A pipeline detection device based on distributed magnetic uniform sensing

Abstract

The present invention relates to an in-pipeline detection device based on distributed magnetic uniform sensing, belonging to the technical field of pipeline magnetization detection. The in-pipeline detection device based on distributed magnetic uniform sensing comprises: a mobile carrier and a probe detection assembly; the mobile carrier moves in the pipeline; a plurality of probe detection assemblies are arranged on the outside of the mobile carrier, and the plurality of probe detection assemblies are arranged in sequence along the axis of the mobile carrier; the probe detection assembly comprises a plurality of elastic detection ends, and the plurality of elastic detection ends are arranged in a distributed manner around the axis of the mobile carrier; the elastic detection end is provided with an excitation structure, a detection component and a wear-resistant structure; wherein, during detection, the elastic detection end is against the inner wall of the pipeline, the pipeline is magnetized through the excitation structure, and the pipeline defects in the magnetized area are detected through the detection component. The present invention adopts magnetic uniform field coupling sensing detection technology to perform pipeline detection, which can detect both internal defects in the magnetized area of ​​the pipeline and external defects in the magnetized area.

Description

Technical Field

[0001] The invention belongs to the technical field of pipeline magnetization detection, and in particular relates to an in-pipeline detection device based on distributed magnetic uniform sensing. Background Art

[0002] Pipelines are widely used to transport oil, gas, chemicals, water and other industrial media. If there are defects or damage in the pipeline and it is not detected in time, it may cause major accidents such as leakage, fire or even explosion, endangering personal safety and the environment. Through regular inspection, corrosion, cracks, welding defects and other problems in the pipeline can be discovered in advance to prevent catastrophic accidents.

[0003] At present, magnetic flux leakage detection technology is often used to detect pipelines. The conventional magnetization method is the overall magnetization method, which is to use the central cylinder (iron lining), the front and rear sets of steel brushes and the magnetic part to be detected (pipe wall) to form a long magnetic circuit, and the entire pipe section between the front and rear sets of steel brushes is magnetized as a whole. The effective interval of the instantaneous detection of the magnetic sensitive probe is the entire pipe section between the steel brushes, and the defects of the entire magnetized pipe section are detected.

[0004] However, conventional magnetic flux leakage detection technology uses the central cylinder (iron liner) as the yoke part of the magnetic circuit, resulting in strong magnetism in the central cylinder as a whole. Components susceptible to strong magnetic interference, such as energy supply units (batteries) and electronic hardware, cannot be placed in the central cylinder, resulting in low equipment integration and complex structure. This increases the manufacturing difficulty and maintenance cost of the equipment and makes it difficult to pass through narrow pipe areas such as bends and valves. Summary of the invention

[0005] In order to solve the above-mentioned problems in the prior art, the present invention provides an in-pipeline detection device based on distributed magnetic uniform sensing.

[0006] In order to achieve the above object, the technical solution adopted by the present invention is:

[0007] The present invention provides a pipeline detection device based on distributed magnetic uniform sensing, comprising: a mobile carrier and a probe detection component;

[0008] The mobile carrier moves in the pipeline;

[0009] A plurality of the probe detection components are disposed on the outer side of the mobile carrier, and the plurality of the probe detection components are arranged in sequence along the axis of the mobile carrier;

[0010] The probe detection assembly includes a plurality of elastic detection ends, and the plurality of elastic detection ends are distributed and arranged around the axis of the mobile carrier;

[0011] The elastic detection end is provided with an excitation structure, a detection component and a wear-resistant structure;

[0012] During detection, the elastic detection end is pressed against the inner wall of the pipeline, the pipeline is magnetized by the excitation structure, and pipeline defects in the magnetized area are detected by the detection component.

[0013] The beneficial effects of the present invention are embodied in:

[0014] The present invention provides a pipeline detection device based on distributed magnetic uniform sensing, which adopts magnetic uniform field coupling sensing detection technology to perform pipeline detection. It can detect both internal defects in the magnetized area of ​​the pipeline and external defects in the magnetized area. It does not need to use a central cylinder as a magnetic circuit, which is convenient for device layout, improves equipment integration, has a simple structure, reduces the manufacturing difficulty and maintenance cost of the equipment, and is conducive to passing through narrow pipeline areas such as bends and valves. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 A schematic diagram of the three-dimensional structure of a pipeline detection device based on distributed magnetic uniform sensing provided by the present invention;

[0016] Figure 2 A front view schematic diagram of a pipeline detection device based on distributed magnetic uniform sensing provided by the present invention;

[0017] Figure 3 An axonometric diagram of a single detection probe assembly provided by the present invention;

[0018] Figure 4 A side view of a single detection probe assembly provided by the present invention;

[0019] Figure 5 A partial view of a single detection probe assembly provided by the present invention at a fixed installation position;

[0020] Figure 6 A schematic diagram of the unfolding and flattening of a two-circle probe detection assembly provided by the present invention;

[0021] Figure 7 A schematic diagram of the installation of a small-sized wear-resistant body provided by the present invention;

[0022] Figure 8 A front view of a small-sized wear-resistant body provided by the present invention;

[0023] Fig. 9 A schematic diagram of the installation of a large-sized wear-resistant body provided by the present invention.

[0024] Description of reference numerals:

[0025] 1-mobile carrier, 2-probe detection assembly, 21-connection end, 211-fixed card table, 22-transition connection end, 23-elastic detection end, 231-fixed pad, 2311-fixed inclined plane, 2312-strip countersunk hole, 232-fixed cover plate, 2321-recessed countersunk platform, 2322-limiting convex ridge 1, 2323-limiting convex ridge 2, 233-small size wear-resistant body, 2331-wear-resistant spherical surface, 2332-conical wear-resistant body, 2333-limiting cylinder, 234-large size wear-resistant body, 2341-wear-resistant arc surface, 2342-central concave body, 2343-strip boss, 235-magnetic sensor, 236-magnetized area, 24-transition fillet, 25-cable, 26-deformation groove, 3-mileage detection component, 4-sealing leather cup, 5-pressure-resistant connector, 6-pressure ring, 61-step ridge. DETAILED DESCRIPTION

[0026] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0027] The specific embodiments provided by the present invention are as follows:

[0028] like Figures 1 to 9 As shown, the first embodiment of the present invention proposes a pipeline detection device based on distributed magnetic uniform sensing, comprising: a mobile carrier 1 and a probe detection component 2; the mobile carrier 1 moves in the pipeline; a plurality of the probe detection components 2 are arranged on the outside of the mobile carrier 1, and the plurality of the probe detection components 2 are arranged in sequence along the axis of the mobile carrier 1; the probe detection component 2 includes a plurality of elastic detection ends 23, and the plurality of elastic detection ends 23 are distributed and surrounded by the axis of the mobile carrier 1; the elastic detection end 23 is provided with an excitation structure, a detection component and a wear-resistant structure;

[0029] During detection, the elastic detection end 23 abuts against the inner wall of the pipeline, the pipeline is magnetized by the excitation structure, and the pipeline defects in the magnetized area are detected by the detection component.

[0030] Optionally, the probe detection assembly 2 can be arranged in multiple circles, with front and rear circles arranged alternately, and each probe detection assembly 2 detects defects within its own magnetized area 236. Arranging several probe detection assemblies 2 alternately in front and rear can form full coverage of the detection range.

[0031] Since the present invention adopts a distributed interval magnetization method, the magnetic circuit is shorter. Under the same magnetization strength requirement of the magnetic pipe being detected, the magnetism of a single probe detection component 2 is lower; furthermore, when the magnetic circuit is established by the device of the present application, the mobile carrier 1 is not used as part of the magnetic circuit, and the elastic detection end 23 of the single probe detection component 2 is far away from the mobile carrier 1, so that the mobile carrier 1 is completely non-magnetic. Therefore, the mobile carrier 1 of the patent structure can be normally placed inside the energy supply unit (battery) and electronic hardware and other components that are susceptible to strong magnetic interference, which is convenient for device layout, improves equipment integration, has a simple structure, reduces the manufacturing difficulty and maintenance cost of the equipment, and is conducive to passing through narrow pipe areas such as bends and valves.

[0032] Furthermore, the in-pipeline detection device provided by the present invention has a reduced size, reduced weight, and high resolution. Taking the 8-inch pipeline detector in this industry as an example, the total length of the equipment of the structure of the present invention can be 390mm, while the conventional magnetic flux leakage detector structure adopts a multi-section layout design, and the overall length is about 2500mm, which is less than one-sixth), and the requirements for the detection working conditions are reduced to meet the working conditions of 1.5D elbows, ball valves, etc. (Traditional magnetic flux leakage detection is often composed of multiple sections, with a large length, and cannot meet the working conditions of 1.5D, ball valves, etc.). The total weight of the equipment of the structure of the present invention can be 18.2Kg, while the conventional magnetic flux leakage detector structure - see Figure 2 The overall weight is about 100Kg, less than one-fifth of the original weight), which greatly reduces the weight, resulting in reduced friction between the detector and the object being tested, thereby reducing the wear resistance requirements of the detection section. The structure of the present invention can be arranged with 320 main channels, while the conventional magnetic flux leakage device is arranged with about 200 main channels, which is about 68% higher than the conventional magnetic flux leakage detection equipment), improves the detection resolution, is conducive to defect imaging, and intuitively reflects the morphological characteristics of the detected defects.

[0033] In a possible implementation, the probe detection assembly 2 further includes a connection end 21. The probe detection assembly 2 is connected to the mobile carrier 1 via the connection end 21. The connection end 21 is provided with a fixed clamping platform 211. When the pressure ring 6 is used to install and fix the probe detection assembly 2 on the mobile carrier 1, the step convex ridge 61 of the pressure ring 6 is clamped with the fixed clamping platform 211.

[0034] In the present invention, because the excitation structure is embedded in the elastic detection end 23, there is an adsorption force between the single probe detection component 2 and the detected magnetic pipe, and there is an outward pulling force at the elastic detection end 23, which makes it easy for the single probe detection component 2 to be pulled out from the fixed installation position area, causing the single probe detection component 2 to fall. Therefore, a new anti-falling fixed card platform 211 structure is added to prevent the single probe detection component 2 from being pulled off and falling from the installation position.

[0035] In a possible implementation manner, transition fillets 24 are provided on both sides of the contact surface between the elastic detection end 23 and the inner wall of the pipe.

[0036] In the present invention, the actual movement mode of the internal detection device in the pipeline is a composite movement composed of axial linear movement and circumferential rotation movement, and the circumferential rotation movement will cause the single probe detection component 2 to vibrate. Adding transition fillets 24 on both sides of the single probe detection component 2 and smooth transition can reduce probe jitter and improve data quality.

[0037] In a possible implementation, since the elastic detection end 23 is embedded with an excitation structure, there is an adsorption force between the single probe detection component 2 and the detected magnetic pipe, so there is no need for the transition connection end 22 in the single probe detection component 2 to provide a large outward tension, so the outward opening angle of the probe is reduced. α size.

[0038] In the present invention, the outward angle of the elastic detection end 23 is reduced, the outward tension provided by the transition connection end 22 is reduced, and the pressure between the elastic detection end 23 and the detected magnetic pipe is reduced, thereby reducing the friction between the elastic detection end 23 and the detected magnetic pipe and reducing the wear resistance requirements of the elastic detection end 23.

[0039] In a possible implementation, the probe detection assembly 2 further includes a transition connection end 22. The connection end 21 is connected to the elastic detection end 23 via the transition connection end 22. A deformation groove 26 is provided between the transition connection end 22 and the elastic detection end 23.

[0040] In the present invention, a deformation groove 26 structure is added so that when a single probe detection component 2 is radially deformed, it bends and deforms at a preset position, and the transition connection end 22 no longer bends and deforms, and plays an independent supporting role to meet the preset deformation requirements, so that the elastic detection end 23 can better fit the inner wall of the magnetic pipe to be detected.

[0041] In a possible implementation manner, the cable outlet position of the single probe detection assembly 2 is moved from the transition connection end 22 to the elastic detection end 23 .

[0042] In the present invention, the cable 25 outlet position of the single probe detection component 2 is moved to the elastic detection end 23 area, and the cable does not pass through the bending part of the deformation groove 26, so as to avoid the deformation of the probe during use, which may cause the cable to be pulled and cause the welding point to fall off. At the same time, the integrity of the elastic material of the single probe detection component 2 at the deformation groove 26 is ensured, and the tensile strength of the deformation part is improved.

[0043] In a possible implementation, the elastic detection end 23 includes a fixed cover plate 232 in contact with the inner wall of the pipe and a magnetic sensor 235. The wear-resistant structure includes: a plurality of small-sized wear-resistant bodies 233 and a large-sized wear-resistant body 234. A plurality of small-sized wear-resistant bodies 233 are arranged on the fixed cover plate 232. A plurality of large-sized wear-resistant bodies 234 are arranged in the area between the fixed cover plate 232 and the magnetic sensor 235.

[0044] It should be noted that the adsorption force between the fixed cover plate 232 and the contact part of the detected magnetic pipe is the largest. This part is the adsorption pressure concentration area and is most prone to wear and rupture. Therefore, multiple small-sized wear-resistant bodies 233 are arranged in this area.

[0045] Furthermore, a small number of large-sized wear-resistant bodies 234 are arranged in the area between the fixed cover plate 232 and the magnetic sensor 235. The large-sized wear-resistant bodies 234 have both the function of wear resistance and the function of protecting the detection unit, and also play a supporting role between the single probe detection component 2 and the magnetic pipe being detected.

[0046] In the present invention, when the detector is implemented in the pipeline, the actual movement mode of the detector in the pipeline is: a composite movement composed of axial linear motion + circumferential rotational motion, and there are sharp hard objects protruding radially on the inner wall of the pipeline. Because the top of the wear-resistant body is a spherical structure, the sharp protruding hard objects moving in all directions can smoothly transition to the wear-resistant column without impacting the wear-resistant column and causing the wear-resistant column to break. At the same time, the wear-resistant body is higher than the outer arc surface of the elastic detection end 23, ensuring that when a single probe detection component 2 is normally fitted in the pipeline, the contact point between the elastic detection end 23 and the inner wall of the pipeline is the protruding wear-resistant body 233, 234, and the wear-resistant body 233, 234 protruding due to normal wear avoids wearing the potting material. If the leaked part of the top spherical surface of the wear-resistant body is smaller than the spherical radius, it is ensured that most of the body of the wear-resistant body 233, 234 is potted in the potting material, forming a "small mouth and big belly" wrapping effect, avoiding the wear-resistant body 233, 234 from falling off.

[0047] In a possible implementation, a fixed cover plate 232 is covered on the excitation structure (magnetization source), the fixed cover plate 232 is completely in contact with the excitation structure, and the fixed cover plate 232 is provided with limiting ridges 2322 and 2323 on all sides to completely fix the fixed cover plate 232 on the excitation structure to prevent movement around.

[0048] Optionally, the fixed cover plate 232 is made of a highly magnetically conductive material and can be directly and strongly adsorbed on the excitation structure to prevent the fixed cover plate 232 from falling radially. Because the fixed cover plate 232 is made of a highly magnetically conductive material, the thickness of the elastic potting material between the excitation structure and the detected magnetic pipe is reduced, thereby enhancing the magnetization effect of the magnetic circuit.

[0049] In a possible implementation manner, a plurality of concave depressions 2321 are disposed on the fixed cover plate 232. The small-sized wear-resistant bodies 233 are fixedly placed in the concave depressions 2321 in a one-to-one correspondence.

[0050] Optionally, the layout of the recessed platform 2321 and the small-sized wear-resistant body 233 can be varied according to needs, such as linear, spiral, discrete, etc.

[0051] In the present invention, the concave sink 2321 plays the role of fixing the small-sized wear-resistant body 233 around the plane, so as to prevent the small-sized wear-resistant body 233 from being displaced by collision during operation.

[0052] In a possible implementation, the small-sized wear-resistant body 233 adopts a conical mushroom-head type spiral body structure.

[0053] It should be noted that the conical mushroom head type gyroscope structure is large at the bottom and small at the top. This structure ensures that after the single probe detection assembly 2 is manufactured, the lower part of the small-sized wear-resistant body 233 is completely wrapped in the injection material, and the injection material has a "small mouth and big belly" wrapping effect on the small-sized wear-resistant body 233, so that the small-sized wear-resistant body 233 cannot be pulled out.

[0054] Furthermore, a protruding limiting cylinder 2333 is provided at the bottom of the small-sized wear-resistant body 233 , and this structure is used to cooperate with the recessed sink 2321 of the fixed cover plate 232 to ensure the limiting effect on the small-sized wear-resistant body 233 on all sides.

[0055] Furthermore, the top of the small-sized wear-resistant body 233 has a wear-resistant spherical surface 2331 , the top is a spherical structure, and the small-sized wear-resistant body 233 is higher than the upper surface of the potting material, but the higher part is smaller than the radius of the spherical surface.

[0056] In a possible implementation, the elastic detection end 23 further includes a fixed pad 231. The fixed pad 231 is symmetrically provided with a fixed inclined surface 2311, and a strip countersunk hole 2312 is provided on the fixed inclined surface 2311. A strip boss 2343 is provided on the large-sized wear-resistant body 234. Through the cooperation between the strip boss 2343 and the strip countersunk hole 2312, the large-sized wear-resistant body 234 is set in the fixed pad 231.

[0057] Optionally, the cross-sectional shape of the strip-shaped countersunk hole 2312 may be a non-rotating body, and need not be a long strip.

[0058] It should be noted that the large-sized wear-resistant body 234 needs to be arranged in an arc on the outer arc surface of the elastic detection end 23 of the single probe detection component 2. Therefore, it is necessary to add a symmetrically arranged fixed inclined surface 2311 on the fixed pad 231 according to the arc layout position, and the size of the inclined surface is determined according to the layout position. Through the cooperation of the strip boss 2343 and the strip countersunk hole 2312, the large-sized wear-resistant body 234 is limited all around, and the large-sized wear-resistant body 234 is prevented from rotating and displacing all around.

[0059] In a possible embodiment, the large-sized wear-resistant body 234 adopts a multi-layer mushroom-head type gyroscope structure. The large-sized wear-resistant body 234 is provided with a middle concave 2432 structure, so that the large-sized wear-resistant body 234 is small in the middle and large at both ends. The lower end mushroom head of the large-sized wear-resistant body 234 is completely wrapped in the injection material. The injection material has a "small mouth and big belly" wrapping effect on the large-sized wear-resistant body 234, so that the large-sized wear-resistant body 234 cannot be pulled out. The upper end mushroom head of the large-sized wear-resistant body 234 contacts the inner wall of the pipe.

[0060] Optionally, the large-sized wear-resistant body 234 has an "upper mushroom head" structure on the top, and the top is a wear-resistant arc surface 2341, and the top wear-resistant arc surface 2341 of the "upper mushroom head" structure of the large-sized wear-resistant body 234 is higher than the upper surface of the potting material, but the higher part is smaller than the spherical radius.

[0061] Furthermore, the small-sized wear-resistant body 233 and the large-sized wear-resistant body 234 are combined in terms of size, layout quantity, layout position, structural method, etc. This combination method functionally separates the wear resistance and support functions to avoid failure under complex working conditions.

[0062] In a possible implementation, with the goal of improving magnetic induction, improving wear resistance, reducing friction and reducing manufacturing costs, the size and position of the small-sized wear-resistant body 233 and the large-sized wear-resistant body 234 are determined through a fireworks algorithm.

[0063] Specifically, small-sized wear-resistant bodies are usually arranged around the magnetization source, mainly responsible for wear resistance and support functions, and their shape design needs to consider the balance between wear resistance and friction. The parameters to be determined for small-sized wear-resistant bodies mainly include: material, wear-resistant spherical radius, exposed height, quantity and position.

[0064] Large-sized wear-resistant bodies are responsible for providing greater support and wear resistance, and their structural design will also affect the magnetic induction performance and overall wear characteristics. The parameters to be determined for large-sized wear-resistant bodies mainly include: material, upper wear-resistant spherical surface radius, exposed height, overall height, middle concave depth, strip boss width and length, quantity and position.

[0065] Specifically, COMSOL, ANSYS, etc. can be used to build a simulation model of a distributed magnetic uniform sensing pipeline detection device. The simulation model is used to determine the magnetic inductance, wear resistance, and friction under various parameter combinations. It is necessary to define the contact characteristics between the wear-resistant body and the inner wall of the pipeline, including the contact area, contact friction, clamping force, and friction coefficient. It is necessary to select nonlinear contact or surface contact to simulate the interaction between the wear-resistant body and the pipeline wall. At the same time, it is necessary to define the magnetic field boundary conditions between the wear-resistant body and the pipeline, including the source of the external magnetic field and the magnetization intensity.

[0066] Furthermore, necessary constraints are imposed on the wear-resistant body, such as fixing the center of the probe so that the wear-resistant body can only move or displace in a specific direction. The movement of the probe in the pipeline is simulated, and the motion trajectory and speed of the probe are defined to analyze its friction and wear resistance under different conditions.

[0067] Furthermore, a normal load is applied between the wear-resistant body and the inner wall of the pipeline to simulate the pressure under actual working conditions. A sliding friction load is set to simulate the friction between the wear-resistant body and the pipeline wall when the probe moves in the pipeline.

[0068] Furthermore, high-precision meshing is used, especially in the contact area and the area where the magnetic field changes drastically. The contact area between the wear-resistant body and the pipe wall and the key parts of the probe need to be meshed to obtain accurate stress distribution, wear distribution and magnetic field distribution.

[0069] Optionally, the magnetic induction property may be evaluated by the strength and stability of the magnetic induction signal received by the magnetic sensor:

[0070]

[0071] in, E represents the magnetic inductance parameter, I Indicates the magnetic induction signal strength, S Indicates the stability of magnetic induction signal, β The weight coefficient representing the strength of the magnetic induction signal.

[0072] Optionally, the magnetic induction signal stability can be evaluated using the variance and standard deviation of the magnetic induction signal intensity.

[0073] It should be noted that the pipeline fault detection accuracy can be improved by improving the magnetic induction parameters.

[0074] Optionally, the wear resistance can be evaluated by measuring the wear amount:

[0075]

[0076] in, W Indicates the amount of wear,K represents the wear coefficient, P represents the contact pressure, V represents the relative sliding speed, H Indicates the hardness of the material.

[0077] It should be noted that by reducing the amount of wear, the service life of the wear-resistant body can be extended, the reliability of the detection device can be improved, and the maintenance cost can be reduced.

[0078] Optionally, the friction force is specifically:

[0079]

[0080] in, F represents the friction force, N represents the contact pressure (normal force), μ Material friction coefficient.

[0081] Alternatively, costs can be estimated using material costs:

[0082]

[0083] in, B represents the material cost, b 1 Indicates the unit material cost of small-sized wear-resistant bodies, V 1 Represents the total volume of small-size wear-resistant bodies, b 2 Indicates the unit material cost of large-size wear-resistant bodies, V 2 Indicates the total volume of large-size wear-resistant bodies.

[0084] It should be understood that magnetic induction parameters, wear resistance, friction and material cost are evaluation indicators that will affect each other. For example, materials with high wear resistance and low friction often have higher costs. For another example, in order to improve wear resistance, it is usually necessary to select materials with high hardness and high wear resistance, such as ceramics, cemented carbide or high-strength composite materials. However, these materials often have low magnetic permeability, that is, they have poor conduction performance for magnetic fields. The strength of the magnetic induction signal depends on the magnetic field received by the sensor, and low magnetic permeability materials will weaken the penetration ability of the magnetic field, resulting in a decrease in the strength of the magnetic induction signal or an unstable signal.

[0085] Therefore, the above-mentioned magnetic induction parameters, wear resistance, friction and material cost are contradictory evaluation indicators and need to be comprehensively considered. For this purpose, a comprehensive fitness function is designed:

[0086]

[0087] in,f represents the fitness function, θ Indicates the size parameter combination, which includes the material, wear-resistant spherical radius, exposed height, quantity, and position of the small-sized wear-resistant body, and the material, upper wear-resistant spherical radius, exposed height, overall height, middle concave depth, strip boss width and length, quantity, and position of the large-sized wear-resistant body. λ 1 represents the weight coefficient of the magnetic inductance parameter, λ 2 The weight coefficient representing the wear amount, λ 3 represents the weight coefficient of friction, λ 4 Indicates the weight coefficient of material cost.

[0088] Initialize the firework individuals. Each firework individual is composed of multiple dimensional components. Each firework individual represents a feasible size parameter combination, and each component represents a size parameter.

[0089] Perform explosion operations on each individual firework:

[0090]

[0091] in, A i Indicates i The explosion radius of each firework, x i Indicates i Fireworks individual, f represents the fitness function, N Indicates the total number of fireworks individuals, min means taking the minimum value, ε represents a hyperparameter to avoid division by zero, C A Indicates the explosion radius adjustment factor. S i Indicates i The number of explosion sparks of each firework. max means taking the maximum value. C S Indicates the explosion spark number adjustment factor.

[0092] In the present invention, the explosion radius of an individual with better fitness is smaller, indicating that it searches in a finer local area; the explosion radius of an individual with poorer fitness is larger, and new solutions can be explored in a wider range.

[0093] Furthermore, individuals with poorer fitness generate more sparks, indicating that they have more exploration opportunities; individuals with better fitness have fewer sparks to reduce ineffective search behavior.

[0094] Limit the number of explosion sparks generated by explosion operation:

[0095]

[0096] in, Indicates the number of i The number of explosion sparks of each firework, S max Indicates the maximum number of explosion sparks, S min Indicates the minimum number of explosion sparks.

[0097] Among them, those skilled in the art can set the maximum number of explosion sparks and the minimum number of explosion sparks according to actual conditions, and the present invention does not limit this.

[0098] In the present invention, limiting the range of the number of sparks helps to balance global exploration and local search. When the number of sparks is moderate, both extensive global search and fine search in local areas can be performed, thereby increasing the probability of finding the global optimal solution.

[0099] Randomly select some fireworks individuals, generate a random number, and determine whether the random number is less than the mutation probability. If so, perform Gaussian mutation operation:

[0100]

[0101] in, It means the Gaussian mutation i Fireworks individuals j Dimensional components, x ij Indicates i Fireworks individuals j Dimensional components, e Represents a random number that satisfies a Gaussian distribution with mean 1 and variance 1.

[0102] In the present invention, the Gaussian mutation operation introduces random numbers to perform random perturbations on the dimensional components of individuals, thereby increasing the diversity of the population. Through mutation, individuals of each generation will not converge too early, thus preventing the entire population from quickly converging to a local optimal solution.

[0103] Optionally, the mutation probability is specifically:

[0104]

[0105] in, P m represents the probability of mutation, P m,max represents the maximum mutation probability, P m,minrepresents the minimum mutation probability, f represents the fitness value of the current individual, f avg represents the average fitness value of the population, f max Represents the maximum fitness value among individuals.

[0106] In the present invention, the probability of mutation for individuals with better fitness is small, which means that these individuals are close to the optimal solution, and reducing mutation can prevent them from deviating from the current good solution. The probability of mutation for individuals with poor fitness is the largest, indicating that these individuals need stronger randomness to explore new solutions.

[0107] Map each firework:

[0108]

[0109] in, Indicates the first i The first of the fireworks j Dimensional components, L j Indicates j The lower limit of the dimension, U j Indicates j The upper limit of each dimension, % indicates the modulo operation.

[0110] In the present invention, some dimensional components may exceed the given upper and lower limits during the search process (for example, design variables such as size and position have physical limitations). Through the mapping operation, the components of the solution can be constrained back to the feasible solution space to ensure that the rationality and effectiveness of the algorithm operation will not be affected by the solution exceeding the design space.

[0111] Perform a selection operation on each firework individual, and the probability of each firework individual being selected is:

[0112]

[0113] in, P represents the probability of selection, D Represents the sum of the distances between the current individual and other individuals except itself, d represents the Euclidean distance between two individuals, x u Indicates u A firework individual.

[0114] In the present invention, the selection probability is determined by distance, which can encourage individuals with larger distances (i.e., individuals with higher diversity) in the population to be selected first. Individuals with larger distances represent that they are significantly different from other individuals, which can help the population explore more potential solution spaces.

[0115] Determine whether the current number of iterations has reached the maximum number of iterations. If so, output the firework individual representative with the highest current fitness. Otherwise, return to continue iterating.

[0116] In the present invention, the size and position of small-sized and large-sized wear-resistant bodies are optimized by the fireworks algorithm, which helps to balance the magnetic inductance, wear resistance, friction and manufacturing cost, thereby improving the overall performance of the pipeline inspection equipment.

[0117] The beneficial effects of the present invention are embodied in:

[0118] The present invention provides a pipeline detection device based on distributed magnetic uniform sensing, which adopts magnetic uniform field coupling sensing detection technology to perform pipeline detection. It can detect both internal defects in the magnetized area of ​​the pipeline and external defects in the magnetized area. It does not need to use a central cylinder as a magnetic circuit, which is convenient for device layout, improves equipment integration, has a simple structure, reduces the manufacturing difficulty and maintenance cost of the equipment, and is conducive to passing through narrow pipeline areas such as bends and valves.

[0119] In the description of the embodiments of the present invention, it needs to be understood that terms such as “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “center”, “top”, “bottom”, “top”, “bottom”, “inside”, “outside”, “inside”, and “outside” indicate orientation or positional relationships.

[0120] In the description of the embodiments of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "install", "connect", "connect", and "assemble" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0121] In the description of the embodiments of the present invention, specific features, structures, materials or characteristics may be combined in a suitable manner in any one or more embodiments or examples.

[0122] In the description of the embodiments of the present invention, it should be understood that "-" and "~" represent the range between two values, and the range includes the endpoints. For example, "AB" represents a range greater than or equal to A and less than or equal to B. "A~B" represents a range greater than or equal to A and less than or equal to B.

[0123] In the description of the embodiments of the present invention, the term "and / or" herein is merely a description of the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B may represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " herein generally indicates that the associated objects before and after are in an "or" relationship.

[0124] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A pipeline detection device based on distributed magnetic uniform sensing, characterized in that: include: Mobile carrier and probe detection assembly; The mobile carrier moves in the pipeline; A plurality of the probe detection components are disposed on the outer side of the mobile carrier, and the plurality of the probe detection components are arranged in sequence along the axis of the mobile carrier; The probe detection assembly includes a plurality of elastic detection ends, and the plurality of elastic detection ends are distributed and arranged around the axis of the mobile carrier; The elastic detection end is provided with an excitation structure, a detection component and a wear-resistant structure; Wherein, during the detection, the elastic detection end is against the inner wall of the pipeline, the pipeline is magnetized by the excitation structure, and the pipeline defects in the magnetized area are detected by the detection component; The elastic detection end includes a fixed cover plate in contact with the inner wall of the pipeline and a magnetic sensor; The wear-resistant structure comprises: a plurality of small-sized wear-resistant bodies and a large-sized wear-resistant body; A plurality of the small-sized wear-resistant bodies are arranged on the fixed cover plate; A plurality of large-sized wear-resistant bodies are arranged in the area between the fixed cover plate and the magnetic sensor; The fixed cover plate is provided with a plurality of concave sinks; the small-sized wear-resistant bodies are fixedly placed in the concave sinks one by one; The elastic detection end also includes a fixed pad; The fixed pad is symmetrically provided with fixed inclined surfaces, and the fixed inclined surfaces are provided with strip-shaped countersunk holes; The large-sized wear-resistant body is provided with a strip-shaped boss; The large-size wear-resistant body is arranged in the fixed backing plate by the cooperation between the strip-shaped boss and the strip-shaped countersunk hole; The large-sized wear-resistant body adopts a multi-layer mushroom-head gyratory body structure; the large-sized wear-resistant body is provided with a middle concave structure, so that the large-sized wear-resistant body is small in the middle and large at both ends; the lower end mushroom head of the large-sized wear-resistant body is completely wrapped in the injection material; the upper end mushroom head of the large-sized wear-resistant body is in contact with the inner wall of the pipeline; With the goal of improving magnetic induction, improving wear resistance, reducing friction and reducing manufacturing costs, the size and position of the small-sized wear-resistant body and the large-sized wear-resistant body are determined by a fireworks algorithm; The fitness function of the fireworks algorithm is specifically: f(θ)=λ1E-λ2W-λ3F-λ4B Wherein, f represents the fitness function, θ represents the size parameter combination, which includes the material, wear-resistant spherical surface radius, exposed height, quantity, and position of the small-sized wear-resistant body and the material, upper wear-resistant spherical surface radius, exposed height, overall height, middle concave depth, strip boss width and length, quantity, and position of the large-sized wear-resistant body, E represents the magnetic induction parameter, W represents the wear amount, F represents the friction force, B represents the material cost, λ1 represents the weight coefficient of the magnetic induction parameter, λ2 represents the weight coefficient of the wear amount, λ3 represents the weight coefficient of the friction force, and λ4 represents the weight coefficient of the material cost; E=βI+(1-β)S Where I represents the strength of the magnetic induction signal, S represents the stability of the magnetic induction signal, and β represents the weight coefficient of the magnetic induction signal strength; Among them, K represents the wear coefficient, P represents the contact pressure, V represents the relative sliding velocity, and H represents the material hardness; F=μ×N Where N represents the contact pressure and μ represents the material friction coefficient; B=b1V1+b2V2 Wherein, b1 represents the unit material cost of small-sized wear-resistant body, V1 represents the total volume of small-sized wear-resistant body, b2 represents the unit material cost of large-sized wear-resistant body, and V2 represents the total volume of large-sized wear-resistant body; The specific method of determining the size and position of the small-sized wear-resistant body and the large-sized wear-resistant body by the fireworks algorithm includes: Initialize the firework individuals. Each firework individual consists of multiple dimensional components. Each firework individual represents a feasible size parameter combination, and each component represents a size parameter. Perform explosion operations on each individual firework: Among them, A i represents the explosion radius of the i-th firework, x i represents the i-th firework individual, f represents the fitness function, N represents the total number of firework individuals, min represents the minimum value, ε represents the hyperparameter to avoid division by zero, C A Indicates the explosion radius adjustment factor, S i represents the number of explosion sparks of the i-th firework, max represents the maximum value, C S Indicates the explosion spark number adjustment coefficient; Limit the number of explosion sparks generated by explosion operation: in, represents the number of explosion sparks of the i-th firework after restriction processing, S max Indicates the maximum explosion spark number, S min Indicates the minimum number of explosion sparks; Randomly select some fireworks individuals, generate a random number, and determine whether the random number is less than the mutation probability. If so, perform Gaussian mutation operation: in, represents the jth dimension component of the i-th firework individual after Gaussian mutation, x ij represents the j-th dimension component in the i-th firework individual, e represents a random number that satisfies a Gaussian distribution with a mean of 1 and a variance of 1; Optionally, the mutation probability is specifically: Among them, P m represents the mutation probability, P m,max represents the maximum mutation probability, P m,min represents the minimum mutation probability, f represents the fitness value of the current individual, and f avg represents the average fitness value of the population, f max Represents the maximum fitness value among individuals; Map each firework: x′ ij =L j +|x ij |%(U j -L j ) Among them, x′ ij represents the j-th dimension component in the i-th firework individual after the mapping operation, L j Indicates the lower limit of the j-th dimension, U j Indicates the upper limit of the j-th dimension, % indicates the modulo operation; Perform a selection operation on each firework individual, and the probability of each firework individual being selected is: Among them, P represents the selection probability, D represents the sum of the distances between the current individual and other individuals except itself, d represents the Euclidean distance between two individuals, and x u represents the u-th firework individual; Determine whether the current number of iterations has reached the maximum number of iterations; if so, output the firework individual representative with the highest current fitness; otherwise, return to continue iterating.

2. The pipeline detection device based on distributed magnetic uniform sensing according to claim 1 is characterized in that: The probe detection assembly also includes a connection end; The probe detection component is connected to the mobile carrier via the connection end; The connecting end is provided with a fixed clamping platform; When the probe detection assembly is installed and fixed on the mobile carrier by using a pressure ring, the step ridge of the pressure ring is clamped with the fixed clamping platform.

3. The pipeline detection device based on distributed magnetic uniform sensing according to claim 1 is characterized in that: Transition fillets are provided on both sides of the contact surface between the elastic detection end and the inner wall of the pipeline.

4. The pipeline detection device based on distributed magnetic uniform sensing according to claim 2 is characterized in that: The probe detection assembly also includes a transition connection end; The connecting end is connected to the elastic detection end through the transition connecting end; A deformation groove is arranged between the transition connection end and the elastic detection end.

5. The pipeline detection device based on distributed magnetic uniform sensing according to claim 1 is characterized in that: The small-sized wear-resistant body adopts a conical mushroom head type gyratory body structure.

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