System and method for detecting defects on inner surface of pipeline based on magnetic suspension

Abstract

The invention relates to a pipeline inner surface defect detection system and method based on magnetic suspension, and belongs to the technical field of pipeline inner surface detection.The detection system comprises an electric lifting unit and a suspension type omnidirectional intelligent detection unit, and the electric lifting unit is used for adjusting the detection height; and the suspended omni-directional intelligent detection unit is suspended right above the electric lifting unit and detects the inner surface of the pipeline in an omni-directional manner. The carrying platform of the suspension type omnidirectional intelligent detection unit comprises an intelligent detection camera, the intelligent detection camera comprises a development board and a spiral lens, and a light source shell is annularly arranged on an aluminum substrate connected with the development board; a chip resistor and a chip LED electrically connected with the chip resistor are arranged on the aluminum substrate in the circumferential direction, and an annular light source is formed. Zero contact between the detection equipment and the inner wall of the pipeline is realized by virtue of a magnetic suspension technology, and the defect part in the pipeline is intelligently detected in real time by carrying the development board and combining with the annular light source and matching with the intelligent detection camera through a visual detection technology.

Description

Technical Field

[0001] The present invention belongs to the technical field of pipeline inner surface detection, and in particular relates to a pipeline inner surface defect detection system and method based on magnetic levitation. Background Art

[0002] Pipeline surface defects are the most intuitive and most detrimental defects during the pipeline manufacturing process, which are affected by factors such as production processes and environmental conditions. They will affect the integrity of the pipeline structure and directly affect the service life of the pipeline. Inner surface defects are more difficult to detect intuitively than outer surface defects. Therefore, detecting inner surface defects of pipelines is crucial to ensuring pipeline quality and reliability, and has great research value.

[0003] The traditional method of detecting inner surface defects is to use a handheld endoscope for manual inspection. The inspector needs to prepare a telescopic rod and install a detection camera module on the end of the telescopic rod. Then the inspector holds the handle and slowly extends one end with the detection lens module into the pipe. Then, by controlling the speed and depth of the telescopic rod and turning the handle by hand, the inspector finally observes the image collected by the lens on the display to determine whether there are defects in the pipe. This detection method is relatively simple and has low detection efficiency. Although the handheld endoscope detection is simple and flexible to operate and has a high degree of visualization, the detection results can only be analyzed and judged by the human eye on the upper computer, which is highly subjective; long-term visual inspection will cause human fatigue and missed detection. In addition, the detection method is relatively simple, the detectable pipe length is limited, and as the length of the telescopic rod increases, the difficulty of controlling the detection will also increase, which directly affects the stability of the detection module, thereby reducing the detection efficiency and reliability of defects.

[0004] Among the existing pipeline inspection technologies, there are also some more objective and reliable non-destructive testing technologies, such as X-ray inspection. This method uses a X-ray source and a digital detector for inspection. At the beginning of the inspection, the probe is calibrated on the display screen of the host, and the appropriate X-ray exposure time and intensity are set according to the thickness and material of the pipeline. During the inspection, the X-ray source is turned on for exposure, and the detector is used to receive the rays generated after penetrating the pipeline, and the image displayed in real time by the digital detector is recorded. The generated image is analyzed to determine whether there are defects. Compared with handheld endoscope inspection, the results of X-ray inspection are more accurate and the inspection efficiency is relatively high. However, X-ray inspection may not be applicable to some materials or pipelines with larger thicknesses. The detection sensitivity is low, and it can only detect the cross section or local area of ​​the pipeline. There may be certain limitations for the detection of slightly complex geometric sections. At the same time, X-ray inspection requires the use of a radiation source, which may cause radiation hazards to operators and the environment.

[0005] In addition, there are some pipeline robots equipped with machine vision devices for detection, which have fast detection speed and high accuracy. Taking the wheeled pipeline robot as an example, by manually placing a robot containing an acquisition board and a detection lens inside the pipeline, using a motor as a driving source, and relying on the cooperation between the rollers to move forward, the inner surface of the pipeline is monitored in real time. After the acquisition is completed, the image transmission function of the acquisition board equipped by the robot itself is used to transmit it to the computer to determine whether there are defects. Compared with traditional manual inspection and non-destructive inspection, the pipeline robot equipped with machine vision devices for detection has faster detection speed, higher accuracy, and can realize automatic defect detection, which greatly improves the efficiency of pipeline surface defect detection. Although it can detect defects in the pipeline to a certain extent, the detection equipment is all wired equipment, which limits the robot's detection distance and requires repeated entry and exit of the pipeline. It can only be applied to the detection of pipelines in the finished product area, and cannot achieve continuous detection on the production line. Taking the wheeled pipeline robot as an example, it can move steadily in the pipeline, but some robots have a large weight. During the inspection process, as the rollers move forward, they will leave marks or wear on the inner wall of the pipe, which will reduce the detection efficiency and accuracy; and most wheeled robots do not have the function of adaptive pipe diameter size.

[0006] Other methods such as ultrasonic testing and magnetic flux leakage testing have problems such as complex operation and expensive testing equipment.

[0007] It can be seen that the current pipeline inner surface defect detection technology still generally has problems such as low detection efficiency, poor reliability, and high labor intensity. Summary of the invention

[0008] In view of the shortcomings of the existing technology, the present invention provides a pipeline inner surface defect detection system and method based on magnetic levitation, which relies on magnetic levitation technology to achieve zero contact between the detection equipment and the inner wall of the pipeline, and uses a development board combined with a ring light source and a smart inspection camera to perform intelligent detection of defective parts in the pipeline in real time through visual inspection technology, thereby achieving all-round and non-omission image acquisition of the pipeline length and circumferential direction. The detection method proposed by the present invention can be applied to the production line to achieve wireless and non-destructive continuous detection, which can effectively solve the shortcomings of pipeline inner surface defect detection.

[0009] A pipeline inner surface defect detection system based on magnetic levitation, comprising:

[0010] Electric lifting unit to adjust the detection height;

[0011] The suspended omnidirectional intelligent inspection unit is suspended just above the electric lifting unit to inspect the inner surface of the pipeline in all directions.

[0012] The suspended omnidirectional intelligent inspection unit includes multiple carrying chambers, each of which has multiple carrying platforms built in it. The multiple carrying platforms are arranged axially along the carrying chamber and are evenly distributed circumferentially in space to achieve 360° full coverage of the pipeline.

[0013] The suspended omnidirectional intelligent inspection unit includes a wire storage bin, which is used to fix batteries and store wires for connecting circuits, and is connected and fixed at both ends of multiple carrying bins. The charging socket is connected and fixed to the wire storage bin by interference fit.

[0014] The whole body of the carrying bin and the line storage bin is connected with a float through a float cover, and the float is arranged in the middle and at both ends.

[0015] The suspended omnidirectional intelligent inspection unit includes an intelligent inspection camera, which includes a development board, which is fixed on the carrying compartment and electrically connected to the switch; the spiral lens is connected to the aluminum substrate, and the light source housing is arranged in a ring shape and fixed on the aluminum substrate, which is fixedly connected to the development board; the aluminum substrate is provided with chip resistors and chip LEDs electrically connected thereto along the circumferential direction, and the chip resistors and chip LEDs are both powered by the development board.

[0016] The viewing angle of the spiral lens is 85°.

[0017] The chip resistors and chip LEDs are divided into three groups and four groups respectively, and are distributed on the aluminum substrate along the circumferential direction to form a ring-shaped light source.

[0018] The development board is an artificial intelligence Linux Python AI vision development board with built-in image processing algorithms, and is powered by a large-capacity battery stored in a wire storage bin.

[0019] The electric lifting unit includes an aluminum frame, and a bottom plate is fixed on the aluminum frame; a plurality of lifting columns are arranged in parallel on the bottom plate; a trough body is connected to the top of the lifting column, and every two adjacent trough bodies are spliced ​​at the connection point by bolts; a magnetic levitation base is arranged in the trough body, corresponding to the float suspended on the electric lifting unit; a cover plate is arranged on the top of each trough body; a cabinet door and a handle are arranged on the aluminum frame, and wheels for movement are arranged at the bottom of the aluminum frame.

[0020] A pipeline inner surface defect detection method based on magnetic levitation, using the above-mentioned pipeline inner surface defect detection system based on magnetic levitation, is specifically as follows:

[0021] Charge the suspended omnidirectional intelligent inspection unit;

[0022] The height of the electric lifting unit is adjusted in real time, and the magnetic suspension base works in real time after being powered on;

[0023] Focus the spiral lens on the suspended omnidirectional intelligent inspection unit;

[0024] Connect the float;

[0025] Place the magnetic levitation base steadily;

[0026] Adjust the height of the electric lifting unit based on the safe distance between the pipeline and the magnetic suspension base;

[0027] Gently place the suspended omnidirectional intelligent inspection unit directly above the magnetic levitation base on the electric lifting unit, so that the suspended omnidirectional intelligent inspection unit can be stably and statically suspended in the air;

[0028] After adjusting the suspension and determining the inner diameter of the pipeline to be inspected, adjust the conveying speed of the pipeline so that the pipeline passes smoothly through the suspended omnidirectional intelligent inspection unit;

[0029] If you continue to inspect pipes with different inner diameters and readjust the focal length of the spiral lens, you need to pass the pipes with different inner diameters from the same lowest point to completely pass through the suspended omnidirectional intelligent inspection unit, and then perform the above inspection operation; otherwise, there is no need to readjust.

[0030] By means of the above technical solution, the present invention has at least the following beneficial effects:

[0031] 1. The detection system of the present invention realizes full coverage and continuous detection in the length direction and circumferential direction of the pipeline: by arranging the carrying platforms in the form of a regular hexagonal prism in space, the spiral lenses of each group of carrying platforms can face the inner surface of the pipeline, thereby ensuring that the pipeline passes through the detection system once to achieve full coverage in the circumferential direction and continuous and non-omission detection in the length direction.

[0032] 2. The present invention is provided with a plurality of mounting platforms, and the mounting platforms are provided with development boards, which utilize the development boards with a plurality of built-in intelligent detection algorithms to realize intelligent and digital, efficient pipeline inner surface defect detection.

[0033] 3. The suspended omnidirectional intelligent inspection unit I in the present invention is equipped with a large-capacity battery for power supply, and does not need to drag wires to move forward, thus realizing the functions of inspection and continuous inspection in longer pipelines. At the same time, the pipeline can pass through the inspection unit at one time, so that inspection in longer pipelines can be realized, and the function of continuous inspection of multiple pipelines can be realized, thus improving the inspection efficiency.

[0034] 4. The present invention realizes zero-contact detection between the detection system and the inner wall of the pipeline through magnetic levitation technology, and can adapt to the detection of pipelines with different inner diameters.

[0035] 5. The present invention provides a continuity detection that can be applied to the production line, and can be applied at the end of the pipeline production line to realize the integration of production pipeline and quality inspection process in an assembly line manner, which greatly improves the detection efficiency while ensuring the continuity detection. At the same time, the present invention can realize the detection of the detection equipment being stationary and the pipeline moving, saving the detection time, avoiding the detection equipment from repeatedly entering and exiting the pipeline, and saving the production-detection time.

[0036] The present invention is based on magnetic levitation technology and is combined with a machine vision detection method to realize wireless and non-destructive detection, achieve zero contact between the detection equipment and the pipeline, and thus completely collect the defects on the inner surface of the pipeline. Through the wireless image transmission function of the intelligent detection development board, the problem of limited detection distance of defects on the inner surface of the pipeline is effectively solved, and intelligent and automated detection of defects on the inner surface of the pipeline is completed, which greatly improves the reliability of the detection results and saves the cost of long-term non-destructive testing.

[0037] The structure of the present invention is reasonable and stable. Compared with the traditional method of relying on the inspection personnel to hold the endoscope and inspect by naked eyes, the present invention can realize automatic inspection and intelligent inspection, which can not only reduce the labor intensity of workers, but also improve the inspection efficiency. Compared with the pipeline robot technology, the present invention realizes zero contact between the inspection module and the inner wall of the pipeline by carrying a magnetic suspension platform, and then completely inspects the inner wall of the pipeline to realize non-destructive inspection. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 It is a structural schematic diagram of a pipeline inner surface defect intelligent detection system based on magnetic levitation of the present invention;

[0039] Figure 2 It is a structural schematic diagram of the suspended omnidirectional intelligent detection unit of the present invention;

[0040] Figure 3 It is a structural schematic diagram of the intelligent inspection camera of the present invention;

[0041] Figure 4 It is a structural schematic diagram of a ring light source that can be used in conjunction with a development board of the present invention;

[0042] Figure 5 It is a structural schematic diagram of the electric lifting unit of the present invention;

[0043] Figure 6 A circuit diagram of a chip resistor and a chip LED on an aluminum substrate in the present invention;

[0044] In the figure:

[0045] I-suspended omnidirectional intelligent inspection unit, II-intelligent inspection camera, III-ring light source, IV-electric lifting unit, 1-switch, 2-charging base, 3-carrying compartment, 4-line storage compartment, 5-float cover a, 6-float, 7-float cover b, 8-copper column, 9-development board, 10-spiral lens, 11-aluminum substrate, 12-light source housing, 13-chip resistor, 14-chip LED, 15-M2*6 screw, 16-trough, 17-lifting column, 18-bottom plate, 19-baffle, 20-cover, 21-aluminum frame, 22-cabinet door, 23-hinge, 24-handle, 25-wheel, 26-end connection plate, 27-angle code, 28-M6 hexagonal nut, 29-M6*50 flat head screw, 30-M6*16 T-bolt, 31-M6*15 flat head screw, 32-magnetic suspension base. DETAILED DESCRIPTION

[0046] In order to better explain the present invention and facilitate understanding, the technical solutions and effects of the present invention are described in detail below through specific implementation modes in conjunction with the accompanying drawings.

[0047] like Figure 1 As shown, a pipeline inner surface defect detection system based on magnetic levitation includes a suspended omnidirectional intelligent detection unit I and an electric lifting unit IV. The suspended omnidirectional intelligent detection unit I is suspended directly above the electric lifting unit IV, and is suitable for pipeline detection with an inner diameter of 150-250mm, thereby improving the versatility of detection.

[0048] like Figure 2 As shown, the suspended omnidirectional intelligent inspection unit 1 includes a carrying platform, a switch 1, a charging base 2, a carrying bin 3, a wire storage bin 4, a float cover a5, a float 6 and a float cover b7. The two carrying bins 3 are connected by bolts. The two wire storage bins 4 are used to fix the battery and store the wires of the connection circuit. They are fixed at both ends of the carrying bin 3 by bolt connection. The wire storage bin 4 stores a large-capacity battery. The switch 1 and the charging base 2 are connected and fixed by interference fit with the wire storage bin 4. The six built-in carrying platforms of the carrying bin 3 are arranged axially along the carrying bin 3, and are distributed in a regular hexagonal prism along its circumference in space. The phase angle between two adjacent carrying platforms is 60°. The two float covers a5 and the floats 6 connected to them are arranged at both ends of the integral connection between the wire storage bin 4 and the carrying bin 3, and the one float cover b7 and the float 6 connected to it are arranged in the middle of the integral connection between the wire storage bin 4 and the carrying bin 3. The float 6 and the float covers a5 and b7 are fixedly connected by interference fit. The float cover a5 and the integral connection between the wire storage bin 4 and the carrying bin 3 are connected by interference fit, and the float cover b7 and the carrying bin 3 are connected by interference fit.

[0049] The carrying platform includes a smart inspection camera II, such as Figure 3-Figure 4As shown, the intelligent inspection camera II includes a development board 9, an aluminum substrate 11, a spiral lens 10, a light source housing 12, six chip resistors 13 and four chip LEDs 14. The development board 9 is fixed to the carrying compartment 3 by bolts and two copper pillars 8, and is electrically connected to the switch 1; the spiral lens 10 is connected to the aluminum substrate 11 by M2*6 screws 15, and the viewing angle is 85°; the light source housing 12 is arranged in a ring shape on the aluminum substrate 11, and the aluminum substrate 11 is fixedly connected to the development board 9 by M2*6 screws 15. The chip resistor 13 and the chip LED 14 electrically connected thereto are arranged circumferentially on the aluminum substrate 11, and the chip resistor 13 and the chip LED 14 are both powered by the development board 9. The circuit diagram is shown in FIG. Figure 6 As shown. The six chip resistors 13 and the four chip LEDs 14 are divided into four groups and distributed on the aluminum substrate 11 along the circumferential direction to form a ring-shaped light source III. The six chip resistors 13 and the four chip LEDs 14 are welded on the reserved positions of the aluminum substrate 11, wherein the chip resistors 13 are 1206 type chip resistors with a resistance value of 22Ω, and the chip LEDs 14 are 5730 type chip LEDs with a power of 0.5W.

[0050] The development board 9 is an artificial intelligence Linux Python AI vision development board with built-in image processing algorithm, which is powered by a large-capacity battery stored in the wire storage bin 4. Before the development board 9 is installed on the loading bin 3, it needs to be connected to a computer in turn, and the debugged detection algorithm is deployed in the development board 9 for subsequent detection work.

[0051] After six sets of carrying platforms containing intelligent inspection cameras II are installed on the carrying compartment 3, the integrated intelligent inspection system for pipeline inner surface defects can realize all-round and continuous inspection in pipelines with an inner diameter of 150-250mm.

[0052] like Figure 5As shown, the electric lifting unit IV includes an aluminum frame 21, a bottom plate 18 is fixed on the aluminum frame 21 by bolt connection; three lifting columns 17 are arranged in parallel on the bottom plate 18, each lifting column 17 is fixed on the bottom plate 18 by bolt connection, and the lifting column 17 is an electric lifting column; the trough 16 is fixed on the top of the lifting column 17 by bolt connection, and every two adjacent troughs 16 are spliced ​​by bolt connection at the connection; the magnetic suspension base 32 is arranged in the trough 16, corresponding to the float 6; and a cover plate 20 is arranged on the top of each trough 16. The profiles of the aluminum frame 21 are connected to the angle code 27 by two M6 hexagonal nuts 28 and two M6*16 T-bolts 30 fixed in the groove, and are closed by a baffle 19 to form a closed space, and each baffle 19 is on the angle code 27 of the aluminum frame 21 by four M6 hexagonal nuts 28 and M6*50 flat head screws 29. The aluminum frame 21 is provided with a cabinet door 22, and the cabinet door 22 is connected to the hinge 23 by two M6*15 flat head screws 31 using two M6 hexagon nuts 28, and each hinge 23 is fixed to the profile of the aluminum frame 21 by bolt connection. The aluminum frame 21 is provided with a handle 24, and each handle 24 is fixed to the aluminum frame 21 by bolt connection. The bottom of the aluminum frame 21 is provided with wheels 25 for movement, and each wheel 25 is fixed to the end surface connection plate 26 by bolt connection, and each end surface connection plate 26 is fixed to the bottom of the aluminum frame 21 by bolt connection. In this embodiment, the electric lifting unit IV includes thirteen baffles 19, thirty-five aluminum frames 21, two cabinet doors 22, four hinges 23, four handles 24, four wheels 25, four end connecting plates 26, one hundred angle codes 27, two hundred and sixty M6 hexagonal nuts 28, fifty-two M6*50 flat head screws 29, two hundred M6*16 T-bolts 30 and sixteen M6*15 flat head screws 31, and three magnetic suspension bases 32.

[0053] A pipeline inner surface defect detection method based on magnetic levitation is as follows:

[0054] The lifting column 17 and the magnetic suspension base 32 of the electric lifting unit IV are connected to 220V AC to work, the development board 9 is powered by the large-capacity battery stored in the wire storage bin 4, and the annular light source III is powered by the development board 9. Before use, the entire suspended omnidirectional intelligent inspection unit I is charged through the charging mother socket 2 connected to the wire storage bin 4 to ensure sufficient power during use. After power is turned on, the lifting column 17 controls the lifting height in real time through its corresponding remote lifting controller, and the magnetic suspension base 32 works in real time after being connected to 220V AC.

[0055] First, focus the spiral lens 10 on the development board 9. Turn on the switch 1 that controls the development board 9, and the development board 9 and the ring light source III start working. Put the suspended omnidirectional intelligent inspection unit I into one end of the pipeline to be inspected, and transmit the image in the pipeline to the computer through the wireless image transmission function of the development board 9. Adjust the focal length of each spiral lens 10 until the spiral lenses 10 on the six development boards 9 can focus and capture a sufficiently clear image. At this time, the spiral lenses 10 on the development board 9 are focused.

[0056] The three floats 6 are respectively connected and fixed to two float covers a5 and one float cover b7 by means of interference fit, and then the float cover a5 and the line storage bin 4 of the suspended omnidirectional intelligent inspection unit I are connected to the carrying bin 3 at both ends of the whole and fixed by means of interference fit, and the middle part of the carrying bin 3 is fixed to the arc part of the float cover 7b by means of interference fit.

[0057] Align the four seat corners below the magnetic levitation base 32 with the four grooves of the slot body 16, and align the side of the magnetic levitation base 32 with the power cord with the side of the slot body 16 with the opening, lift the magnetic levitation base 32 to a horizontal level, and with the help of the hollow design of the slot body 16, support the magnetic levitation base 32 to slowly descend into the slot body 16 in the vertical direction; after it is placed stably, use bolts to tightly buckle the cover plate 20 onto the magnetic levitation base 32.

[0058] The purpose of the electric lifting unit IV is to ensure that the position height of the magnetic suspension base 32 can be adjusted, so as to ensure that there is a certain safe distance between the magnetic suspension base 32 and the lowest point of the pipeline. The specific operation method is as follows:

[0059] After completing the above pre-test work, connect the power cord to the magnetic suspension base 32 and the lifting column 17, and connect the 220V AC power supply. Combined with the safe distance between the pipeline and the magnetic suspension base 32, adjust the height of the lifting column 17 to make the lifting column 17 reach the specified position.

[0060] The fixed suspended omnidirectional intelligent inspection unit I is gently placed directly above the magnetic levitation base 32 on the electric lifting unit IV, ensuring that the center of the magnetic levitation base 32 coincides with the center of the float 6 of the suspended omnidirectional intelligent inspection unit I, so that the suspended omnidirectional intelligent inspection unit I can be stably and statically suspended in the air.

[0061] After adjusting the suspension and determining the inner diameter of the pipe to be inspected, the conveying speed of the pipe is debugged so that the pipe passes smoothly through the suspended omnidirectional intelligent inspection unit I. The six development boards 9 start running respectively through the built-in intelligent algorithm, and the six groups of intelligent inspection cameras II start detection respectively.

[0062] The detection principle of the development board 9 is as follows: six development boards 9 are respectively located on the carrying compartment 3 and arranged in a regular hexagonal prism in space. The spiral lenses 10 on the six development boards 9 can achieve 360° full coverage of the inner surface of the pipeline. The intelligent inspection camera II on the suspended omnidirectional intelligent inspection unit I collects images along the axial direction, that is, in the length direction. Each group of intelligent inspection cameras II collects all images of the area covered by the spiral lens 10 on it. Each development board 9 continuously collects images, and the collected images have a certain overlap in the length direction, thereby ensuring that the suspended omnidirectional intelligent inspection unit I can collect all images of 360° in the entire length direction of the inner surface of the pipeline; then use the intelligent algorithm preset in the development board 9 to process each collected defect image in real time, save the images judged to be defective to the SD card equipped with the development board 9, and delete the images judged to be non-defective. When the suspended omnidirectional intelligent inspection unit I is about to detect a complete pipe, the six development boards 9 transmit the images judged to be defective in their respective SD cards to the computer using the wireless image transmission function, and the detection of the pipe to be detected is completed.

[0063] If you continue to detect pipes with different inner diameters, readjust the focal length of the spiral lens 10, and transfer the pipes with different inner diameters from the same lowest point to completely pass through the suspended omnidirectional intelligent inspection unit I, and then perform the above inspection operation. Otherwise, there is no need to readjust.

[0064] When the detection is finished, the suspended omnidirectional intelligent detection unit I needs to be gently removed, the height of the lifting column 17 of the electric lifting unit IV needs to be adjusted, it needs to be lowered, and all power supplies need to be disconnected. At this time, the entire detection system stops working.

[0065] The solutions in this embodiment are not intended to limit the patent protection scope of the present invention. Any equivalent implementations or changes that do not deviate from the present invention are included in the patent scope of this case.

Claims

1. A pipeline inner surface defect detection system based on magnetic levitation, characterized in that: include: Electric lifting unit (IV) for adjusting the detection height; The suspended omnidirectional intelligent inspection unit (I) is suspended directly above the electric lifting unit (IV) to inspect the inner surface of the pipeline in all directions.

2. According to claim 1, a pipeline inner surface defect detection system based on magnetic levitation is characterized in that: The suspended omnidirectional intelligent inspection unit (I) comprises a plurality of carrying chambers (3), wherein the carrying chambers (3) have a plurality of carrying platforms built therein, and the plurality of carrying platforms are arranged axially along the carrying chamber (3) and are evenly distributed in space along its circumference, thereby achieving 360° full coverage of the pipeline.

3. The pipeline inner surface defect detection system based on magnetic levitation according to claim 2 is characterized in that: The suspended omnidirectional intelligent inspection unit (I) includes a wire storage bin (4) for fixing batteries and storing wires for connecting circuits, which is connected and fixed at both ends of a plurality of carrying bins (3), and the charging base (2) is connected and fixed to the wire storage bin (4) by interference fit.

4. The pipeline inner surface defect detection system based on magnetic levitation according to claim 3 is characterized in that: The whole in which the carrying bin (3) and the wire storage bin (4) are connected is connected to a float (6) via a float cover (5), and the float (6) is arranged in the middle and at both ends.

5. The pipeline inner surface defect detection system based on magnetic levitation according to claim 2 is characterized in that: The suspended omnidirectional intelligent inspection unit (I) comprises an intelligent inspection camera (II), the intelligent inspection camera (II) comprises a development board (9), the development board (9) is fixed on the carrying compartment (3) and electrically connected to the switch (1); the spiral lens (10) is connected to the aluminum substrate (11), the light source housing (12) is arranged in a ring shape and fixed on the aluminum substrate (11), and the aluminum substrate (11) is fixedly connected to the development board (9); a chip resistor (13) and a chip LED (14) electrically connected thereto are arranged on the aluminum substrate (11) along the circumferential direction, and the chip resistor (13) and the chip LED (14) are both powered by the development board (9).

6. The pipeline inner surface defect detection system based on magnetic levitation according to claim 5 is characterized in that: The viewing angle of the spiral lens (10) is 85°.

7. The pipeline inner surface defect detection system based on magnetic levitation according to claim 5 is characterized in that: The chip resistors (13) and chip LEDs (14) are divided into three groups and four groups respectively and are distributed on the aluminum substrate (11) along the circumferential direction to form a ring-shaped light source (III).

8. The pipeline inner surface defect detection system based on magnetic levitation according to claim 5 is characterized in that: The development board (9) is an artificial intelligence Linux Python AI vision development board with a built-in image processing algorithm, and is powered by a large-capacity battery stored in the wire storage bin (4).

9. The pipeline inner surface defect detection system based on magnetic levitation according to claim 1 is characterized in that: The electric lifting unit (IV) comprises an aluminum frame (21), a bottom plate (18) is fixed on the aluminum frame (21); a plurality of lifting columns (17) are arranged in parallel on the bottom plate (18); a trough (16) is connected to the top of the lifting column (17), and every two adjacent troughs (16) are spliced ​​at the connection point by bolts; a magnetic suspension base (32) is arranged in the trough (16) and corresponds to a float (6) suspended on the electric lifting unit (IV); a cover plate (20) is arranged on the top of each trough (16); a cabinet door (22) and a handle (24) are arranged on the aluminum frame (21), and wheels (25) for movement are arranged at the bottom of the aluminum frame (21).

10. A pipeline inner surface defect detection method based on magnetic levitation, using the pipeline inner surface defect detection system based on magnetic levitation according to claim 1, characterized in that: The details are as follows: Charging the suspended omnidirectional intelligent inspection unit (I); The height of the electric lifting unit (IV) is adjusted in real time, and the magnetic suspension base (32) works in real time after being powered on; Focusing the spiral lens (10) on the suspended omnidirectional intelligent inspection unit (I); Connecting float (6); Place the magnetic suspension base (32) steadily; The height of the electric lifting unit (IV) is adjusted in accordance with the safety distance between the pipeline and the magnetic suspension base (32); Gently placing the suspended omnidirectional intelligent inspection unit (I) directly above the magnetic suspension base (32) on the electric lifting unit (IV), so that the suspended omnidirectional intelligent inspection unit (I) can be stably and statically suspended in the air; After adjusting the suspension and determining the inner diameter of the pipeline to be inspected, adjust the conveying speed of the pipeline so that the pipeline can smoothly pass through the suspended omnidirectional intelligent inspection unit (I) for inspection; If the detection of pipes with different inner diameters is continued, the focal length of the spiral lens (10) needs to be readjusted, and the pipes with different inner diameters need to be transferred from the same lowest point to completely pass through the suspended omnidirectional intelligent detection unit (I) before the above detection operation is performed; otherwise, no readjustment is required.

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