Mileage device based on magnetic flux leakage encoder and magnetic flux leakage detection system and method

Abstract

The invention discloses a mileage device based on a magnetic flux leakage encoder and a magnetic flux leakage detection system and method. The mileage device comprises an acquisition module, a magnet, a mileage wheel and a mileage wheel arm; the odometer wheel is rotatably arranged between the two odometer wheel arms through a rotating piece; the magnet is arranged on the rotating piece, and rotation of the odometer wheel can drive the magnet to rotate so as to generate a magnetic signal; the acquisition module is arranged on an odometer wheel arm and comprises a magnetic encoder used for acquiring a magnetic signal and generating a clock signal according to the magnetic signal; the clock signal comprises a real-time pulse number corresponding to each rotation angle of the odometer wheel. Digital processing of the rotation angle of the odometer wheel can be achieved, that is, the target wheel triggers pulse signals or the analog frequency division device is improved to digital frequency division, higher measurement precision can be achieved, the mileage measurement precision is improved, the measurement precision can be changed only by changing the frequency division number set by the encoder in the using process of the device, and the device is convenient to use. And the adaptability is higher.

Description

Technical Field

[0001] The present invention relates to the technical field of pipeline detection, and in particular to a mileage device based on a magnetic leakage encoder, a magnetic leakage detection system and a method. Background Art

[0002] At present, the existing pipeline magnetic flux leakage detection equipment uses a mileage device to measure and record the mileage data of the magnetic flux leakage detection device. Most of the existing mileage devices use analog mileage signals, that is, the sensor senses the metal teeth on the mileage wheel target wheel (the metal teeth are filled with non-metallic materials), that is, the metal teeth are used as the signal source, and the mileage data is recorded in the form of a pulse signal output. Summary of the invention

[0003] The inventors have found that the metal teeth and non-metal fillers of the existing mileage device are easily damaged. In the event that the metal teeth are damaged, the mileage data recorded by the sensor will be incorrect, affecting the measurement accuracy of the mileage data.

[0004] In view of the above problems, the present invention is proposed to provide a mileage device, a leakage magnetic detection system and a method based on a leakage magnetic encoder, which overcome the above problems or at least partially solve the above problems.

[0005] In a first aspect, an embodiment of the present invention provides a mileage device based on a magnetic leakage encoder, comprising: a collection module, a magnet, a mileage wheel, and a mileage wheel arm;

[0006] The mileage wheel is rotatably arranged between two mileage wheel arms via a rotating member;

[0007] The magnet is arranged on the rotating member, and the rotation of the mileage wheel can drive the magnet to rotate to generate a magnetic signal;

[0008] The acquisition module is arranged on the mileage wheel arm, and the acquisition module comprises: a magnetic encoder for acquiring the magnetic signal and generating a clock signal according to the magnetic signal; the clock signal comprises: a corresponding real-time pulse number at each rotation angle of the mileage wheel.

[0009] In an optional embodiment, the mileage wheel comprises: a wheel body and a wear-resistant ring;

[0010] The wheel body comprises: a first wheel body and a second wheel body. The first wheel body, the wear-resistant ring and the second wheel body are fixedly connected in sequence and are rotatably connected to the mileage wheel arm.

[0011] In an optional embodiment, the first wheel body and the second wheel body are made of stainless steel;

[0012] The wear-resistant ring is a Haver ring structure, and the material of the wear-resistant ring is tungsten steel.

[0013] In an optional embodiment, an anti-slip pattern is provided on the outer circumference of the wear-resistant ring.

[0014] In an optional embodiment, the rotating member is a rotating shaft, and a bearing matching the rotating shaft is provided on the mileage wheel arm;

[0015] The rotating shaft is provided with a groove, and the small magnet is placed and fixed in the groove.

[0016] In an optional embodiment, the magnet is made of neodymium iron boron material and is magnetized using a radial magnetization method.

[0017] In an optional embodiment, the acquisition module is disposed on one end of the mileage wheel arm on which the mileage wheel is mounted, and the end surface of the acquisition module close to the mileage wheel arm abuts against the end surface of the mileage wheel arm.

[0018] In an optional embodiment, the frequency division number of the magnetic encoder is several times the circumference of the mileage wheel.

[0019] Based on the same inventive concept, an embodiment of the present invention provides a mileage detection method, using the above-mentioned mileage device, including:

[0020] Obtain the total number of pulses generated by the mileage device within the detection time;

[0021] Obtaining the rotation speed of the odometer wheel according to the total number of pulses, the detection time and the preset number of pulses output by the encoder per rotation of the odometer wheel;

[0022] The movement speed of the odometer wheel is obtained according to the rotation speed and the circumference of the odometer wheel, and the mileage data of the odometer wheel within the detection time is obtained according to the movement speed of the odometer wheel.

[0023] In an optional embodiment, the movement speed of the odometer wheel is obtained according to the rotation speed and the circumference of the odometer wheel, and the mileage data of the odometer wheel within the detection time is obtained according to the movement speed of the odometer wheel, including:

[0024] Obtaining the diameter wear amount of the odometer wheel during the detection process according to the diameter of the odometer wheel at the beginning of the detection and the diameter of the odometer wheel at the end of the detection;

[0025] The diameter wear amount is averaged at each moment in the detection time to obtain the real-time diameter of the odometer wheel, the real-time circumference of the odometer wheel is obtained according to the real-time diameter of the odometer wheel, and the real-time movement speed of the odometer wheel is obtained according to the rotation speed and the real-time circumference of the odometer wheel;

[0026] The mileage data is obtained by integrating the movement speed of the mileage wheel within the detection time.

[0027] Based on the same inventive concept, an embodiment of the present invention further provides a magnetic flux leakage detection system, comprising the above-mentioned mileage device and a first processing unit;

[0028] The acquisition module is electrically connected to the first processing unit, and is used to transmit the clock signal to the first processing unit;

[0029] The first processing unit is used to receive a clock signal transmitted by the magnetic encoder, and obtain the total number of pulses within the detection time according to the number of pulses corresponding to each rotation angle of the odometer wheel included in the clock signal.

[0030] In an optional embodiment, the first processing unit is further used to: obtain the number of rotations of the mileage wheel according to the total number of pulses and a preset frequency division number, and obtain the mileage data according to the number of rotations and the circumference of the mileage wheel.

[0031] In an optional embodiment, the magnetic flux leakage detection system further includes: a second processing unit;

[0032] The second processing unit is electrically connected to the first processing unit, and is used to receive the total number of pulses transmitted by the first processing unit, and obtain the rotation speed of the odometer wheel according to the total number of pulses, the detection time, and the preset number of pulses output by the encoder per rotation of the odometer wheel;

[0033] Furthermore, the movement speed of the odometer wheel is obtained according to the rotation speed and the circumference of the odometer wheel, and the mileage data of the odometer wheel within the detection time is obtained according to the movement speed of the odometer wheel.

[0034] The beneficial effects of the above technical solution provided by the embodiment of the present invention include at least:

[0035] The embodiment of the present invention provides a mileage device for magnetic leakage internal detection, comprising: a collection module, a magnet, a mileage wheel and a mileage wheel arm; when the mileage wheel rotates, it drives a small magnet to rotate to generate a magnetic signal; the collection module comprises: a magnetic encoder, which is used to collect magnetic signals and generate a clock signal according to the magnetic signals, and the clock signal comprises: a corresponding real-time pulse number at each rotation angle of the mileage wheel. By setting the magnetic encoder, the mileage wheel rotation angle is digitally processed, that is, the target wheel trigger pulse signal or the analog frequency division device is improved to the digital frequency division, which can achieve higher measurement accuracy and improve the mileage measurement accuracy. In the process of use, the device only needs to change the frequency division number set by the encoder without changing the hardware structure of the mileage device, so as to change the measurement accuracy and have stronger adaptability. At the same time, the mileage device detects the mileage data by sensing the magnetic signal generated by the rotating magnet of the magnetic encoder, that is, the magnet is used as the signal source. Compared with the traditional situation of using metal teeth as the signal source, the situation of incorrect recorded mileage data due to damage of the signal source is reduced. The mileage device has a simple structure and good operating performance.

[0036] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures particularly pointed out in the written description, claims, and drawings.

[0037] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0039] Figure 1 This is a schematic diagram of the structure of a mileage device in an embodiment of the present invention;

[0040] Figure 2 This is a schematic diagram of the structure of the mileage wheel in an embodiment of the present invention;

[0041] Figure 3 It is a schematic diagram of the structure of the wear-resistant ring in an embodiment of the present invention;

[0042] Figure 4 Schematic diagram of the flow of the mileage detection method in an embodiment of the present invention.

[0043] Description of reference numerals:

[0044] 1- collection module, 2- mileage wheel arm, 3- mileage wheel;

[0045] 31-wear-resistant ring, 32-wheel body;

[0046] 321- first wheel body, 322- second wheel body. DETAILED DESCRIPTION

[0047] The exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although the 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 set forth herein. On the contrary, these embodiments are provided 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.

[0048] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0049] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" 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 mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected 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.

[0050] The inventors have found that the metal teeth and non-metal fillers of the existing mileage device are easily damaged. When the metal teeth are damaged, the mileage data recorded by the sensor through sensing the metal teeth will be incorrect. The inventors have not solved this problem by changing the material of the metal teeth. In addition, since there is a gap between the sensor and the metal teeth, when the ferromagnetic material in the pipeline falls into the gap between the sensor and the metal teeth, it is easy to interfere with the sensor, causing the sensor to easily generate false signals. In addition, during the use of the traditional mileage device, the wheel surface of the mileage wheel is easily worn, which easily causes the problem of large mileage data errors.

[0051] In order to solve the problems existing in the prior art, the embodiment of the present invention provides a mileage device for magnetic leakage internal detection, referring to Figure 1 As shown, it includes: a collection module 1, a magnet (not shown in the figure), a mileage wheel 3 and a mileage wheel arm 2;

[0052] The mileage wheel 3 is rotatably arranged between the two mileage wheel arms 2 via a rotating member;

[0053] The magnet is arranged on the rotating member, and the rotation of the mileage wheel 3 can drive the magnet to rotate to generate a magnetic signal;

[0054] The acquisition module 1 is arranged on the mileage wheel arm 2, and the acquisition module 1 includes: a magnetic encoder (not shown in the figure), which is used to collect magnetic signals and generate a clock signal according to the magnetic signals; wherein the clock signal includes: the real-time pulse number generated at each rotation angle of the mileage wheel.

[0055] The embodiment of the present invention provides a mileage device for magnetic leakage internal detection, comprising: a collection module 1, a magnet, a mileage wheel 3 and a mileage wheel arm 2; when the mileage wheel 3 rotates, it drives a small magnet to rotate to generate a magnetic signal; the collection module 1 comprises: a magnetic encoder, which is used to collect magnetic signals and generate a clock signal according to the magnetic signal, and the clock signal comprises: a corresponding real-time pulse number at each rotation angle of the mileage wheel. By setting the magnetic encoder, the mileage wheel rotation angle is digitally processed, that is, the target wheel trigger pulse signal or the analog frequency division device is improved to the digital frequency division, which can achieve higher measurement accuracy and improve the mileage measurement accuracy. In addition, the device only needs to change the frequency division number set by the encoder during use, without changing the hardware structure of the mileage device, to change the measurement accuracy, and has stronger adaptability. At the same time, the mileage device detects the mileage data by sensing the magnetic signal generated by the magnet in the rotating state of the magnetic encoder, that is, the magnet is used as the signal source. Compared with the traditional situation of using metal teeth as the signal source, the situation of incorrect recorded mileage data due to damage to the signal source is reduced. The mileage device has a simple structure and good operating performance.

[0056] Optionally, the frequency division number of the magnetic encoder of the embodiment of the present invention is several times the circumference of the mileage wheel; when setting the size of the mileage wheel, it can be designed according to the frequency division number of the magnetic encoder, for example: when the magnetic encoder is a 13-bit magnetic encoder, the frequency division number of the magnetic encoder is 8192, and the frequency division number of the encoder can be 100 times the circumference of the mileage wheel, that is, the circumference of the mileage wheel can be designed to be 81.92mm; or, the frequency division number of the encoder can be 50 times the circumference of the mileage wheel, that is, the circumference of the mileage wheel can be designed to be 163.84mm, etc. Specifically, the circumference of the mileage wheel needs to be determined based on the size of the pipeline to be measured; the embodiment of the present invention does not specifically limit this. Preferably, the frequency division number of the magnetic encoder is an integer multiple of the circumference of the mileage wheel, and the circumference of the mileage wheel is a finite number.

[0057] Among them, the measurement accuracy of the mileage device is the ratio of the designed circumference of the mileage wheel to the frequency division number of the magnetic encoder. For example, when the magnetic encoder is a 13-bit magnetic encoder, the frequency division number of the magnetic encoder is 8192. Assuming that the circumference of the mileage wheel is 81.92 mm, the measurement accuracy of the mileage device is 81.92 mm / 8192 = 0.01 mm, that is, the mileage data is sampled once every 0.01 mm. Compared with traditional mileage devices, the sampling accuracy is higher; when the mileage device is used for pipeline inspection to locate pipeline defects, the accuracy is also higher.

[0058] Furthermore, the embodiment of the present invention does not specifically limit the number of bits of the magnetic encoder, such as a 13-bit magnetic encoder, a 12-bit magnetic encoder, etc. Preferably, the magnetic encoder is a 13-bit magnetic encoder.

[0059] In an alternative embodiment, referring to Figure 2 As shown, the mileage wheel 3 comprises: a wheel body 32 and a wear-resistant ring 31;

[0060] The wheel body 32 includes: a first wheel body 321 and a second wheel body 322 . The first wheel body 321 , the wear-resistant ring 31 and the second wheel body 322 are fixedly connected in sequence and rotatably connected to the mileage wheel arm 2 .

[0061] The mileage wheel 3 of the embodiment of the present invention adopts a double-layer composite structure, that is, a wear-resistant ring 31 is arranged between the first wheel body 321 and the second wheel body 322, which can improve the wear resistance of the mileage wheel.

[0062] Furthermore, the first wheel body 321 and the second wheel body 322 are made of stainless steel, which improves the anti-sulfur strength and hardness of the wheel body. The wear-resistant ring 31 is a Haversian ring structure. For details, refer to Figure 3 As shown, the Haver ring structure is a semicircular ring structure, and the Haver ring may be provided with connecting holes corresponding to the first wheel body 321 and the second wheel body 322. During installation, the two semicircular wear-resistant rings are respectively inserted between the first wheel body 321 and the second wheel body 322 from both sides of the wheel body 32, and connected through the connecting holes. For example, the connecting holes may be threaded holes, and the wheel body and the wear-resistant layer are connected through hexagon socket screws and corresponding nuts; the wear-resistant ring 31 is set as a Haver ring structure to facilitate the installation of the wear-resistant ring 31 and the wheel body 32; and the wear-resistant ring 31 is made of tungsten steel, and the wear-resistant ring 31 is set between the first wheel body 321 and the second wheel body 322, which can not only ensure the wear resistance requirements of the mileage wheel, but also solve the weakness of tungsten steel being relatively brittle, and make good use of the wear resistance of tungsten steel.

[0063] Further, see Figure 3 As shown, an anti-skid pattern is arranged on the outer circumference of the wear-resistant ring 31. The anti-skid pattern structure can prevent the mileage wheel 3 from slipping during movement, thereby affecting the accuracy of the final measurement data.

[0064] In an optional embodiment, the rotating member is a rotating shaft (not shown in the figure), and a bearing (not shown in the figure) matching with the rotating shaft is provided on the mileage wheel arm 2;

[0065] A groove is provided on the rotating shaft, and the magnet is placed and fixed in the groove. Specifically, for example, a magnet with a diameter of 4mm and a length of 4mm can be selected. Accordingly, a groove with a diameter of 4mm and a depth of 4mm can be provided on the rotating shaft. The small magnet is installed in the groove and can be fixed by AB glue (two-liquid mixed hardening glue) to prevent the rotation angle of the magnet and the rotating shaft from being inconsistent.

[0066] Furthermore, the magnet can be made of neodymium iron boron material to increase the magnetic field strength that the magnet can generate; and the magnet is magnetized using a radial magnetization method to meet the requirements of the magnetic encoder for collecting signals.

[0067] Optional, see Figure 1 As shown, the acquisition module 1 is arranged on one end of the mileage wheel arm on which the mileage wheel is installed, and the end face of the acquisition module 1 close to the mileage wheel arm 2 can be abutted against the end face of the mileage wheel arm 3, that is, there is a gap-free arrangement between the acquisition module 1 and the mileage wheel arm 3. At this time, when the pipeline is detected, the ferromagnetic material in the pipeline is not easy to fall between the magnet and the acquisition module 1, so the influence of the ferromagnetic material in the pipeline on the induction signal of the magnetic encoder can be reduced. Specifically, the acquisition module 1 can be fixed to the mileage wheel arm 2 by an hexagon socket screw.

[0068] Optionally, the mileage device of the embodiment of the present invention may further include a spacer (not shown in the figure) between the mileage wheel 3 and the mileage wheel arm, and the spacer is used to fasten the bearings provided on the mileage wheel arm 2 to reduce the radial swing of the mileage wheel 3 along the rotating shaft when the mileage wheel 3 rotates through the cooperation between the rotating shaft and the bearing, thereby affecting the mileage measurement result.

[0069] The mileage device of the embodiment of the present invention can convert the rotation angle of the mileage wheel into a digital value by using a magnetic encoder when detecting mileage data, and the digital value corresponding to one rotation of the mileage wheel (360 degrees) is the frequency division number of the magnetic encoder; for example, when the frequency division number of this encoder is 8192, the digital value corresponding to one rotation of the mileage wheel is 8192, and the digital value corresponding to each rotation is 22.75; that is, the mileage device can realize the digitization of the mileage pulse, improve the mileage accuracy, realize the digital frequency division of the mileage device, and the frequency division number can be adjusted, and the operating performance is good.

[0070] Moreover, the mileage device has a simple structure. Compared with a traditional mileage device, it does not have a target wheel structure, that is, it does not need to process metal teeth, thereby reducing the difficulty of processing and the impact of processing errors.

[0071] Based on the same inventive concept, an embodiment of the present invention provides a method for detecting mileage using the above-mentioned mileage device, referring to Figure 4 As shown, including:

[0072] Step S101: Obtain the total number of pulses generated by the mileage device within the detection time;

[0073] Step S102: Obtain the rotation speed of the odometer wheel according to the total number of pulses, the detection time and the preset number of pulses output by the encoder per rotation of the odometer wheel (the frequency division number of the magnetic encoder);

[0074] Step S103: obtaining the movement speed of the odometer wheel according to the rotation speed and the circumference of the odometer wheel, and obtaining the mileage data of the odometer wheel within the detection time according to the movement speed of the odometer wheel.

[0075] It should be noted that, when calculating the mileage data, if the detection device used for range measurement includes one mileage device, the movement speed of the mileage wheel calculated in step S103 is the movement speed of the mileage wheel; when the detection device used for range measurement includes two mileage devices, the movement speed of the mileage wheel calculated in step S103 is the average of the movement speeds of the two mileage wheels.

[0076] Specifically, in step S103, the movement speed of the odometer wheel is obtained according to the rotation speed and circumference of the odometer wheel, and the mileage data of the odometer wheel within the detection time is obtained according to the movement speed of the odometer wheel, including:

[0077] Obtaining the diameter wear amount of the odometer wheel during the detection process according to the diameter of the odometer wheel at the beginning of the detection and the diameter of the odometer wheel at the end of the detection;

[0078] The diameter wear amount is averaged at each moment in the detection time to obtain the real-time diameter of the odometer wheel, the real-time circumference of the odometer wheel is obtained according to the real-time diameter of the odometer wheel, and the real-time movement speed of the odometer wheel is obtained according to the rotation speed and real-time circumference of the odometer wheel;

[0079] The mileage data is obtained by integrating the real-time movement speed of the mileage wheel during the detection time.

[0080] The diameter of the odometer wheel at the beginning of the detection and the diameter of the odometer wheel at the end of the detection can be measured.

[0081] In an optional embodiment, for the mileage detection method provided in the embodiment of the present invention, two mileage devices are used during the detection, and an exemplary description of the mileage data calculation process is given by taking a differentially driven mobile robot as an example: first, the rotation speed of the mileage wheel is calculated according to the number of pulses generated by the encoder, and then the movement speed of the mileage wheel is calculated according to the circumference of the wheel, and finally the mileage data is calculated based on the integral of the movement speed.

[0082] Specifically:

[0083] (1) Based on the number of pulses generated by the encoder during the detection time, the speed of the odometer wheel is calculated as follows:

[0084]

[0085]

[0086] Wherein, n(L) and n(R) are the rotation speeds of the first odometer wheel and the second odometer wheel respectively; N(L) and N(R) are the pulse numbers measured by the first encoder corresponding to the first odometer wheel and the second encoder corresponding to the second odometer wheel within the time Δt respectively; and p is the frequency division number of the encoder.

[0087] (2) calculating the movement speed of the odometer wheel according to the rotation speed of the odometer wheel and the circumference of the odometer wheel, including respectively calculating the movement speeds of the first odometer wheel and the second odometer wheel by the following calculation formula:

[0088] v(L)=n(L)πD

[0089] v(R)=n(R)πD

[0090]

[0091] Wherein, v(L) and v(R) are the movement speeds of the first mileage wheel and the second mileage wheel respectively, v is the average speed of the first mileage wheel and the second mileage wheel, and D is the diameter of the mileage wheel.

[0092] (3) Integrate the mileage data according to the movement speed of the mileage wheel, and the mileage data of the mileage wheel = the product of the movement speed of the mileage wheel and time;

[0093] Since the diameter of the mileage wheel is worn during mileage detection, and the method of the embodiment of the present invention averages the wear of the mileage wheel at each moment during the entire process from the start of detection to the end of detection, the diameter of the mileage wheel changes evenly over time when calculating the mileage data. Therefore, the movement speed of the mileage wheel can be integrated with the wear of the diameter of the mileage wheel at each moment during the detection time to obtain the mileage data of the mileage wheel during the detection time.

[0094] The mileage detection method provided in an embodiment of the present invention can digitally calculate the mileage data based on the total number of pulses obtained by the mileage device, and take into account the wear of the mileage wheel during the detection process when performing the calculation, so as to reduce the error caused by the wear of the mileage wheel during the detection process and improve the accuracy of mileage data detection.

[0095] Based on the same inventive concept, an embodiment of the present invention further provides a magnetic flux leakage detection system, comprising the above-mentioned mileage device and a first processing unit;

[0096] The acquisition module is electrically connected to the first processing unit and is used to transmit the clock signal to the first processing unit;

[0097] The first processing unit is used to receive the clock signal transmitted by the magnetic encoder, and obtain the total number of pulses within the detection time according to the number of pulses corresponding to each rotation angle of the odometer wheel included in the clock signal.

[0098] Furthermore, the first processing unit is also used to obtain the number of rotations of the odometer wheel according to the total number of pulses and a preset frequency division number, and obtain the odometer data according to the number of rotations and the circumference of the odometer wheel.

[0099] In an optional embodiment, the magnetic flux leakage detection system further includes: a second processing unit;

[0100] The second processing unit is electrically connected to the first processing unit, and is used to receive the total number of pulses transmitted by the first processing unit, and obtain the rotation speed of the odometer wheel according to the total number of pulses, the detection time, and the preset number of pulses output by the encoder per rotation of the odometer wheel;

[0101] Furthermore, the movement speed of the odometer wheel is obtained according to the rotation speed and the circumference of the odometer wheel, and the mileage data of the odometer wheel within the detection time is obtained according to the movement speed of the odometer wheel.

[0102] Regarding the system in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiments of the method and the mileage device, and will not be elaborated here.

[0103] It should be understood that the specific order or hierarchy of steps in the disclosed process is an example of an exemplary method. Based on design preferences, it should be understood that the specific order or hierarchy of steps in the process can be rearranged without departing from the scope of protection of the present disclosure. The attached method claims present the elements of the various steps in an exemplary order and are not intended to be limited to the specific order or hierarchy described.

[0104] In the above detailed description, various features are grouped together in a single embodiment to simplify the disclosure. This method of disclosure should not be interpreted as reflecting an intention that the embodiments of the claimed subject matter require more features than are clearly stated in each claim. On the contrary, as reflected in the appended claims, the invention is in a state of having less than all the features of the disclosed individual embodiments. Therefore, the appended claims are hereby expressly incorporated into the detailed description, with each claim standing on its own as a separate preferred embodiment of the invention.

[0105] The above description includes examples of one or more embodiments. Of course, it is impossible to describe all possible combinations of components or methods for the purpose of describing the above embodiments, but it should be recognized by those skilled in the art that the various embodiments may be further combined and arranged. Therefore, the embodiments described herein are intended to cover all such changes, modifications and variations that fall within the scope of protection of the appended claims. In addition, with respect to the term "comprising" used in the specification or claims, the word is covered in a manner similar to the term "including", just as "including," is explained as a transitional word in the claims. In addition, any term "or" used in the specification of the claims is intended to mean "non-exclusive or".

Claims

1. A mileage device based on a magnetic leakage encoder, characterized in that: include: Acquisition module, magnet, odometer wheel and odometer wheel arm; The mileage wheel is rotatably arranged between two mileage wheel arms via a rotating member; The magnet is arranged on the rotating member, and the rotation of the mileage wheel can drive the magnet to rotate to generate a magnetic signal; The acquisition module is arranged on the mileage wheel arm, and the acquisition module comprises: a magnetic encoder for acquiring the magnetic signal and generating a clock signal according to the magnetic signal; the clock signal comprises: a corresponding real-time pulse number at each rotation angle of the mileage wheel.

2. The mileage device according to claim 1, characterized in that: The mileage wheel comprises: a wheel body and a wear-resistant ring; The wheel body comprises: a first wheel body and a second wheel body. The first wheel body, the wear-resistant ring and the second wheel body are fixedly connected in sequence and are rotatably connected to the mileage wheel arm.

3. The mileage device according to claim 2, characterized in that: The first wheel body and the second wheel body are made of stainless steel; The wear-resistant ring is a Haver ring structure, and the material of the wear-resistant ring is tungsten steel.

4. The mileage device according to claim 3, characterized in that: The outer circumference of the wear-resistant ring is provided with an anti-slip pattern.

5. The mileage device according to claim 1, characterized in that: The rotating member is a rotating shaft, and the mileage wheel arm is provided with a bearing matched with the rotating shaft; The rotating shaft is provided with a groove, and the small magnet is placed and fixed in the groove.

6. The mileage device according to claim 5, characterized in that: The magnet is made of neodymium iron boron material and is magnetized in a radial magnetization manner.

7. The mileage device according to claim 5, characterized in that: The collection module is arranged on one end of the mileage wheel arm on which the mileage wheel is installed, and the end surface of the collection module close to the mileage wheel arm abuts against the end surface of the mileage wheel arm.

8. The mileage device according to any one of claims 1 to 7, characterized in that: The frequency division number of the magnetic encoder is several times the circumference of the mileage wheel.

9. A mileage detection method, characterized in that: The mileage device as claimed in any one of claims 1 to 8 comprises: Obtain the total number of pulses generated by the mileage device within the detection time; Obtaining the rotation speed of the odometer wheel according to the total number of pulses, the detection time and the preset number of pulses output by the encoder per rotation of the odometer wheel; The movement speed of the odometer wheel is obtained according to the rotation speed and the circumference of the odometer wheel, and the mileage data of the odometer wheel within the detection time is obtained according to the movement speed of the odometer wheel.

10. The mileage detection method according to claim 9, characterized in that: The movement speed of the odometer wheel is obtained according to the rotation speed and the circumference of the odometer wheel, and the mileage data of the odometer wheel within the detection time is obtained according to the movement speed of the odometer wheel, including: Obtaining the diameter wear amount of the odometer wheel during the detection process according to the diameter of the odometer wheel at the beginning of the detection and the diameter of the odometer wheel at the end of the detection; The diameter wear amount is averaged at each moment in the detection time to obtain the real-time diameter of the odometer wheel, the real-time circumference of the odometer wheel is obtained according to the real-time diameter of the odometer wheel, and the real-time movement speed of the odometer wheel is obtained according to the rotation speed and the real-time circumference of the odometer wheel; The mileage data is obtained by integrating the movement speed of the mileage wheel within the detection time.

11. A magnetic flux leakage detection system, characterized in that: comprising the mileage device and the first processing unit as described in claims 1-8; The acquisition module is electrically connected to the first processing unit, and is used to transmit the clock signal to the first processing unit; The first processing unit is used to receive a clock signal transmitted by the magnetic encoder, and obtain the total number of pulses within the detection time according to the number of pulses corresponding to each rotation angle of the odometer wheel included in the clock signal.

12. The magnetic flux leakage detection system according to claim 11, characterized in that: The first processing unit is further used for obtaining the number of rotations of the mileage wheel according to the total number of pulses and a preset frequency division number, and obtaining the mileage data according to the number of rotations and the circumference of the mileage wheel.

13. The magnetic flux leakage detection system according to claim 11, characterized in that: Also includes: a second processing unit; The second processing unit is electrically connected to the first processing unit, and is used to receive the total number of pulses transmitted by the first processing unit, and obtain the rotation speed of the odometer wheel according to the total number of pulses, the detection time, and the preset number of pulses output by the encoder per rotation of the odometer wheel; Furthermore, the movement speed of the odometer wheel is obtained according to the rotation speed and the circumference of the odometer wheel, and the mileage data of the odometer wheel within the detection time is obtained according to the movement speed of the odometer wheel.

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