location of pipeline defects, it specifically relates to a method and device for distinguishing defects on the inner and outer walls of a pipeline using an in-pipe detector; a three-dimensional leakage magnetic field measurement system and an eddy current measurement system are arranged on a probe of the in-pipe detector according to a preset spatial position; the three-dimensional leakage magnetic field measurement system includes an axial Hall sensor assembly, a circumferential Hall sensor assembly, and a radial Hall sensor assembly; the eddy current measurement system includes a first eddy current sensor coil and a second eddy current sensor coil; the in-pipe detector moves along the inner wall of the pipeline, and the three-dimensional leakage magnetic field measurement system captures leakage magnetic field intensity information in real time; the eddy current measurement system obtains inner wall defect information in real time; the main control center determines whether there is a defect in the pipeline through signal processing and calculation based on the detected information, and if there is a defect, obtains the size parameters of the pipeline defect and the defect location; the method has high accuracy and can obtain detailed and accurate defect location information.

Description

Technical Field

[0001] The present invention belongs to the technical field of pipeline non-destructive testing, and in particular relates to a method and a device for distinguishing defects of inner and outer walls of a pipeline by using an in-pipeline detector. Background Art

[0002] During the construction and operation of long-distance oil and gas pipelines, wall thickness changes due to improper welding, mechanical damage, and localized corrosion can create localized defects that pose a threat to safe operation. In-pipeline inspection is the most effective method for assessing the safety status of the pipeline itself and its environment, and has become a crucial component in ensuring the continued safe operation of oil and gas pipelines. To obtain detailed defect information and provide a reference for future pipeline integrity management, distinguishing between inner and outer wall defects has become a fundamental requirement for intelligent inspection of in-service pipelines. Summary of the Invention

[0003] In order to solve the above-mentioned problems in the prior art, that is, to obtain the precise location of pipeline defects, the present invention provides a method and device for distinguishing defects on the inner and outer walls of a pipeline using an in-pipeline detector.

[0004] A first aspect of the present invention provides a method for distinguishing defects on the inner and outer walls of a pipeline using an in-pipeline detector, the method comprising the following steps: step S100, arranging a three-dimensional magnetic field leakage measurement system and an eddy current measurement system according to preset spatial positions on a probe of the in-pipeline detector;

[0005] The three-dimensional leakage magnetic field measurement system includes an axial Hall sensor assembly, a circumferential Hall sensor assembly and a radial Hall sensor assembly, wherein the axial Hall sensor assembly, the circumferential Hall sensor assembly and the radial Hall sensor assembly are respectively arranged on three planes and the three planes are perpendicular to each other;

[0006] The eddy current measurement system includes a first eddy current sensor coil and a second eddy current sensor coil, the first eddy current sensor coil and the second eddy current sensor coil are respectively arranged at a first end and a second end of the three-dimensional leakage magnetic field measurement system, a line connecting the first end and the second end is parallel to the longitudinal axis of the pipeline, and the first end is the traveling end of the detector in the pipeline;

[0007] Step S200: The detector in the pipeline moves along the inner wall of the pipeline under the drive of the power device, and the three-dimensional leakage magnetic field measurement system captures the leakage magnetic field intensity information in real time; the leakage magnetic field intensity measured by the axial Hall sensor component after passing through the defect is h x The circumferential Hall sensor assembly passes through the defect and measures the leakage magnetic field strength as h y The radial Hall sensor assembly passes through the defect and the measured leakage magnetic field strength is h z ;

[0008] The eddy current measurement system obtains inner wall defect information in real time; the signal measured by the first eddy current sensor coil passing through the defect is s1; the signal measured by the second eddy current sensor coil passing through the defect is s2;

[0009] In step S300, the main control center determines whether there is a defect in the pipeline through signal processing and calculation based on the information detected by the three-dimensional magnetic field leakage measurement system and the eddy current measurement system. If a defect is present, the size parameters and location of the pipeline defect are obtained; the three-dimensional magnetic field leakage measurement system, the eddy current measurement system, and the in-pipeline detector are all connected to the main control center by signal.

[0010] In some preferred embodiments, the size parameters of the pipeline defect include defect length L, defect width W and defect depth D;

[0011] L=α*h x ;

[0012]

[0013]

[0014] α is the correlation coefficient between the X-direction leakage magnetic field intensity and the defect length; β is the correlation coefficient between the Y-direction leakage magnetic field intensity and the defect width; γ is the correlation coefficient between the Z-direction leakage magnetic field intensity and the defect depth;

[0015] a, b, a`, b`, c` are calculation coefficients; n1 and n3 are power exponents of the leakage magnetic field intensity in the X direction;

[0016] n2 and n4 are the power exponents of the leakage magnetic field strength in the Y direction; n5 is the power exponent of the leakage magnetic field strength in the Z direction.

[0017] In some preferred embodiments, when the three-dimensional magnetic field leakage measurement system has a signal and the eddy current measurement system has no signal, it is determined that there is a defect in the outer wall of the pipeline;

[0018] When the three-dimensional magnetic field leakage measurement system has a signal and the eddy current measurement system has a signal, it is determined that there is a defect on the inner wall of the pipeline.

[0019] In some preferred embodiments, during operation, when the in-pipe detector moves to a defect on the inner wall of the pipeline, the signal detected by the first eddy current sensor coil is a defect signal, and the signal detected by the second eddy current sensor coil is a normal pipe wall signal. The master control center obtains an eddy current signal V based on the signals detected by the first eddy current sensor coil and the second eddy current sensor coil.

[0020] V=n(s1-s2); wherein n is the amplification factor of the signal by the processing circuit.

[0021] In some preferred embodiments, during operation, the signal detected by the first eddy current sensor coil is sent to a first high-pass filter; the signal detected by the second eddy current sensor coil is sent to a second high-pass filter;

[0022] The signals transmitted to the first high-pass filter and the second high-pass filter are sequentially passed through a subtractor, a detector, a low-pass filter, and an amplifier to output the eddy current signal.

[0023] In some preferred embodiments, the axial Hall sensor assembly includes a plurality of axial Hall sensors, and the plurality of axial Hall sensors are equidistantly arranged along the axial direction of the pipeline.

[0024] In some preferred embodiments, the circumferential Hall sensor assembly includes a plurality of circumferential Hall sensors, and the plurality of circumferential Hall sensors are equidistantly arranged along the circumference of the pipeline.

[0025] In some preferred embodiments, the radial Hall sensor assembly includes a plurality of radial Hall sensors, and the plurality of radial Hall sensors are equidistantly arranged along the radial direction of the pipeline.

[0026] In some preferred embodiments, the distance between two adjacent axial Hall sensors is 6 mm;

[0027] The distance between two adjacent circumferential Hall sensors is 6 mm;

[0028] The distance between two adjacent radial Hall sensors is 6 mm.

[0029] A second aspect of the present invention provides a device for distinguishing defects on the inner and outer walls of a pipeline using a detector inside the pipeline, the device comprising a leather cup pressure plate, a leather cup, a front leather cup mounting bracket, a steel brush, a magnet, a probe assembly, an iron core, a rear leather cup mounting plate, and a universal joint assembly;

[0030] The leather cup pressure plate is mounted on the outer side of the leather cup, and the inner side of the leather cup is mounted on the iron core through the front leather cup mounting bracket;

[0031] A steel brush is provided on the outside of the first section of the iron core, a magnet is provided between the steel brush and the outer wall of the iron core, and the end of the steel brush is fitted into the inside of the pipe;

[0032] The probe assembly is arranged outside the second section of the core to detect the pipeline during travel;

[0033] The outer side of the third section of the iron core is configured in the same manner as the outer side of the first section of the iron core;

[0034] The rear leather cup at the other end of the iron core is connected to the iron core through a rear leather cup mounting plate; the rear leather cup is connected to the cabin assembly through the universal joint assembly;

[0035] The cabin assembly includes a front cabin cover, a cabin body and a rear cabin cover, wherein the cabin body is arranged between the front cabin cover and the rear cabin cover, and the interior of the cabin body is used to arrange a battery electronic pack assembly;

[0036] The active part of the probe assembly is a probe, on which a three-dimensional leakage magnetic field measurement system and an eddy current measurement system are arranged according to preset spatial positions; the three-dimensional leakage magnetic field measurement system includes an axial Hall sensor assembly, a circumferential Hall sensor assembly, and a radial Hall sensor assembly, wherein the axial Hall sensor assembly, the circumferential Hall sensor assembly, and the radial Hall sensor assembly are respectively arranged in three planes and the three planes are perpendicular to each other;

[0037] The eddy current measurement system includes a first eddy current sensor coil and a second eddy current sensor coil, the first eddy current sensor coil and the second eddy current sensor coil are respectively arranged at a first end and a second end of the three-dimensional leakage magnetic field measurement system, a line connecting the first end and the second end is parallel to the longitudinal axis of the pipeline, and the first end is the traveling end of the detector in the pipeline;

[0038] The device moves along the inner wall of the pipeline under the drive of a power device, and the three-dimensional leakage magnetic field measurement system captures leakage magnetic field intensity information in real time;

[0039] The axial Hall sensor assembly is used to detect the intensity of the defect leakage magnetic field in the X direction of the pipeline;

[0040] The circumferential Hall sensor assembly is used to detect the intensity of the defect leakage magnetic field in the Y direction of the pipeline;

[0041] The radial Hall sensor assembly is used to detect the intensity of the defect leakage magnetic field in the Z direction of the pipeline;

[0042] The eddy current measurement system obtains inner wall defect information in real time.

[0043] The beneficial effects of the present invention are:

[0044] 1) The present invention provides a measurement method for distinguishing defects on the inner and outer walls of a pipeline using an in-pipe detector that is applicable to a wide range of pipeline diameters, is easy to integrate with a pig or detector, has a short preparation cycle, high accuracy, a simple and reliable structure, strong impact resistance, and good stability. The method integrates corresponding types of Hall sensors and eddy current sensors into an existing pipeline magnetic flux leakage detector to track and capture changes in the leakage magnetic field signal and eddy current signal during the operation of the detector. Eddy current information is obtained through circuit processing and calculation. Without changing the mechanical structure of the magnetic flux leakage detector, defects on the inner and outer walls of the pipeline can be distinguished by changing the circuit design, thereby improving the pipeline defect information.

[0045] 2) Compared with the prior art, the present invention has the following characteristics: it is applicable to a wide range of pipeline diameters, is easy to integrate with the detector electronic system, saves development costs, has a simple and reliable structure, high precision and good stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Other features, objects and advantages of the present application will become more apparent upon reading the detailed description of non-limiting embodiments made with reference to the following drawings:

[0047] Figure 1 Schematic diagram of the steps of the method for distinguishing defects on the inner and outer walls of a pipeline using the in-pipeline detector of the present invention;

[0048] Figure 2 This is a schematic diagram of a method for distinguishing defects on the inner and outer walls of a pipeline by using the pipeline detector in the present invention;

[0049] Figure 3 It is a functional schematic diagram of the eddy current measurement system in the present invention;

[0050] Figure 4 It is a functional schematic diagram of the signal acquisition system in the present invention;

[0051] Figure 5 This is a schematic diagram of a specific embodiment of a device for distinguishing defects on the inner and outer walls of a pipeline for use as an in-pipeline detector in the present invention;

[0052] Figure 6 yes Figure 5 Schematic diagram of the probe structure.

[0053] Explanation of the accompanying reference numerals: 1. Leather cup pressure plate; 2. Leather cup; 3. Front leather cup mounting bracket; 4. Steel brush; 5. Magnet; 6. Probe assembly; 7. Iron core; 8. Rear leather cup mounting plate; 9. Universal joint assembly; 10. Front hatch; 11. Battery electronic package assembly; 12. Cabin body; 13. Rear hatch; 14. Pipe wall defect; 111. First eddy current sensor coil, 112. First eddy current sensor coil; 120. Radial Hall sensor; 130. Circumferential Hall sensor; 140. Axial Hall sensor. DETAILED DESCRIPTION

[0054] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principles of the present invention and are not intended to limit the scope of protection of the present invention.

[0055] The present invention is further described below with reference to the accompanying drawings and embodiments.

[0056] Refer to the attached Figure 1 To the attached Figure 4 And attached Figure 6A first aspect of the present invention provides a method for distinguishing defects on the inner and outer walls of a pipeline using an in-pipe detector, the method comprising the following steps:

[0057] Step S100: Arrange a three-dimensional leakage magnetic field measurement system and an eddy current measurement system on the probe of the detector in the pipeline according to a preset spatial position; wherein the three-dimensional leakage magnetic field measurement system includes an axial Hall sensor assembly, a circumferential Hall sensor assembly, and a radial Hall sensor assembly. The axial Hall sensor assembly, the circumferential Hall sensor assembly, and the radial Hall sensor assembly are respectively arranged on three planes and the three planes are perpendicular to each other, that is, the axial Hall sensor assembly, the circumferential Hall sensor assembly, and the radial Hall sensor assembly are distributed on three mutually perpendicular planes composed of the X, Y, and Z coordinate axes, and the Hall sensors are distributed according to the axial (X), circumferential (Y), and radial (Z) directions of the pipeline.

[0058] The eddy current measurement system includes a first eddy current sensor coil 111 and a second eddy current sensor coil 112. The first eddy current sensor coil and the second eddy current sensor coil are respectively arranged at the first end and the second end of the three-dimensional leakage magnetic field measurement system. The line connecting the first end and the second end is parallel to the longitudinal axis of the pipeline, and the first end is the traveling end of the detector in the pipeline.

[0059] In step S200, the detector in the pipeline moves along the inner wall of the pipeline under the drive of the power device, and the three-dimensional leakage magnetic field measurement system captures the leakage magnetic field intensity information in real time; the leakage magnetic field intensity measured by the axial Hall sensor component after passing through the defect is h x The leakage magnetic field strength measured by the circumferential Hall sensor assembly through the defect is h y ; The leakage magnetic field strength measured by the radial Hall sensor component through the defect is h z ;

[0060] The eddy current measurement system obtains the inner wall defect information in real time; the signal measured by the first eddy current sensor coil passing through the defect is s1; the signal measured by the second eddy current sensor coil passing through the defect is s2; generally, when the first eddy current sensor coil passes through the defect and the second eddy current sensor coil passes through the normal pipe wall, s1 is the eddy current signal measured when passing through the inner wall defect, and s2 is the eddy current signal measured when passing through the normal pipe wall.

[0061] In step S300, the main control center determines whether there is a defect in the pipeline through signal processing and calculation based on the information detected by the 3D leakage magnetic field measurement system and the eddy current measurement system. If a defect is present, the size parameters and location of the pipeline defect are obtained. The 3D leakage magnetic field measurement system, the eddy current measurement system, and the in-pipeline detector are all connected to the main control center through signal communication.

[0062] The method disclosed in the present invention integrates corresponding types of Hall sensors and eddy current sensors into an existing pipeline magnetic flux leakage detector to track and capture changes in the leakage magnetic field signal and eddy current signal during the operation of the detector; eddy current information is obtained through circuit processing and calculation. Without changing the mechanical structure of the magnetic flux leakage detector, defects on the inner and outer walls of the pipeline can be distinguished by changing the circuit design, thereby improving the defect information of the pipeline.

[0063] Furthermore, the size parameters of the pipeline defect include defect length L, defect width W and defect depth D;

[0064] L=α*h x ;

[0065]

[0066]

[0067] Among them, α is the correlation coefficient between the leakage magnetic field intensity in the X direction and the defect length; β is the correlation coefficient between the leakage magnetic field intensity in the Y direction and the defect width; γ is the correlation coefficient between the leakage magnetic field intensity in the Z direction and the defect depth; a, b, a, b`, c` are calculation coefficients; n1 and n3 are the power exponents of the leakage magnetic field intensity in the X direction; n2 and n4 are the power exponents of the leakage magnetic field intensity in the Y direction; and n5 is the power exponent of the leakage magnetic field intensity in the Z direction.

[0068] When the three-dimensional leakage magnetic field measurement system has no signal, it is judged that the pipeline is not corroded; when the three-dimensional leakage magnetic field measurement system has a signal and the eddy current measurement system has no signal, it is judged that there is a defect in the outer wall of the pipeline; when the three-dimensional leakage magnetic field measurement system has a signal and the eddy current measurement system has a signal, it is judged that there is a defect in the inner wall of the pipeline.

[0069] During operation, when the detector in the pipeline runs to a defect on the inner wall of the pipeline, the signal detected by the first eddy current sensor coil is a defect signal, and the signal detected by the second eddy current sensor coil is a normal pipe wall signal. The main control center obtains the eddy current signal V based on the signals detected by the first eddy current sensor coil and the second eddy current sensor coil; V=n(s1-s2); where n is the amplification factor of the signal by the processing circuit; that is, in this embodiment, the signals detected by the first eddy current sensor coil and the second eddy current sensor coil are filtered, differentially processed, amplified and detected to output the eddy current signal V; in other words, the corrosion inside the buried long-distance pipeline can be obtained by processing the eddy current signals collected by the front and rear coils of the eddy current sensor.

[0070] The solution disclosed by the present invention is applicable to a wide range of pipeline diameters, is easy to integrate with the detector electronic system, saves development costs, has a simple and reliable structure, high precision and good stability.

[0071] Furthermore, during operation, the signal detected by the first eddy current sensor coil is sent to the first high-pass filter; the signal detected by the second eddy current sensor coil is sent to the second high-pass filter; the signals transmitted to the first high-pass filter and the second high-pass filter pass through the subtractor, detector, low-pass filter, and amplifier in sequence to output the eddy current signal V.

[0072] The axial Hall sensor assembly includes a plurality of axial Hall sensors 140 , which are equidistantly arranged along the axial direction of the pipeline.

[0073] The circumferential Hall sensor assembly includes a plurality of circumferential Hall sensors 130 , which are arranged at equal intervals along the circumference of the pipeline.

[0074] The radial Hall sensor assembly includes a plurality of radial Hall sensors 120 , which are arranged at equal intervals along the radial direction of the pipeline.

[0075] To meet the requirements of high-definition detection technology, the circumferential spacing of the Hall sensors in each of the X, Y, and Z directions must be less than 10 mm. The number of Hall sensors in each direction can be determined based on the size of the eddy current coil and probe. In this solution, six Hall sensors are used in each direction.

[0076] For further information, please refer to the attached Figure 6 , the axial direction consists of a Hall element in the X, Y, and Z directions to form a channel. Figure 6 A horizontal row in the middle forms a channel. To ensure alignment of the detection data and facilitate analysis, the axial alignment spacing of the Hall elements in each channel is designed to be an integer multiple of the data sampling spacing. This solution designs six channels with a spacing of 4mm.

[0077] The two coils in the eddy current sensor (i.e., the first eddy current sensor coil 111 and the second eddy current sensor coil 112) are composed of two 150-turn coils, axially aligned and parallel to each other on both sides of the probe. The probe parameters are as follows:

[0078] Table 1

[0079]

[0080] Preferably, the distance between two adjacent axial Hall sensors is 6 mm.

[0081] Preferably, the distance between two adjacent circumferential Hall sensors is 6 mm.

[0082] Preferably, the distance between two adjacent radial Hall sensors is 6 mm.

[0083] In this embodiment, the size parameters and eddy current signals of pipeline defects are obtained through signal processing and calculation. Specifically, the signals detected by the Hall sensor and eddy current sensor of each channel are sequentially transmitted through the signal conditioning circuit, the multi-way switch, the corresponding analog / digital conversion circuit, the communication interface module, and the FPGA to the data storage management module for output and storage of the corresponding signals.

[0084] Refer to the attached Figure 5 and attached Figure 6 The second aspect of the present invention provides a device for distinguishing defects on the inner and outer walls of a pipeline using a detector inside the pipeline, the device comprising a leather cup pressure plate 1, a leather cup 2, a front leather cup mounting bracket 3, a steel brush 4, a magnet 5, a probe assembly 6, an iron core 7, a rear leather cup mounting plate 8 and a universal joint assembly 9; the leather cup pressure plate is mounted on the outer side of the leather cup, and the inner side of the leather cup is mounted on the iron core through the front leather cup mounting bracket; a steel brush is provided on the outer side of the first section of the iron core, a magnet is provided between the steel brush and the outer wall of the iron core, and the end of the steel brush is fitted with the inside of the pipeline; the probe assembly is provided on the outer side of the second section of the iron core to detect the pipeline during movement; the outer side of the third section of the iron core is arranged in the same manner as the outer side of the first section of the iron core; the rear leather cup at the other end of the iron core is connected to the iron core through the rear leather cup mounting plate; the rear leather cup is connected to the cabin assembly through the universal joint assembly.

[0085] The cabin assembly includes a front cabin cover 10 , a cabin body 12 and a rear cabin cover 13 . The cabin body is arranged between the front cabin cover and the rear cabin cover, and the interior of the cabin body is used to arrange a battery electronic package assembly 11 .

[0086] Furthermore, the active part of the probe assembly is the probe, on which a three-dimensional leakage magnetic field measurement system and an eddy current measurement system are arranged according to preset spatial positions; the three-dimensional leakage magnetic field measurement system includes an axial Hall sensor assembly, a circumferential Hall sensor assembly, and a radial Hall sensor assembly, and the axial Hall sensor assembly, the circumferential Hall sensor assembly, and the radial Hall sensor assembly are respectively arranged in three planes and the three planes are perpendicular to each other;

[0087] The eddy current measurement system includes a first eddy current sensor coil 111 and a second eddy current sensor coil 112. The first eddy current sensor coil and the second eddy current sensor coil are respectively arranged at the first end and the second end of the three-dimensional leakage magnetic field measurement system. The line connecting the first end and the second end is parallel to the longitudinal axis of the pipeline, and the first end is the traveling end of the detector in the pipeline; the device moves along the inner wall of the pipeline under the drive of the power device, and the three-dimensional leakage magnetic field measurement system captures the leakage magnetic field intensity information in real time; the axial Hall sensor assembly is used to detect the defect leakage magnetic field intensity of the pipeline in the X direction; the circumferential Hall sensor assembly is used to detect the defect leakage magnetic field intensity of the pipeline in the Y direction; the radial Hall sensor assembly is used to detect the defect leakage magnetic field intensity of the pipeline in the Z direction; the eddy current measurement system obtains the inner wall defect information in real time.

[0088] Although the present invention has been described with reference to preferred embodiments, various modifications may be made thereto and equivalent components may be substituted without departing from the scope of the present invention. In particular, the various technical features described in the various embodiments may be combined in any manner as long as no structural conflicts exist. The present invention is not limited to the specific embodiments disclosed herein, but encompasses all technical solutions within the scope of the claims.

[0089] In the description of the present invention, terms such as "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer" indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings. These are intended solely for ease of description and are not intended to indicate or imply that the device or component described must have, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not intended to indicate or imply relative importance.

[0090] Furthermore, it should be noted that, in the description of the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0091] The term "comprise" or any other similar term is intended to cover non-exclusive inclusion, such that a process, article, or apparatus / device that comprises a list of elements includes not only those elements but also other elements not expressly listed or inherent to such process, article, or apparatus / device.

[0092] Thus far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it will be readily understood by those skilled in the art that the scope of protection of the present invention is obviously not limited to these specific embodiments. Without departing from the principles of the present invention, those skilled in the art may make equivalent changes or substitutions to the relevant technical features, and the technical solutions after such changes or substitutions will fall within the scope of protection of the present invention.

Claims

1. A method for distinguishing defects on the inner and outer walls of a pipeline using a pipeline detector, characterized in that: The method comprises the following steps: Step S100: arranging a three-dimensional magnetic field leakage measurement system and an eddy current measurement system on a probe of a detector in a pipeline according to a preset spatial position; The three-dimensional leakage magnetic field measurement system includes an axial Hall sensor assembly, a circumferential Hall sensor assembly and a radial Hall sensor assembly, wherein the axial Hall sensor assembly, the circumferential Hall sensor assembly and the radial Hall sensor assembly are respectively arranged on three planes and the three planes are perpendicular to each other; The eddy current measurement system includes a first eddy current sensor coil and a second eddy current sensor coil, the first eddy current sensor coil and the second eddy current sensor coil are respectively arranged at a first end and a second end of the three-dimensional leakage magnetic field measurement system, a line connecting the first end and the second end is parallel to the longitudinal axis of the pipeline, and the first end is the traveling end of the detector in the pipeline; Step S200: The detector in the pipeline moves along the inner wall of the pipeline under the drive of the power device, and the three-dimensional leakage magnetic field measurement system captures the leakage magnetic field intensity information in real time; the leakage magnetic field intensity measured by the axial Hall sensor component after passing through the defect is h x The circumferential Hall sensor assembly passes through the defect and measures the leakage magnetic field strength as h y The radial Hall sensor assembly passes through the defect and the measured leakage magnetic field strength is h z ; The eddy current measurement system obtains inner wall defect information in real time; the signal measured by the first eddy current sensor coil passing through the defect is s1; the signal measured by the second eddy current sensor coil passing through the defect is s2; In step S300, the main control center determines whether there is a defect in the pipeline through signal processing and calculation based on the information detected by the three-dimensional magnetic field leakage measurement system and the eddy current measurement system. If a defect is present, the size parameters and location of the pipeline defect are obtained; the three-dimensional magnetic field leakage measurement system, the eddy current measurement system, and the in-pipeline detector are all connected to the main control center by signal.

2. The method for distinguishing defects on the inner and outer walls of a pipeline using an in-pipeline detector according to claim 1, characterized in that: The size parameters of pipeline defects include defect length L, defect width W and defect depth D; L=α*h x ; α is the correlation coefficient between the X-direction leakage magnetic field intensity and the defect length; β is the correlation coefficient between the Y-direction leakage magnetic field intensity and the defect width; γ is the correlation coefficient between the Z-direction leakage magnetic field intensity and the defect depth; a, b, a`, b`, c` are calculation coefficients; n1 and n3 are the power exponents of the leakage magnetic field strength in the X direction; n2 and n4 are the power exponents of the leakage magnetic field strength in the Y direction; n5 is the power exponent of the leakage magnetic field strength in the Z direction.

3. The method for distinguishing defects on the inner and outer walls of a pipeline using an in-pipeline detector according to claim 2, characterized in that: When the three-dimensional magnetic field leakage measurement system has a signal and the eddy current measurement system has no signal, it is determined that there is a defect in the outer wall of the pipeline; When the three-dimensional magnetic field leakage measurement system has a signal and the eddy current measurement system has a signal, it is determined that there is a defect on the inner wall of the pipeline.

4. The method for distinguishing defects on the inner and outer walls of a pipeline using an in-pipeline detector according to claim 3, characterized in that: During operation, when the in-pipe detector moves to a defect on the inner wall of the pipeline, the signal detected by the first eddy current sensor coil is a defect signal, and the signal detected by the second eddy current sensor coil is a normal pipe wall signal. The main control center obtains an eddy current signal V based on the signals detected by the first eddy current sensor coil and the second eddy current sensor coil; V=n(s1-s2); wherein n is the amplification factor of the signal by the processing circuit.

5. The method for distinguishing defects on inner and outer walls of a pipeline using an in-pipeline detector according to claim 4, characterized in that: During operation, the signal detected by the first eddy current sensor coil is sent to a first high-pass filter; the signal detected by the second eddy current sensor coil is sent to a second high-pass filter; The signals transmitted to the first high-pass filter and the second high-pass filter are sequentially passed through a subtractor, a detector, a low-pass filter, and an amplifier to output the eddy current signal.

6. The method for distinguishing defects on inner and outer walls of a pipeline using an in-pipeline detector according to claim 1, characterized in that: The axial Hall sensor assembly includes a plurality of axial Hall sensors, which are arranged equidistantly along the axial direction of the pipeline.

7. The method for distinguishing defects on inner and outer walls of a pipeline using an in-pipeline detector according to claim 6, characterized in that: The circumferential Hall sensor assembly includes a plurality of circumferential Hall sensors, which are arranged equidistantly along the circumference of the pipeline.

8. The method for distinguishing defects on inner and outer walls of a pipeline using an in-pipeline detector according to claim 7, characterized in that: The radial Hall sensor assembly includes a plurality of radial Hall sensors, which are arranged at equal intervals along the radial direction of the pipeline.

9. The method for distinguishing defects on inner and outer walls of a pipeline using an in-pipeline detector according to claim 8, characterized in that: The distance between two adjacent axial Hall sensors is 6 mm; The distance between two adjacent circumferential Hall sensors is 6 mm; The distance between two adjacent radial Hall sensors is 6 mm.

10. A device for distinguishing defects on the inner and outer walls of a pipeline using a pipeline detector, characterized in that: The device includes a leather cup pressure plate, a leather cup, a front leather cup mounting bracket, a steel brush, a magnet, a probe assembly, an iron core, a rear leather cup mounting plate and a universal joint assembly; The leather cup pressure plate is mounted on the outer side of the leather cup, and the inner side of the leather cup is mounted on the iron core through the front leather cup mounting bracket; A steel brush is provided on the outside of the first section of the iron core, a magnet is provided between the steel brush and the outer wall of the iron core, and the end of the steel brush is fitted into the inside of the pipe; The probe assembly is arranged outside the second section of the core to detect the pipeline during travel; The outer side of the third section of the iron core is configured in the same manner as the outer side of the first section of the iron core; The rear leather cup at the other end of the iron core is connected to the iron core through a rear leather cup mounting plate; the rear leather cup is connected to the cabin assembly through the universal joint assembly; The cabin assembly includes a front cabin cover, a cabin body and a rear cabin cover, wherein the cabin body is arranged between the front cabin cover and the rear cabin cover, and the interior of the cabin body is used to arrange a battery electronic pack assembly; The active part of the probe assembly is a probe, on which a three-dimensional leakage magnetic field measurement system and an eddy current measurement system are arranged according to preset spatial positions; the three-dimensional leakage magnetic field measurement system includes an axial Hall sensor assembly, a circumferential Hall sensor assembly, and a radial Hall sensor assembly, wherein the axial Hall sensor assembly, the circumferential Hall sensor assembly, and the radial Hall sensor assembly are respectively arranged in three planes and the three planes are perpendicular to each other; The eddy current measurement system includes a first eddy current sensor coil and a second eddy current sensor coil, the first eddy current sensor coil and the second eddy current sensor coil are respectively arranged at a first end and a second end of the three-dimensional leakage magnetic field measurement system, a line connecting the first end and the second end is parallel to the longitudinal axis of the pipeline, and the first end is the traveling end of the detector in the pipeline; The device moves along the inner wall of the pipeline under the drive of a power device, and the three-dimensional leakage magnetic field measurement system captures leakage magnetic field intensity information in real time; The axial Hall sensor assembly is used to detect the intensity of the defect leakage magnetic field in the X direction of the pipeline; The circumferential Hall sensor assembly is used to detect the intensity of the defect leakage magnetic field in the Y direction of the pipeline; The radial Hall sensor assembly is used to detect the intensity of the defect leakage magnetic field in the Z direction of the pipeline; The eddy current measurement system obtains inner wall defect information in real time.

Images