Magnetic memory guide type ultrasonic detection system and method applied to pipeline

Abstract

The invention provides a magnetic memory guiding type ultrasonic detection system and method applied to a pipeline, the system comprises a pipeline detection device, the pipeline detection device comprises a device shell, a movable assembly, a detection assembly, a walking assembly and a control module, the movable assembly is movably connected to the device shell, the detection assembly is connected to the movable assembly, and the walking assembly is connected to the movable assembly; the detection assembly comprises a magnetic memory sensor array and an ultrasonic detection module, the magnetic memory sensor array is used for detecting the position of a high-stress area of the pipeline, the ultrasonic detection module is used for detecting the stress of the high-stress area of the pipeline, and the walking assembly is connected to the device shell and used for walking on the wall face of the pipeline. The control module is arranged in the device shell and electrically connected with the walking assembly, the movable assembly and the detection assembly. Through the magnetic memory guide type ultrasonic detection system applied to the pipeline, the detection efficiency of the pipeline can be improved, the operation risk is reduced, the size of the device is reduced, and the detection precision and comprehensiveness are improved.

Description

Technical Field

[0001] Embodiments of the present disclosure belong to the technical field of detection equipment, and particularly relate to a magnetic memory guided ultrasonic detection system and method applied to pipelines. Background Art

[0002] The hot section pipeline, cold section pipeline, main feed water pipeline, and main steam pipeline of a boiler are collectively called the four major pipelines of the boiler. The length of such pipelines can reach several kilometers, and there are a large number of weld areas, elbow areas, tee areas, etc. on the pipelines. These areas have high stress due to factors such as welding stress and medium impact, and are weak areas of the pipeline system. Since the four major pipelines are arranged in a crisscross pattern and the vertical span can reach dozens of meters, a large number of weak areas of the pipeline system are exposed at almost unprotected heights, presenting great detection difficulties.

[0003] In the maintenance operations of the four major pipelines in a power plant (including the hot section pipeline, cold section pipeline, main feed water pipeline, and main steam pipeline of the boiler), traditional detection methods mainly rely on manual experience to determine the areas to be inspected (such as weld areas, elbow areas, and tee areas), and by means of scaffolding erection, maintenance personnel carry ultrasonic detection equipment and climb to high altitudes for point-by-point detection. However, this mode has the following significant defects:

[0004] 1. Time and cost issues:

[0005] The erection and dismantling of scaffolding require professional scaffolders to operate, with a cumbersome and time-consuming process and low detection efficiency.

[0006] 2. Outstanding safety hazards:

[0007] The scaffolding is often erected at dozens of meters above the ground and lacks effective protection. There is a risk of falling during the climbing and operation of personnel.

[0008] The weight of the detection equipment and accessories (such as ultrasonic probes and coupling agent tanks) exceeds 15 kg, and it is easy to drop out of hand during high-altitude operation, resulting in personal injury or equipment damage.

[0009] 3. Equipment and operation defects:

[0010] The integrated degree of split detection equipment (such as magnetic memory detectors and conventional ultrasonic detectors) is low. It is necessary to frequently replace the probes, apply coupling agents, and manually record data, which is extremely inconvenient to operate in a narrow high-altitude operation space.

[0011] 4. Technical limitations:

[0012] Existing detection technologies lack precise positioning and automated analysis capabilities, overly rely on manual experience to judge the location and severity of defects, and have a high missed detection rate. Non-contact, lightweight, and multi-modal fusion detection equipment for high-altitude concealed areas has not been popularized, and it is difficult to meet the efficient and safe detection requirements of the four major pipelines in a power plant.

[0013] In summary, there are systematic bottlenecks in the current detection technologies for the four major pipelines in power plants, such as low efficiency, high risk, and bulky equipment. There is an urgent need to develop a magnetic memory-guided ultrasonic detection system for pipelines to solve the problems of high risk and low efficiency in pipeline detection. Summary of the Invention

[0014] Embodiments of the present disclosure aim to at least solve one of the technical problems existing in the prior art, and provide a magnetic memory-guided ultrasonic detection system and method for pipelines.

[0015] The first aspect of the present disclosure provides a magnetic memory-guided ultrasonic detection system for pipelines, and the magnetic memory-guided ultrasonic detection system for pipelines includes: a pipeline detection device, and the pipeline detection device includes:

[0016] A device housing;

[0017] A movable component, which is movably connected to the device housing;

[0018] A detection component, which is connected to the movable component, and the detection component includes: a magnetic memory sensor array and an ultrasonic detection module. The magnetic memory sensor array is used to detect the position of the high-stress area of the pipeline, and the ultrasonic detection module is used to detect the stress magnitude of the high-stress area of the pipeline;

[0019] A traveling component, which is connected to the device housing, and the traveling component is used to travel on the wall surface of the pipeline;

[0020] A control module, which is arranged in the device housing, and the control module is electrically connected to the traveling component, the movable component, and the detection component respectively.

[0021] In some embodiments of the present disclosure, the movable component includes:

[0022] A telescopic rod, which is telescopically connected to the device housing;

[0023] A hinge joint, which is connected to the end of the telescopic rod away from the device housing, and the hinge joint can rotate 360 degrees;

[0024] A probe holder, which is rotatably connected to the hinge joint relative to the hinge joint, and the magnetic memory sensor array and the ultrasonic detection module are respectively fixedly connected to the probe holder.

[0025] In some embodiments of the present disclosure, the movable component further includes:

[0026] A fixed rod, the fixed rod having a first end and a second end arranged opposite to each other, the first end of the fixed rod being fixedly connected to the hinge joint, the second end of the fixed rod being rotatably connected to the probe holder, and the fixed rod being arranged on a side of the probe holder away from the detection assembly.

[0027] In some embodiments of the present disclosure, the traveling assembly includes:

[0028] At least one driving motor, the driving motor being connected to the device housing;

[0029] At least one crawler belt, the crawler belt being arranged outside the device housing, and the driving motor being drivingly connected to the crawler belt;

[0030] A permanent magnet array for adsorbing on the wall surface of the pipeline.

[0031] In some embodiments of the present disclosure, the traveling assembly includes:

[0032] Two of the driving motors;

[0033] Two of the crawler belts, the two crawler belts being arranged side by side outside the device housing, and each driving motor respectively driving a corresponding crawler belt.

[0034] In some embodiments of the present disclosure, the pipeline detection device further includes:

[0035] A communication module, the communication module being electrically connected to the control module, and the communication module being used for wirelessly connecting to a remote controller.

[0036] In some embodiments of the present disclosure, the pipeline detection device further includes:

[0037] A central processing module, the central processing module being electrically connected to the ultrasonic detection module, the magnetic memory sensing array, and the communication module respectively.

[0038] In some embodiments of the present disclosure, the pipeline detection device further includes:

[0039] An image processing module, the image processing module being electrically connected to the ultrasonic detection module, the magnetic memory sensor array, and the central processing module respectively, and the image processing module being used for processing ultrasonic signals detected by the ultrasonic detection module and the magnetic memory sensor array.

[0040] In some embodiments of the present disclosure, the magnetic memory guided ultrasonic detection system applied to pipelines further includes: a remote controller, the remote controller being wirelessly connected to the pipeline detection device, and the remote controller includes:

[0041] A controller housing;

[0042] A direction control joystick is provided on the controller housing and is used to remotely control the direction of the traveling assembly.

[0043] A speed control button is provided on the controller housing and is used to remotely control the speed of the traveling assembly.

[0044] An activity control component is provided on the controller housing and is used to remotely control the displacement and angle of the activity assembly.

[0045] A touch display screen is provided on the controller housing and is used to display the detection information of the detection component.

[0046] A controller antenna is provided outside the housing and is used to transmit and receive signals of the pipeline detection device.

[0047] A second aspect of the present disclosure provides a detection method for a magnetic memory guided ultrasonic detection system applied to pipelines. The detection method uses the magnetic memory guided ultrasonic detection system applied to pipelines according to any one of the above to detect a pipeline to be detected. The detection method includes:

[0048] Controlling the pipeline detection device to move to the area to be detected of the pipeline;

[0049] Controlling the magnetic memory sensor array to scan the area to be detected;

[0050] Judging that the area scanned by the magnetic memory sensor array is a high stress area and sending an alarm signal according to the stress gradient scanned by the magnetic memory sensor array being greater than or equal to a preset stress gradient;

[0051] Controlling the ultrasonic detection module to perform ultrasonic scanning on the high stress area;

[0052] Judging the defect level of the high stress area according to the ultrasonic detection information of the ultrasonic detection module.

[0053] The magnetic memory guided ultrasonic detection system and method for pipelines according to the embodiments of the present disclosure, wherein the pipeline detection device includes a device housing, a movable component, a detection component, a traveling component, and a control module. Among them, the detection component includes a magnetic memory sensor array and an ultrasonic detection module. The control module is electrically connected to the movable component, the traveling component, the magnetic memory sensor array, and the ultrasonic detection module respectively. The control module controls the movement or rotation of the movable component, controls the traveling of the traveling component, and controls the magnetic memory sensor array and the ultrasonic detection module to detect the pipeline. The traveling component drives the device housing to move to the pipeline position to be detected. The movable component makes the detection component contact or approach the pipeline position to be detected. The magnetic memory sensor array of the detection component first quickly detects the pipeline position to be detected to quickly detect the position of the high stress area of the pipeline, and then the ultrasonic detection module performs ultrasonic detection on the high stress area of the pipeline to accurately detect the stress magnitude of the high stress area. By setting the traveling component, the pipeline detection device can move on the wall surface of the pipeline. By setting the movable component, the detection component can be close to the pipeline position to be detected, and the positions of the magnetic memory sensor array and the ultrasonic detection module of the detection component can be adjusted and transformed. By setting the magnetic memory sensor array and the ultrasonic detection module, rapid positioning and accurate measurement of the high stress of the pipeline can be achieved. Description of the Drawings

[0054] Figure 1 It is a working schematic diagram of the pipeline detection device of the magnetic memory guided ultrasonic detection system for pipelines according to the present disclosure;

[0055] Figure 2 is Figure 1 a structural schematic diagram of the pipeline detection device shown;

[0056] Figure 3 It is a structural schematic diagram of the remote controller of the magnetic memory guided ultrasonic detection system for pipelines according to the present disclosure;

[0057] Figure 4 It is a flowchart of the detection method of the magnetic memory guided ultrasonic detection system for pipelines according to the embodiments of the present disclosure.

[0058] The reference numerals in the drawings are as follows:

[0059] 10. Pipeline detection device; 11. Device housing; 111. Hanging ear; 112. Device signal transceiver antenna; 12. Movable component; 121. Telescopic rod; 122. Hinge joint; 123. Probe holder; 124. Fixed rod; 13. Detection component; 131. Magnetic memory sensor array; 132. Ultrasonic detection module; 14. Traveling component; 141. Driving motor; 142. Track; 143. Permanent magnet array; 15. Control module; 16. Communication module; 17. Central processing module; 18. Image processing module; 19. Battery component;

[0060] 20. Remote controller; 21. Controller housing; 22. Direction control joystick; 23. Speed control button; 24. Activity control joystick; 25. Activity control button; 26. Touch display screen; 27. Controller antenna;

[0061] 200. Pipeline; 201. Area to be detected. Detailed implementation manners

[0062] Hereinafter, exemplary embodiments of the present disclosure will be described in more detail with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the 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 so that the present disclosure can be more thoroughly understood and the scope of the present disclosure can be completely conveyed to those skilled in the art.

[0063] It should be understood that the terms used herein are for the purpose of describing specific exemplary embodiments only and are not intended to be limiting. Unless otherwise clearly specified in the context, the singular forms "a", "an", and "the" as used herein may also include the plural forms. The terms "comprising", "including", "containing", and "having" are inclusive and thus specify the presence of the stated features, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and / or combinations thereof. The control method steps, processes, and operations described herein are not to be construed as necessarily requiring them to be executed in the particular order described or illustrated, unless the execution order is explicitly stated. It should also be understood that additional or alternative steps may be used.

[0064] Although the terms first, second, third, etc. may be used in this document to describe multiple elements, components, regions, layers, and / or sections, these elements, components, regions, layers, and / or sections should not be limited by these terms. These terms may be used only to distinguish one element, component, region, layer, or section from another. Unless explicitly stated in the context, terms such as "first" and "second" and other numerical terms used in this document do not imply an order or sequence. Therefore, the first element, component, region, layer, or section discussed below may be referred to as the second element, component, region, layer, or section without departing from the teachings of the exemplary embodiments.

[0065] For ease of description, spatial relative relationship terms may be used in the text to describe the relationship of one element or feature shown in the figure with respect to another element or feature. These relative relationship terms are, for example, "inner", "outer", "inside", "outside", "below", "beneath", "above", "over", etc. Such spatial relative relationship terms are intended to include different orientations of the device in use or operation other than the orientations depicted in the figure. For example, if the device in the figure is flipped, an element described as "below" or "beneath" another element or feature will then be oriented as "above" or "over" the other element or feature. Thus, the exemplary term "below" can include both upward and downward orientations. The device may be otherwise oriented (rotated 90 degrees or in other directions) and the spatial relative relationship descriptors used in the text are accordingly interpreted.

[0066] As Figures 1 to 3 shown, a first aspect of the present disclosure provides a magnetic memory guided ultrasonic detection system applied to a pipeline. The magnetic memory guided ultrasonic detection system applied to a pipeline includes: a pipeline detection device 10, and the pipeline detection device 10 includes: a device housing 11, a movable component 12, a detection component 13, a walking component 14, and a control module 15. The movable component 12 is connected to the device housing 11 in a movable manner. The detection component 13 is connected to the movable component 12. The detection component 13 includes: a magnetic memory sensor array 131 and an ultrasonic detection module 132. The magnetic memory sensor array 131 is used to detect the position of the high stress area of the pipeline 200. The ultrasonic detection module 132 is used to detect the stress magnitude of the high stress area of the pipeline 200. The walking component 14 is connected to the device housing 11. The walking component 14 is used to walk on the wall surface of the pipeline 200. The control module 15 is disposed in the device housing 11. The control module 15 is electrically connected to the walking component 14, the movable component 12, and the detection component 13 respectively.

[0067] A magnetic memory guided ultrasonic detection system applied to a pipeline according to an embodiment of the present disclosure. The pipeline detection device 10 includes a device housing 11, a moving component 12, a detection component 13, a walking component 14, and a control module 15. Among them, the detection component 13 includes a magnetic memory sensor array 131 and an ultrasonic detection module 132. The control module 15 is electrically connected to the moving component 12, the walking component 14, the magnetic memory sensor array 131, and the ultrasonic detection module 132 respectively. The control module 15 controls the movement or rotation of the moving component 12, controls the walking of the walking component 14, and controls the magnetic memory sensor array 131 and the ultrasonic detection module 132 to detect the pipeline 200. The walking component 14 drives the device housing 11 to move to the area 201 to be detected of the pipeline 200. The moving component 12 makes the detection component 13 contact or approach the area 201 to be detected of the pipeline 200. The magnetic memory sensor array 131 of the detection component 13 first quickly detects the area 201 to be detected of the pipeline 200 to quickly detect the position of the high-stress area of the pipeline 200, and then the ultrasonic detection module 132 performs ultrasonic detection on the high-stress area of the pipeline 200 to accurately detect the stress magnitude of the high-stress area. By setting the walking component 14, the pipeline detection device 10 can move on the wall surface of the pipeline 200. By setting the moving component 12, the detection component 13 can be close to the area 201 to be detected of the pipeline 200, and the position conversion of the magnetic memory sensor array 131 and the ultrasonic detection module 132 of the detection component 13 can be adjusted. By setting the magnetic memory sensor array 131 and the ultrasonic detection module 132, the high-stress of the pipeline 200 can be quickly located and accurately measured.

[0068] As Figure 1 shown, the pipeline detection device 10 in this embodiment can move along the height direction on the outer wall of the pipeline, and can also move along the circumferential direction on the outer wall of the pipeline; the pipeline detection device 10 can also move along the height direction on the inner wall of the pipeline, and can also move along the axial direction on the inner wall of the pipeline.

[0069] In some embodiments of the present disclosure, the movable component 12 includes: a telescopic rod 121, a hinge joint 122 and a probe frame 123. The telescopic rod 121 is connected to the device housing 11 in a telescopic manner. Specifically, the telescopic rod 121 can be driven by a driving device to realize the telescopic function of the telescopic rod 121, such as a hydraulic press, a pneumatic press, etc. The hinge joint 122 is connected to the end of the telescopic rod 121 away from the device housing 11. The hinge joint 122 can rotate 360 ​​degrees. The probe frame 123 provided with the detection component 13 is connected to the hinge joint 122. The detection component 13 can be rotated at a large angle through the hinge joint 122, so that the detection component 13 can detect various positions of the pipeline 200. Further, the probe frame 123 is connected to the hinge joint 122 in a rotatable manner relative to the hinge joint 122, and the magnetic memory sensor array 131 and the ultrasonic detection module 132 are fixedly connected to the probe frame 123 respectively. By connecting the probe frame 123 to the hinge joint 122 in a rotatable manner, the probe frame 123 can be rotated to change the positions of the magnetic memory sensor array 131 and the ultrasonic detection module 132, so as to facilitate the positional interchange of the magnetic memory sensor array 131 and the ultrasonic detection module 132. Specifically, the magnetic memory sensor array 131 and the ultrasonic detection module 132 are symmetrically arranged on the probe frame 123 about the rotation center of the probe frame 123. When the magnetic memory sensor array 131 detects a high stress area of ​​the pipeline 200, the probe frame 123 is controlled to rotate 180° to display that the positions of the magnetic memory sensor array 131 and the ultrasonic detection module 132 are interchanged, so that the ultrasonic detection module 132 can detect the stress magnitude information of the high stress area. By rotatably connecting the probe frame 123 to the hinge joint 122, the position switching speed of the magnetic memory sensor array 131 and the ultrasonic detection module 132 can be increased, thereby improving the detection efficiency of the magnetic memory guided ultrasonic detection system applied to the pipeline. Through the detection system of this embodiment, the detection efficiency of the pipeline 200 can be improved, the operation risk can be reduced, the volume of the device can be reduced, and the accuracy and comprehensiveness of the detection can be improved.

[0070] In some embodiments of the present disclosure, the movable assembly 12 further includes: a fixed rod 124, the fixed rod 124 connects the hinge joint 122 and the probe frame 123. Specifically, the fixed rod 124 has a first end and a second end that are arranged opposite to each other, the first end of the fixed rod 124 is fixedly connected to the hinge joint 122, and the hinge joint 122 drives the probe frame 123 to the to-be-detected area 201 of the pipeline 200 through the fixed rod 124; the second end of the fixed rod 124 is rotatably connected to the probe frame 123, and the fixed rod 124 is arranged on the side of the probe frame 123 that is away from the detection assembly 13.

[0071] In some embodiments of the present disclosure, the traveling assembly 14 includes: at least one driving motor 141 and at least one crawler belt 142. The driving motor 141 is connected to the inside of the device housing 11, the crawler belt 142 is disposed outside the device housing 11, and the driving motor 141 is drivingly connected to the crawler belt 142. The crawler belt 142 is driven to travel by the driving motor 141, so that the crawler belt 142 drives the device housing 11 to move, thereby realizing the traveling of the pipeline inspection device 10. Specifically, the number of driving motors 141 is at least one, and the number of crawler belts 142 is at least one. By driving one crawler belt 142 with one driving motor 141, the traveling of the pipeline inspection device 10 can be realized.

[0072] In some embodiments of the present disclosure, the traveling assembly 14 includes: two driving motors 141 and two crawler belts 142. The two crawler belts 142 are arranged in parallel outside the device housing 11, and each driving motor 141 drives a corresponding one of the crawler belts 142. By separately controlling the two crawler belts 142 by the two driving motors 141, the traveling speeds and directions of the two crawler belts 142 can be different, thereby realizing the rotation and turning around of the device housing 11.

[0073] In some embodiments of the present disclosure, the traveling assembly 14 further includes: a permanent magnet array 143, and the permanent magnet array 143 is used for adsorbing on the wall surface of the pipeline 200. By arranging the permanent magnet array 143 inside or outside the device housing 11, the permanent magnet array 143 is adsorbed on the pipeline 200, thereby ensuring that the pipeline inspection device 10 does not fall from the wall surface of the pipeline 200.

[0074] In some embodiments of the present disclosure, a hanging ear 111 is further provided on the outer wall of the device housing 11. The hanging ear 111 is used for connecting an emergency recovery rope, so as to facilitate the recovery of the pipeline inspection device 10. At the same time, connecting the hanging ear 111 with the emergency recovery rope can also prevent the pipeline inspection device 10 from falling from the wall surface of the pipeline 200.

[0075] In some embodiments of the present disclosure, the pipeline inspection device 10 further includes a device signal transceiver antenna 112. The device signal transceiver antenna 112 is disposed at one end of the device housing 11 away from the traveling device, so as to realize communication connection with the remote controller 20 through the device signal transceiver antenna 112.

[0076] In some embodiments of the present disclosure, the pipeline detection device 10 further includes: a central processing module 17, a communication module 16, and an image processing module 18. Among them, the central processing module 17 is electrically connected to the control module 15, the image processing module 18, the ultrasonic detection module 132, and the magnetic memory sensor array 131 respectively. The communication module 16 is electrically connected to the image processing module and the remote controller 20 respectively. The ultrasonic detection module 132 and the magnetic memory sensor array 131 respectively transmit the detected stress information to the central processing module 17, and the central processor transmits the stress information detected by the ultrasonic detection module 132 and the magnetic memory sensor array 131 to the image processing module 18 to perform image processing on the stress information through the image processing module 18. The image processing module 18 transmits the image information of the stress to the communication module 16, and transmits the image information of the stress to the remote controller 20 through the communication module 16, and finally displays it on the touch screen of the remote controller 20.

[0077] The communication module 16 is electrically connected to the control module 15. The communication module 16 receives the control information of the remote controller 20 and conveys it to the control module 15, controls the walking speed and walking direction of the walking component 14 through the control module 15, controls the telescopic rod 121 of the movable component 12 to extend and retract and the probe holder 123 to rotate through the control module 15, and controls the ultrasonic detection module 132 and the magnetic memory sensor array 131 to detect the stress position and stress magnitude of the pipeline 200 through the control module 15.

[0078] In some embodiments of the present disclosure, the pipeline detection device 10 further includes: a battery assembly 19. The battery assembly 19 is electrically connected to the drive motor 141 of the walking component 14, the movable component 12, and the detection component 13 respectively to provide electrical energy for the walking component 14, the movable component 12, and the detection component 13. Specifically, the battery assembly 19 is a lithium battery assembly.

[0079] In some embodiments of the present disclosure, the magnetic memory guided ultrasonic detection system applied to pipelines further includes: a remote controller 20, which is wirelessly connected to the pipeline detection device 10. Specifically, the remote controller 20 includes: a controller housing 21, a direction control joystick 22, a speed control button 23, a movement control component, a touch display screen 26, and a controller antenna 27. The direction control joystick 22, the speed control button 23, the movement control component, the touch display screen 26, and the controller antenna 27 are all arranged in the controller housing 21. The walking direction of the walking component 14 is remotely controlled by the direction control joystick 22, the walking speed of the walking component 14 is remotely controlled by the speed control button 23, the displacement and angle of the movable component 12 are remotely controlled by the movement control component, the detection information of the detection component 13 is displayed by the touch display screen 26, and the signals of the pipeline detection device 10 are sent and received by the controller antenna 27. Specifically, the movement control component includes a movement control joystick 24 and a movement control button 25. Among them, the movement control joystick 24 is used to remotely control the telescopic movement of the telescopic rod 121 and the rotation of the hinge joint 122 of the pipeline detection device 10, and the movement control button 25 is used to remotely control the rotation of the probe holder 123 of the pipeline detection device 10.

[0080] In addition, the remote controller 20 may further include an ultrasonic detection button and a magnetic memory sensor button. Among them, the ultrasonic detection button is used to remotely control the ultrasonic detection module 132 of the pipeline detection device 10 to detect the stress of the pipeline 200, and the magnetic memory sensor button is used to remotely control the magnetic memory sensor array 131 of the pipeline detection device 10 to detect the stress of the pipeline 200.

[0081] The device housing 11 in this embodiment is a device housing made of aluminum alloy.

[0082] As Figure 4 shown, a second aspect of the present disclosure provides a detection method for a magnetic memory guided ultrasonic detection system applied to pipelines. The detection method uses the magnetic memory guided ultrasonic detection system applied to pipelines according to any one of the above to detect a pipeline to be detected. The detection method includes:

[0083] S100: Control the pipeline detection device to move to the area to be detected of the pipeline;

[0084] S200: Control the magnetic memory sensor array to scan the area to be detected;

[0085] S300: Determine that the area scanned by the magnetic memory sensor array is a high stress area and send an alarm signal according to the stress gradient scanned by the magnetic memory sensor array being greater than or equal to a preset stress gradient;

[0086] S400: Control the ultrasonic detection module to perform ultrasonic scanning on the high stress area;

[0087] S500: Determine the defect level of the high-stress area according to the ultrasonic detection information of the ultrasonic detection module.

[0088] For the detection method of the magnetic memory-guided ultrasonic detection system applied to pipelines according to the embodiments of the present disclosure, first, a magnetic memory sensor array is used to scan the pipeline. Then, according to the stress gradient scanned by the magnetic memory sensor array being greater than the preset stress gradient, it is determined that the area scanned by the memory sensor array is a high-stress area, and an alarm signal is sent. Then, an ultrasonic detection module is used to perform an ultrasonic scan on the high-stress area to determine the defect level of the high-stress area. By quickly scanning the pipeline with the memory sensor array to quickly determine the position of the high-stress area, and then detecting the stress magnitude of the high-stress area with the ultrasonic detection module, the stress magnitude of the high-stress area of the pipeline is obtained. Finally, the defect level of the high-stress area is confirmed according to the stress magnitude, realizing the detection of the pipeline stress. Through the detection method of this embodiment, the detection efficiency of the pipeline can be improved, the operation risk can be reduced, the volume of the device can be reduced, and the accuracy and comprehensiveness of the detection can be improved.

[0089] It can be understood that the above embodiments are merely exemplary embodiments adopted to illustrate the principles of the present disclosure, but the present disclosure is not limited thereto. For those of ordinary skill in the art, various modifications and improvements can be made without departing from the spirit and essence of the present disclosure, and these modifications and improvements are also regarded as the protection scope of the present disclosure.

Claims

1. A magnetic memory guided ultrasonic inspection system applied to pipelines, characterized in that, The magnetic memory guided ultrasonic detection system applied to pipelines includes: a pipeline detection device, and the pipeline detection device includes: A device housing; A movable component, which is movably connected to the device housing; A detection component, which is connected to the movable component. The detection component includes: a magnetic memory sensor array and an ultrasonic detection module. The magnetic memory sensor array is used to detect the position of the high stress area of the pipeline, and the ultrasonic detection module is used to detect the stress magnitude of the high stress area of the pipeline; A walking component, which is connected to the device housing and is used to walk on the wall surface of the pipeline; A control module, which is arranged inside the device housing and is electrically connected to the walking component, the movable component, and the detection component respectively.

2. The magnetic memory guided ultrasonic detection system applied to pipelines according to claim 1, wherein The movable component includes: A telescopic rod, which is telescopically connected to the device housing; A hinge joint, which is connected to the end of the telescopic rod away from the device housing, and the hinge joint can rotate 360 degrees; A probe holder, which is rotatably connected to the hinge joint relative to the hinge joint, and the magnetic memory sensor array and the ultrasonic detection module are respectively fixedly connected to the probe holder.

3. The magnetic memory guided ultrasonic detection system applied to pipelines according to claim 2, wherein, The movable component further includes: A fixed rod, which has a first end and a second end arranged oppositely. The first end of the fixed rod is fixedly connected to the hinge joint, and the second end of the fixed rod is rotatably connected to the probe holder. The fixed rod is arranged on the side of the probe holder away from the detection component.

4. The magnetic memory guided ultrasonic detection system applied to pipelines according to claim 1, wherein The walking component includes: At least one driving motor, which is connected to the device housing; At least one crawler, which is arranged outside the device housing, and the driving motor is drivingly connected to the crawler; A permanent magnet array, which is used to adsorb on the wall surface of the pipeline.

5. The magnetic memory guided ultrasonic detection system applied to pipelines according to claim 4, wherein The walking component includes: two driving motors and two crawlers. The two crawlers are arranged in parallel outside the device housing, and each driving motor drives a corresponding crawler respectively.

6. The magnetic memory guided ultrasonic detection system applied to pipelines according to claim 1, wherein The pipeline detection device further includes: A communication module, which is electrically connected to the control module and is used to wirelessly connect to a remote controller.

7. The magnetic memory guided ultrasonic detection system applied to pipelines according to claim 6, characterized in that The pipeline detection device further includes: A central processing module, which is electrically connected to the ultrasonic detection module, the magnetic memory sensing array, and the communication module respectively.

8. The magnetic memory guided ultrasonic detection system applied to pipelines according to claim 7, characterized in that, The pipeline detection device further includes: An image processing module, which is electrically connected to the ultrasonic detection module, the magnetic memory sensor array, and the central processing module respectively. The image processing module is used to process the ultrasonic signals detected by the ultrasonic detection module and the magnetic memory sensor array.

9. The magnetic memory guided ultrasonic inspection system applied to pipelines according to claim 1, characterized in that, The magnetic memory guided ultrasonic detection system applied to pipelines further includes: a remote controller, which is wirelessly connected to the pipeline detection device. The remote controller includes: A controller housing; A direction control joystick, which is arranged on the controller housing and is used for remotely controlling the direction of the walking assembly; A speed control button, which is arranged on the controller housing and is used for remotely controlling the speed of the walking assembly; An activity control component, which is arranged on the controller housing and is used for remotely controlling the displacement and angle of the activity assembly; A touch display screen, which is arranged on the controller housing and is used for displaying the detection information of the detection component; A controller antenna, which is arranged outside the housing and is used for transmitting and receiving signals of the pipeline detection device.

10. A detection method for a magnetic memory guided ultrasonic detection system applied to pipelines, wherein the detection method uses the magnetic memory guided ultrasonic detection system applied to pipelines according to any one of claims 1 to 9 to detect a pipeline to be detected, characterized in that, The detection method includes: Controlling the pipeline detection device to move to the area to be detected of the pipeline; Controlling the magnetic memory sensor array to scan the area to be detected; Judging that the area scanned by the magnetic memory sensor array is a high stress area and sending out an alarm signal according to the stress gradient scanned by the magnetic memory sensor array being greater than or equal to the preset stress gradient; Controlling the ultrasonic detection module to perform ultrasonic scanning on the high stress area; Judging the defect level of the high stress area according to the ultrasonic detection information of the ultrasonic detection module.

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