A bending strain detection system and method based on IMU module

Abstract

The present invention relates to the field of intelligent detection technology, and discloses a bending strain detection system and method based on an IMU module, the method comprising: collecting pipeline data of a pipeline to be detected to determine a warning threshold of a magnetic leakage internal detection device; collecting the operation data of the IMU module in real time to determine the operation status of the magnetic leakage internal detection device, and when the device is tilted, comparing the operation data with the historical operation data to determine the threshold adjustment coefficient to adjust the warning threshold to obtain the bending warning threshold; obtaining the pipeline bending value according to the operation data, and obtaining the position information of the magnetic leakage internal detection device based on the positioning module in the IMU module, comparing the position information and the pipeline bending value with the model data of the pipeline to be detected, and judging whether the pipeline to be detected has bending strain according to the comparison result. The present application combines the IMU module with the magnetic leakage detection technology, improves the reliability and safety of pipeline detection, and realizes the accurate detection and warning of pipeline bending strain.

Description

Technical Field

[0001] The present invention relates to the field of intelligent detection technology, and in particular to a bending strain detection system and method based on an IMU module. Background Art

[0002] After long-term use, pipelines are corroded by humid air, internal electrolytes and other substances, resulting in frequent accidents such as energy leakage and oil and gas pipeline explosions caused by defects such as corrosion, cracks or deformation, posing a huge threat to people's lives and property. Oil and gas pipeline leakage and explosion accidents not only seriously pollute the environment, but also cause casualties, causing immeasurable double harm. At present, many in-service oil and gas pipelines have entered a stage of fatigue and frequent accidents. In order to ensure the long-term safe operation of oil and gas pipelines, pipelines must be regularly inspected and maintained to ensure safe and effective operation of oil and gas pipelines during transportation. The determination of the degree of hazard of pipeline structural abnormalities and defects and the prediction of the remaining life of the pipeline are of great significance to the country's economic development and industrialization construction.

[0003] In the field of pipeline inspection, magnetic flux leakage (MFL) technology has been widely used to identify defects and anomalies in pipelines. Magnetic flux leakage detection equipment detects changes in the leakage magnetic field caused by defects by magnetizing the pipeline material, thereby discovering damage to the pipeline. However, in actual applications, the shape and operating environment of the pipeline are complex and changeable, especially when the pipeline is bent. Traditional magnetic flux leakage detection equipment cannot accurately identify abnormal changes in the magnetic flux leakage signal. In this case, the false alarm rate and false negative rate of the magnetic flux leakage detection equipment may increase significantly, affecting the reliability of the detection results.

[0004] Therefore, it is necessary to design a bending strain detection system and method based on an IMU module (Inertial Measurement Unit) to solve the problems existing in current technology. Summary of the invention

[0005] In view of this, the present invention proposes a bending strain detection system and method based on an IMU module, aiming to solve the problems of low detection accuracy and high false alarm rate at pipe bends in the current magnetic flux leakage detection technology.

[0006] In one aspect, the present invention proposes a bending strain detection method based on an IMU module, comprising:

[0007] Collect pipeline data of the pipeline to be inspected, and determine the early warning threshold of the magnetic leakage internal detection equipment according to the pipeline data;

[0008] Based on the magnetic flux leakage internal detection device, pipeline detection is performed, and operation data of the IMU module is collected in real time. The operation state of the magnetic flux leakage internal detection device is determined according to the operation data, and the operation state includes horizontal operation and inclined operation. When it is determined that the magnetic flux leakage internal detection device is tilted, the operation data is compared with the historical operation data, and the threshold adjustment coefficient is determined according to the comparison result to adjust the warning threshold, so as to obtain the bending warning threshold;

[0009] Obtaining a pipe bending value according to the operation data, and obtaining position information of the magnetic flux leakage internal detection device based on a positioning module in the IMU module, comparing the position information and the pipe bending value with the model data of the pipe to be detected, and judging whether bending strain occurs in the pipe to be detected according to the comparison result;

[0010] When it is determined that the pipeline to be inspected has bending strain, a bending strain warning is issued according to the pipeline bending value and the leakage magnetic data of the leakage magnetic internal detection equipment; when it is determined that the pipeline to be inspected has not undergone bending strain, the leakage magnetic data is compared with the bending warning threshold, and it is determined whether to issue a pipeline defect warning according to the comparison result.

[0011] Furthermore, when determining the warning threshold of the magnetic leakage internal detection device according to the pipeline data, it includes:

[0012] The pipeline data includes pipeline cross-sectional area, pipeline diameter, density of pipeline material and magnetic permeability of pipeline material;

[0013] The warning threshold is calculated by the following formula:

[0014] ;

[0015] Among them, Y represents the warning threshold, S represents the pipeline cross-sectional area, and D represents the pipeline diameter. represents the density of the pipe material, It represents the magnetic permeability of the pipe material, P represents the ambient pressure, T represents the ambient temperature, C represents the ambient temperature correction coefficient, and q1 and q2 represent the weight coefficients.

[0016] Further, the threshold adjustment coefficient is determined according to the comparison result to adjust the warning threshold, and when the bending warning threshold is obtained, it includes:

[0017] Calculating the similarity between the operation data and any data in the historical operation data, and establishing a similarity data set;

[0018] When there is data greater than the similarity threshold in the similarity data set, a historical adjustment coefficient corresponding to the maximum similarity value is selected to adjust the warning threshold to obtain the bending warning threshold;

[0019] When all data in the similarity data set are less than or equal to the similarity threshold, the threshold adjustment coefficient is determined according to the operation data, and the warning threshold is adjusted according to the threshold adjustment coefficient to obtain the bending warning threshold.

[0020] Further, when the threshold adjustment coefficient is determined according to the operating data, the threshold adjustment coefficient is calculated by the following formula:

[0021] ;

[0022] Where K represents the threshold adjustment coefficient, Indicates the tilt angle detected by the IMU module. It represents the maximum allowed tilt angle, a represents the acceleration detected by the IMU module, amax represents the maximum allowed acceleration, w represents the angular velocity detected by the IMU module, wmax represents the maximum allowed angular velocity, cosh represents the hyperbolic cosine function, r1, r2, and r3 represent the tilt angle weight, acceleration weight, and angular velocity weight, respectively.

[0023] Furthermore, when calculating the similarity between the operation data and any data in the historical operation data, the similarity is calculated by the following formula:

[0024] ;

[0025] Among them, Xs represents the similarity between the operating data and any data in the historical operating data. represents the i-th historical acceleration in the historical operation data, represents the i-th historical angular velocity in the historical running data, Indicates the acceleration detected by the IMU module. It represents the angular velocity detected by the IMU module, α and β represent weight coefficients, and α+β=1.

[0026] Further, when obtaining the pipeline bending value according to the operation data, it includes:

[0027] The operation data of the IMU module is parsed through a direction cosine matrix to obtain an inclination angle of the magnetic flux leakage internal detection device relative to the pipeline;

[0028] Calculating the bending curvature of the pipeline to be inspected according to the inclination angle and the angular velocity in the operation data;

[0029] The pipe bending value is obtained according to the bending curvature.

[0030] Further, judging whether the pipeline to be inspected has bending strain according to the comparison result includes:

[0031] Obtaining a standard bending value in the model data according to the position information, comparing the pipe bending value with the standard bending value, and judging whether bending strain occurs in the pipe to be detected according to the comparison result;

[0032] When the difference between the pipe bending value and the standard bending value is greater than b% of the standard bending value, it is determined that bending strain occurs in the pipe to be detected.

[0033] Furthermore, when a bending strain warning is performed according to the pipeline bending value and the magnetic flux leakage data of the magnetic flux leakage internal detection device, it includes:

[0034] Normalizing the bending warning threshold and the standard bending threshold, and performing weighted summation of the processed bending warning threshold and the standard bending value to obtain a warning alert value;

[0035] The magnetic flux leakage data and the pipeline bending value are normalized, and the real-time state value of the pipeline to be detected is obtained according to the processed magnetic flux leakage data and the pipeline bending value, and the state difference is obtained according to the real-time state value and the early warning value, and the early warning level is determined according to the state difference to perform bending strain early warning;

[0036] The warning level is proportional to the state difference.

[0037] Furthermore, the magnetic leakage data is compared with the bending warning threshold, and whether to issue a pipeline defect warning is determined according to the comparison result, including:

[0038] When the magnetic leakage data is greater than the bending warning threshold, it is determined that a pipeline defect warning is performed, and a magnetic leakage difference is obtained according to the magnetic leakage data and the bending warning threshold. The magnetic leakage difference is the difference between the magnetic leakage data and the bending warning threshold. The defect warning level of the pipeline defect is determined according to the magnetic leakage difference, and the defect warning level is proportional to the magnetic leakage difference.

[0039] Compared with the prior art, the beneficial effect of the present invention is that by combining the IMU module with the magnetic flux leakage detection technology, accurate detection and early warning of pipeline bending strain are achieved. When the magnetic flux leakage detection equipment is running in the pipeline, the IMU module can monitor the posture and motion state of the equipment in real time, and dynamically adjust the early warning threshold based on these data. It ensures that when the equipment is tilted or the pipeline is bent, the early warning threshold can reflect the actual pipeline state, avoiding false alarms and missed alarms caused by changes in the posture of the detection equipment. In addition, through the precise calculation of the pipeline bending value and the combined analysis of the positioning information, the bending strain of the pipeline can be effectively identified, and an early warning can be issued when necessary, thereby improving the reliability and safety of pipeline detection. The accuracy of magnetic flux leakage detection is improved, providing a strong guarantee for the long-term safe operation of the pipeline.

[0040] On the other hand, the present application also provides a bending strain detection system based on an IMU module, which is used to apply the above-mentioned bending strain detection method based on an IMU module, including:

[0041] A magnetic flux leakage internal detection device, on which an IMU module is installed, and the IMU module includes an acceleration detection module, an angular velocity detection module and a positioning module;

[0042] A control module is connected to the magnetic flux leakage internal detection device and the IMU module, and the control module includes a collection unit, a judgment unit and an early warning unit, wherein:

[0043] The acquisition unit is configured to acquire pipeline data of the pipeline to be detected, and determine the warning threshold of the magnetic flux leakage internal detection device according to the pipeline data; the acquisition unit is also configured to acquire operation data of the IMU module in real time, and determine the operation state of the magnetic flux leakage internal detection device according to the operation data, wherein the operation state includes horizontal operation and inclined operation. When it is determined that the magnetic flux leakage internal detection device is inclined, the operation data is compared with the historical operation data, and the threshold adjustment coefficient is determined according to the comparison result to adjust the warning threshold, so as to obtain the bending warning threshold;

[0044] The judgment unit is configured to obtain a pipe bending value according to the operation data, and obtain position information of the magnetic flux leakage internal detection device based on a positioning module in the IMU module, compare the position information and the pipe bending value with the model data of the pipe to be detected, and judge whether the pipe to be detected has bending strain according to the comparison result;

[0045] The early warning unit is configured to, when the judgment unit determines that the pipeline to be detected has bending strain, issue a bending strain early warning according to the pipeline bending value and the leakage magnetic data of the leakage magnetic internal detection device; when the judgment unit determines that the pipeline to be detected has not bent strain, the early warning unit compares the leakage magnetic data with a bending early warning threshold, and determines whether to issue a pipeline defect early warning according to the comparison result.

[0046] It can be understood that the above-mentioned bending strain detection system and method based on the IMU module have the same beneficial effects, which will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present invention. Moreover, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0048] Figure 1A flowchart of a bending strain detection method based on an IMU module provided in an embodiment of the present invention;

[0049] Figure 2 A structural block diagram of a bending strain detection system based on an IMU module provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0050] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided in order to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art. It should be noted that, in the absence of conflict, the embodiments of the present invention and the features described in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0051] As pipelines age, they are prone to corrosion, cracks, and deformation due to long-term erosion by factors such as air humidity, soil corrosion, and internal electrolytes. These defects may not only lead to energy leakage, but also cause serious accidents such as oil and gas pipeline explosions, posing a major threat to the environment, economy, and people's lives and property. At present, many of my country's in-service oil and gas pipelines have entered a fatigue period, with frequent accidents. There is an urgent need to ensure the safe operation of these pipelines through regular inspections and maintenance. However, with the increasing complexity of pipeline structures, especially the emergence of pipeline bends and irregular deformations, traditional detection technologies face severe challenges.

[0052] Magnetic flux leakage (MFL) is a non-destructive testing method that has been widely used for pipeline inspection. This technology identifies damage in pipelines by magnetizing pipeline materials and detecting changes in the leakage magnetic field caused by defects. However, in a normal straight pipeline, the magnetic flux leakage detection equipment usually runs smoothly along the pipeline axis. At this time, the magnetic field generated when the pipeline is magnetized is distributed more evenly, and the equipment can accurately detect changes in the leakage magnetic signal caused by defects (such as corrosion, cracks, etc.) under uniform magnetic field conditions. Since the equipment is less affected by external factors during linear operation and the leakage magnetic signal is more stable, the magnetic flux leakage detection equipment can more accurately identify defects with a lower false alarm rate. At the bend, the geometric shape of the pipeline material changes, and the magnetic field distribution is distorted, resulting in local changes in the originally uniform magnetic field. These changes lead to misreading or amplification of the leakage magnetic signal, thereby increasing the possibility of false alarms. In addition, the pipeline at the bend forces the leakage magnetic detection equipment to tilt or rotate, causing its magnetization angle relative to the pipeline to change. This posture change will cause abnormal fluctuations in the leakage magnetic signal sensed by the detection equipment, which will be misjudged as a defect. Therefore, when operating at bends, the magnetic flux leakage detection equipment is more likely to mistake signal anomalies caused by non-defects as pipeline damage, resulting in false alarms.

[0053] Therefore, it is necessary to design a bending strain detection system and method based on an IMU module to solve the problems existing in the current technology.

[0054] In some embodiments of the present application, see Figure 1 As shown, a bending strain detection method based on an IMU module includes:

[0055] S100: Collect pipeline data of the pipeline to be inspected, and determine the warning threshold of the magnetic flux leakage internal detection equipment according to the pipeline data.

[0056] S200: Perform pipeline inspection based on the magnetic flux leakage internal detection equipment, collect the operating data of the IMU module in real time, and determine the operating status of the magnetic flux leakage internal detection equipment based on the operating data. The operating status includes horizontal operation and inclined operation. When it is determined that the magnetic flux leakage internal detection equipment is tilted, compare the operating data with the historical operating data, and determine the threshold adjustment coefficient based on the comparison result to adjust the warning threshold to obtain the bending warning threshold.

[0057] S300: Obtain the pipeline bending value according to the operation data, and obtain the position information of the leakage magnetic internal detection equipment based on the positioning module in the IMU module, compare the position information and the pipeline bending value with the model data of the pipeline to be detected, and determine whether the pipeline to be detected has bending strain according to the comparison result.

[0058] S400: When it is determined that the pipeline to be inspected has bending strain, a bending strain warning is issued according to the pipeline bending value and the magnetic leakage data of the magnetic leakage internal detection device. When it is determined that the pipeline to be inspected has not bent, the magnetic leakage data is compared with the bending warning threshold, and it is determined whether to issue a pipeline defect warning according to the comparison result.

[0059] Specifically, in S100, the basic data of the pipeline to be inspected is first collected. These data include the material properties, geometry, usage history and environmental information of the pipeline. Based on these data, the initial warning threshold of the magnetic flux leakage internal detection device is determined. The warning threshold is used to determine the abnormalities or defects that may exist in the pipeline. The determination of the warning threshold takes into account the operating environment and physical characteristics of the pipeline, thereby improving the accuracy of the detection. In S200, when the magnetic flux leakage internal detection device starts pipeline detection, the IMU module will collect the operating data of the device in real time. The IMU module can detect the acceleration, angular velocity, posture and other information of the device, which are used to determine the operating state of the magnetic flux leakage internal detection device, including whether the device is running horizontally or tilted. When it is detected that the setting is in horizontal operation, a defect warning is directly performed based on the comparison relationship between the magnetic flux leakage data and the warning threshold. When a significant angular velocity change is detected and the acceleration direction is no longer consistent with the gravity direction, it is determined that the device is in an inclined operation state. When the device detects that it is running in an inclined state, it means that the device is running at a curved position in the pipeline. At this time, the real-time operation data is compared with the historical operation data. By analyzing the difference between the two sets of data, a threshold adjustment coefficient is determined to correct the initial warning threshold and obtain a more accurate bending warning threshold. This ensures that when detecting the bending position, the equipment can effectively distinguish between the leakage magnetic signal anomaly caused by the bending of the pipeline and the signal change caused by the actual defect, thereby reducing false alarms. In S300, the bending value of the pipeline, that is, the actual deformation degree of the pipeline at the bending position, is calculated based on the operating data provided by the IMU module. At the same time, the positioning module in the IMU module can obtain the specific position information of the leakage magnetic internal detection device in the pipeline in real time. By comparing this information with the model data of the pipeline to be detected, it can effectively determine whether the pipeline has undergone bending strain. The accuracy of the detection results is ensured by comprehensively analyzing the operating status of the equipment and the structural characteristics of the pipeline. In S400, if it is found through comparison that the pipeline has indeed undergone bending strain, a bending strain warning is issued based on the bending value of the pipeline and the leakage magnetic data collected by the leakage magnetic detection equipment, indicating possible structural problems. If it is determined that the pipeline has not undergone bending strain, the leakage magnetic data is compared with the previously adjusted bending warning threshold. If the comparison result shows that the leakage magnetic signal exceeds the warning threshold, it is determined that there may be defects in the pipeline and a pipeline defect warning is issued.

[0060] It is understandable that by combining the magnetic flux leakage detection technology with the real-time data collection of the IMU module, the accuracy is improved in the case of pipe bending or complex deformation. By adjusting the warning threshold in real time, the magnetic flux leakage signal anomaly caused by pipe bending and the signal change caused by actual defects can be effectively distinguished, thereby reducing the false alarm rate. At the same time, the position information and bending value provided by the IMU module can be used to accurately judge the bending strain of the pipeline and timely warn of possible structural problems. The reliability of magnetic flux leakage detection equipment under complex pipeline conditions is improved.

[0061] In some embodiments of the present application, when determining the warning threshold of the leakage magnetic internal detection equipment according to the pipeline data, it includes: the pipeline data includes the pipeline cross-sectional area, the pipeline diameter, the density of the pipeline material and the magnetic permeability of the pipeline material.

[0062] The warning threshold is calculated by the following formula:

[0063] ;

[0064] Among them, Y represents the warning threshold, S represents the pipeline cross-sectional area, and D represents the pipeline diameter. represents the density of the pipe material, It represents the magnetic permeability of the pipe material, P represents the ambient pressure, T represents the ambient temperature, C represents the ambient temperature correction coefficient, and q1 and q2 represent the weight coefficients.

[0065] Specifically, if the material density and magnetic permeability of the pipeline have a significant impact on the magnetic flux leakage signal, and the fluctuations in the external environmental pressure and temperature are small, q1=0.7 and q2=0.3 can be selected to enhance the influence of the pipeline structural parameters on the threshold. If the pipeline is in a high temperature and high pressure environment, and the temperature change has a greater impact on the detection results, q1=0.4 and q2=0.6 can be selected to highlight the importance of environmental parameters.

[0066] It is understandable that by introducing the early warning threshold calculation formula based on pipeline structural parameters and environmental conditions, the adaptability and accuracy of the magnetic flux leakage detection equipment under different working conditions are improved. By comprehensively considering key parameters such as the cross-sectional area, diameter, material density, magnetic permeability, and environmental pressure and temperature of the pipeline, the early warning threshold can be dynamically adjusted to cope with various complex operating conditions. In particular, through the adjustment of the weight coefficient, the solution has a high degree of flexibility and can be optimized according to actual working conditions to ensure accurate identification of magnetic flux leakage signals and reduce the occurrence of false alarms and missed alarms.

[0067] In some embodiments of the present application, the threshold adjustment coefficient is determined according to the comparison result to adjust the warning threshold, and when the bending warning threshold is obtained, it includes: calculating the similarity between the operating data and any data in the historical operating data, and establishing a similarity data set.

[0068] Specifically, when there is data greater than the similarity threshold in the similarity data set, the historical adjustment coefficient corresponding to the maximum similarity value is selected to adjust the warning threshold to obtain the bending warning threshold. When the data in the similarity data set are all less than or equal to the similarity threshold, the threshold adjustment coefficient is determined according to the operating data, and the warning threshold is adjusted according to the threshold adjustment coefficient to obtain the bending warning threshold.

[0069] In some embodiments of the present application, when the threshold adjustment coefficient is determined according to the operating data, the threshold adjustment coefficient is calculated by the following formula:

[0070] ;

[0071] Where K represents the threshold adjustment coefficient, Indicates the tilt angle detected by the IMU module. It represents the maximum allowed tilt angle, a represents the acceleration detected by the IMU module, amax represents the maximum allowed acceleration, w represents the angular velocity detected by the IMU module, wmax represents the maximum allowed angular velocity, cosh represents the hyperbolic cosine function, r1, r2, and r3 represent the tilt angle weight, acceleration weight, and angular velocity weight, respectively.

[0072] In some embodiments of the present application, when calculating the similarity between the operating data and any data in the historical operating data, the similarity is calculated by the following formula:

[0073] ;

[0074] Among them, Xs represents the similarity between the operating data and any data in the historical operating data. represents the i-th historical acceleration in the historical operation data, represents the i-th historical angular velocity in the historical running data, Indicates the acceleration detected by the IMU module. It represents the angular velocity detected by the IMU module, α and β represent weight coefficients, and α+β=1, α is preferably 0.4, and β is preferably 0.6.

[0075] Specifically, when the data in the similarity data set are all less than or equal to the similarity threshold, the threshold adjustment coefficient is determined according to the operating data, and the warning threshold is adjusted according to the threshold adjustment coefficient to obtain the bending warning threshold. During the detection process, r1 is preferably 0.6-0.8, r2 is preferably 0.4-0.6, and r3 is preferably 0.5-0.7. For example: Assume that the current operating data detected by the IMU module of a certain section of the pipeline is: current inclination angle θ=10°, maximum inclination angle θmax==15°, current acceleration a=3m / s 2, maximum acceleration amax=5m / s 2 , the current angular velocity w=20deg / s, the maximum angular velocity wmax=30deg / s, the weight values ​​are set as: r1=0.7, r2=0.5, r3=0.6. K is equal to 2.1. Then the warning threshold is adjusted according to the threshold adjustment coefficient to Yz=Y(1+0.1K), where Yz is 1.21 times Y. Yz represents the bending warning threshold, and Y represents the warning threshold.

[0076] It is understandable that by introducing the threshold adjustment coefficient calculation, the warning threshold can be dynamically adjusted under different operating conditions, thereby improving the adaptability and accuracy of the magnetic flux leakage detection equipment at pipe bends or irregular deformations. The real-time data provided by the IMU module makes the adjustment threshold more accurate, effectively reducing false alarms caused by changes in equipment posture, and improving the reliability and stability of the detection system.

[0077] In some embodiments of the present application, when obtaining the pipe curvature value according to the operation data, the method includes: parsing the operation data of the IMU module through the direction cosine matrix to obtain the inclination angle of the magnetic flux leakage internal detection device relative to the pipe. According to the inclination angle and the angular velocity in the operation data, the curvature of the pipe to be detected is calculated. According to the curvature, the pipe curvature value is obtained.

[0078] Specifically, the raw data collected by the IMU module include acceleration, angular velocity and tilt angle. These data are usually relative to the IMU module's own coordinate system. Using the sensor data of the IMU module, the direction cosine matrix is ​​calculated, which describes the rotation and tilt information of the IMU module relative to the reference coordinate system (such as the global coordinate system). The direction cosine matrix is ​​used to calculate the tilt angle of the IMU module relative to the pipeline. The tilt angle represents the actual posture of the device relative to the pipeline. Based on the obtained tilt angle and angular velocity, the curvature of the pipeline is calculated. The curvature describes the degree of curvature of the pipeline at a certain position and is inversely proportional to the bending radius of the pipeline. Based on the calculated curvature, the pipeline curvature value is obtained. This value represents the actual degree of curvature of the pipeline at the detection position.

[0079] In some embodiments of the present application, when judging whether bending strain occurs in the pipeline to be inspected according to the comparison result, it includes: obtaining a standard bending value in the model data according to the position information, comparing the pipeline bending value with the standard bending value, and judging whether bending strain occurs in the pipeline to be inspected according to the comparison result.

[0080] Specifically, when the difference between the pipe bending value and the standard bending value is greater than b% of the standard bending value, it is determined that bending strain occurs in the pipe to be tested.

[0081] In some embodiments of the present application, when performing bending strain warning based on the pipeline bending value and the leakage magnetic data of the leakage magnetic internal detection equipment, it includes: normalizing the bending warning threshold and the standard bending threshold, and performing weighted summation of the processed bending warning threshold and the standard bending value to obtain a warning alert value.

[0082] Specifically, the leakage magnetic data and the pipe bending value are normalized, and the real-time state value of the pipeline to be detected is obtained based on the processed leakage magnetic data and the pipe bending value. The state difference is obtained based on the real-time state value and the warning value, and the warning level is determined based on the state difference to perform bending strain warning. The warning level is proportional to the state difference.

[0083] It is understandable that by comparing the difference with the standard bending value, it is possible to accurately determine whether the pipeline has bending strain and effectively identify abnormal conditions. The comparison of the real-time status value and the warning alert value provides a dynamic warning mechanism that can timely reflect the state changes of the pipeline and improve the response speed. The normalization processing and weighted summation method ensure the comparability of different data sources, so that the early warning system can remain efficient and reliable under complex conditions. By setting different warning levels and proportional coefficients, the sensitivity and response strategy of the early warning system can be adjusted according to actual needs, and the early warning effect can be optimized.

[0084] In some embodiments of the present application, the magnetic leakage data is compared with the bending warning threshold, and whether to perform a pipeline defect warning is determined according to the comparison result, including: when the magnetic leakage data is greater than the bending warning threshold, it is determined to perform a pipeline defect warning, and a magnetic leakage difference is obtained according to the magnetic leakage data and the bending warning threshold, the magnetic leakage difference is the difference between the magnetic leakage data and the bending warning threshold, and the defect warning level of the pipeline defect is determined according to the magnetic leakage difference, and the defect warning level is proportional to the magnetic leakage difference.

[0085] It is understandable that the calculation of the leakage difference and the proportional relationship with the warning level make the defect warning have a quantitative standard, which helps to formulate response measures according to the actual degree of leakage data. The leakage difference provides a dynamic assessment of the severity of the defect, allowing the warning system to be flexibly adjusted in different situations, improving the practicality and accuracy of the warning.

[0086] In the above embodiment, by combining the IMU module with the magnetic flux leakage detection technology, accurate detection and early warning of pipeline bending strain are achieved. When the magnetic flux leakage detection equipment is running in the pipeline, the IMU module can monitor the posture and motion state of the equipment in real time, and dynamically adjust the early warning threshold based on these data. It ensures that when the equipment is tilted or the pipeline is bent, the early warning threshold can reflect the actual pipeline state, avoiding false alarms and missed alarms caused by changes in the posture of the detection equipment. In addition, through the precise calculation of the pipeline bending value and the combined analysis of the positioning information, the bending strain of the pipeline can be effectively identified, and an early warning can be issued when necessary, which improves the reliability and safety of pipeline detection. The accuracy of magnetic flux leakage detection is improved, providing a strong guarantee for the long-term safe operation of the pipeline.

[0087] In another preferred embodiment based on the above embodiment, refer to Figure 2 As shown, this embodiment provides a bending strain detection system based on an IMU module, which is used to apply the above-mentioned bending strain detection method based on an IMU module, including:

[0088] A magnetic flux leakage internal detection device, on which an IMU module is installed. The IMU module includes an acceleration detection module, an angular velocity detection module and a positioning module;

[0089] The control module is connected to the magnetic flux leakage internal detection device and the IMU module. The control module includes a collection unit, a judgment unit and an early warning unit.

[0090] The acquisition unit is configured to acquire pipeline data of the pipeline to be inspected, and determine the early warning threshold of the magnetic flux leakage internal detection device according to the pipeline data; the acquisition unit is also configured to acquire the operation data of the IMU module in real time, and determine the operation state of the magnetic flux leakage internal detection device according to the operation data, and the operation state includes horizontal operation and inclined operation. When it is determined that the magnetic flux leakage internal detection device is inclined, the operation data is compared with the historical operation data, and the threshold adjustment coefficient is determined according to the comparison result to adjust the early warning threshold, so as to obtain the bending early warning threshold;

[0091] The judgment unit is configured to obtain a pipe bending value according to the operation data, obtain position information of the magnetic flux leakage internal detection device based on the positioning module in the IMU module, compare the position information and the pipe bending value with the model data of the pipe to be detected, and judge whether the pipe to be detected has bending strain according to the comparison result;

[0092] The early warning unit is configured to, when the judgment unit determines that bending strain occurs in the pipeline to be detected, issue a bending strain early warning based on the pipeline bending value and the leakage magnetic data of the leakage magnetic detection device; when the judgment unit determines that bending strain does not occur in the pipeline to be detected, the early warning unit compares the leakage magnetic data with the bending early warning threshold, and determines whether to issue a pipeline defect early warning based on the comparison result.

[0093] It is understandable that by combining the IMU module with the magnetic flux leakage detection technology, accurate detection and early warning of pipeline bending strain are achieved. When the magnetic flux leakage detection equipment is running in the pipeline, the IMU module can monitor the posture and motion status of the equipment in real time, and dynamically adjust the early warning threshold based on these data. It ensures that when the equipment is tilted or the pipeline is bent, the early warning threshold can reflect the actual pipeline status, avoiding false alarms and missed alarms caused by changes in the posture of the detection equipment. In addition, through the precise calculation of the pipeline bending value and the combined analysis of the positioning information, the bending strain of the pipeline can be effectively identified, and an early warning can be issued when necessary, which improves the reliability and safety of pipeline detection. The accuracy of magnetic flux leakage detection has been improved, providing a strong guarantee for the long-term safe operation of the pipeline.

[0094] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems or computer program products. Therefore, the present application may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present application may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0095] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems) and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0096] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0097] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0098] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the relevant field should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents. Any modification or equivalent replacement that does not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. A bending strain detection method based on an IMU module, characterized in that: include: Collect pipeline data of the pipeline to be inspected, and determine the early warning threshold of the magnetic leakage internal detection equipment according to the pipeline data; Based on the magnetic flux leakage internal detection device, pipeline detection is performed, and operation data of the IMU module is collected in real time. The operation state of the magnetic flux leakage internal detection device is determined according to the operation data, and the operation state includes horizontal operation and inclined operation. When it is determined that the magnetic flux leakage internal detection device is tilted, the operation data is compared with the historical operation data, and the threshold adjustment coefficient is determined according to the comparison result to adjust the warning threshold, so as to obtain the bending warning threshold; Obtaining a pipe bending value according to the operation data, and obtaining position information of the magnetic flux leakage internal detection device based on a positioning module in the IMU module, comparing the position information and the pipe bending value with the model data of the pipe to be detected, and judging whether bending strain occurs in the pipe to be detected according to the comparison result; When it is determined that the pipeline to be inspected has bending strain, a bending strain warning is performed according to the pipeline bending value and the magnetic leakage data of the magnetic leakage internal detection device; when it is determined that the pipeline to be inspected has not undergone bending strain, the magnetic leakage data is compared with the bending warning threshold, and it is determined whether to perform a pipeline defect warning according to the comparison result; When determining the warning threshold of the magnetic leakage internal detection device according to the pipeline data, it includes: The pipeline data includes pipeline cross-sectional area, pipeline diameter, density of pipeline material and magnetic permeability of pipeline material; The warning threshold is calculated by the following formula: ； Among them, Y represents the warning threshold, S represents the pipeline cross-sectional area, and D represents the pipeline diameter. represents the density of the pipe material, It represents the magnetic permeability of the pipe material, P represents the ambient pressure, T represents the ambient temperature, C represents the ambient temperature correction coefficient, and q1 and q2 represent the weight coefficients; The threshold adjustment coefficient is determined according to the comparison result to adjust the warning threshold, and when the bending warning threshold is obtained, it includes: Calculating the similarity between the operation data and any data in the historical operation data, and establishing a similarity data set; When there is data greater than the similarity threshold in the similarity data set, a historical adjustment coefficient corresponding to the maximum similarity value is selected to adjust the warning threshold to obtain the bending warning threshold; When all data in the similarity data set are less than or equal to the similarity threshold, determining the threshold adjustment coefficient according to the operation data, and adjusting the warning threshold according to the threshold adjustment coefficient to obtain the bending warning threshold; When the threshold adjustment coefficient is determined according to the operating data, the threshold adjustment coefficient is obtained by calculating the following formula: ； Where K represents the threshold adjustment coefficient, Indicates the tilt angle detected by the IMU module. Indicates the maximum allowed tilt angle, a indicates the acceleration detected by the IMU module, amax indicates the maximum allowed acceleration, w indicates the angular velocity detected by the IMU module, wmax indicates the maximum allowed angular velocity, cosh indicates the hyperbolic cosine function, r1, r2, and r3 indicate the tilt angle weight, acceleration weight, and angular velocity weight, respectively; When calculating the similarity between the operation data and any data in the historical operation data, the similarity is calculated by the following formula: ； Among them, Xs represents the similarity between the operating data and any data in the historical operating data. represents the i-th historical acceleration in the historical operation data, represents the i-th historical angular velocity in the historical running data, Indicates the acceleration detected by the IMU module. It represents the angular velocity detected by the IMU module, α and β represent weight coefficients, and α+β=1; When the pipe bending value is obtained according to the operation data, it includes: The operation data of the IMU module is parsed through a direction cosine matrix to obtain an inclination angle of the magnetic flux leakage internal detection device relative to the pipeline; Calculating the bending curvature of the pipeline to be inspected according to the inclination angle and the angular velocity in the operation data; Obtaining the pipe bending value according to the bending curvature; When judging whether the pipeline to be inspected has bending strain according to the comparison result, it includes: Obtaining a standard bending value in the model data according to the position information, comparing the pipe bending value with the standard bending value, and judging whether bending strain occurs in the pipe to be detected according to the comparison result; When the difference between the pipe bending value and the standard bending value is greater than b% of the standard bending value, it is determined that the pipe to be tested has bending strain; When a bending strain warning is performed according to the pipeline bending value and the magnetic leakage data of the magnetic leakage internal detection device, it includes: Normalizing the bending warning threshold and the standard bending threshold, and performing weighted summation of the processed bending warning threshold and the standard bending value to obtain a warning alert value; The magnetic flux leakage data and the pipeline bending value are normalized, and the real-time state value of the pipeline to be detected is obtained according to the processed magnetic flux leakage data and the pipeline bending value, and the state difference is obtained according to the real-time state value and the early warning value, and the early warning level is determined according to the state difference to perform bending strain early warning; The warning level is proportional to the state difference; The leakage magnetic data is compared with the bending warning threshold, and whether to issue a pipeline defect warning is determined according to the comparison result, including: When the magnetic leakage data is greater than the bending warning threshold, it is determined that a pipeline defect warning is performed, and a magnetic leakage difference is obtained according to the magnetic leakage data and the bending warning threshold. The magnetic leakage difference is the difference between the magnetic leakage data and the bending warning threshold. The defect warning level of the pipeline defect is determined according to the magnetic leakage difference, and the defect warning level is proportional to the magnetic leakage difference.

2. A bending strain detection system based on an IMU module, used for applying the bending strain detection method based on an IMU module as claimed in claim 1, characterized in that: include: A magnetic flux leakage internal detection device, on which an IMU template is installed, and the IMU module includes an acceleration detection module, an angular velocity detection module and a positioning module; A control module is connected to the magnetic flux leakage internal detection device and the IMU module, and the control module includes a collection unit, a judgment unit and an early warning unit, wherein: The acquisition unit is configured to acquire pipeline data of the pipeline to be detected, and determine the warning threshold of the magnetic flux leakage internal detection device according to the pipeline data; the acquisition unit is also configured to acquire operation data of the IMU module in real time, and determine the operation state of the magnetic flux leakage internal detection device according to the operation data, wherein the operation state includes horizontal operation and inclined operation. When it is determined that the magnetic flux leakage internal detection device is inclined, the operation data is compared with the historical operation data, and the threshold adjustment coefficient is determined according to the comparison result to adjust the warning threshold, so as to obtain the bending warning threshold; The judgment unit is configured to obtain a pipe bending value according to the operation data, and obtain position information of the magnetic flux leakage internal detection device based on a positioning module in the IMU module, compare the position information and the pipe bending value with the model data of the pipe to be detected, and judge whether the pipe to be detected has bending strain according to the comparison result; The early warning unit is configured to, when the judgment unit determines that the pipeline to be detected has bending strain, issue a bending strain early warning according to the pipeline bending value and the leakage magnetic data of the leakage magnetic internal detection device; when the judgment unit determines that the pipeline to be detected has not bent strain, the early warning unit compares the leakage magnetic data with a bending early warning threshold, and determines whether to issue a pipeline defect early warning according to the comparison result.

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