A pipeline detection robot and method based on multiple sensors

Abstract

The present application discloses a multi-sensor-based pipeline inspection robot and method, relating to the field of pipeline inspection technology. The robot includes a detection module, a front-end variable-diameter walking mechanism, an electric control compartment, and a rear-end variable-diameter walking mechanism. The pipeline inspection method of the multi-sensor-based pipeline inspection robot includes initializing the pipeline inspection robot and determining initial operating parameters of the pipeline inspection robot. The initial operating parameters include the platform rotation speed of the detection platform, the forward speed of the pipeline inspection robot, the measurement time interval of the laser displacement sensor, and the initial installation distance. As the pipeline inspection robot passes through the pipeline to be inspected based on the initial operating parameters, the laser displacement sensor collects inspection data of the pipeline to be inspected. Based on the inspection data, the defect location in the pipeline to be inspected is determined. The present application fundamentally guarantees the dimensional accuracy and structural integrity of pipeline products, thereby improving the product quality of the pipeline.

Description

Technical Field

[0001] The present application relates to the technical field of pipeline detection, and in particular to a pipeline detection robot and method based on multiple sensors. Background Art

[0002] During the production of seamless steel pipes, the inner wall of the pipe is susceptible to uneven shrinkage of the liquid metal, resulting in smooth, concave defects due to the flow characteristics of liquid metal and the limitations of the forming process. This can lead to dimensional deviations of the inner diameter and localized thinning of the pipe wall. Although these defects lack the physical characteristics of traditional cracks and pores with distinct boundaries, they can significantly reduce the pipe's pressure-bearing capacity and fatigue resistance, posing a significant risk to pipeline safety.

[0003] However, existing non-destructive testing technologies have obvious limitations: electromagnetic testing relies on a sudden change in magnetic permeability at the defect site, magnetic flux leakage testing requires the defect to form a magnetic field leakage channel, and ultrasonic testing relies on differences in acoustic impedance. All three cannot identify dimensional deformation defects with smooth transitions, resulting in the omission of inspection for many products with unqualified inner surfaces of pipelines, reducing the product quality of the pipelines. Summary of the Invention

[0004] The purpose of this application is to provide a multi-sensor based pipeline inspection robot and method, which can improve the product quality of pipelines.

[0005] To achieve the above objectives, this application provides the following solutions:

[0006] In a first aspect, the present application provides a multi-sensor based pipeline inspection robot, comprising a detection module, a front-end variable-diameter walking mechanism, an electric control compartment, and a rear-end variable-diameter walking mechanism, wherein:

[0007] The detection module is used to collect sensor data and robot motion data; wherein the sensor data and the robot motion data are used to determine defects inside the pipeline;

[0008] The detection module includes a detection platform, an IMU, a laser displacement sensor, a conductive slip ring, a rotating motor, and a flange bracket. The detection platform is located at the front end of the pipeline detection robot, and the IMU is placed at the center of the detection platform. The IMU is pre-set with a spatial rectangular coordinate system. The origin of the spatial rectangular coordinate system in the IMU is the center point of the detection platform. The x-axis of the spatial rectangular coordinate system is perpendicular to the horizontal plane, the y-axis of the spatial rectangular coordinate system is parallel to the horizontal plane, and the z-axis of the spatial rectangular coordinate system is perpendicular to the plane of the detection platform. The detection platform has 6 laser displacement sensors evenly arranged in sequence along the circumference, and the angles between any two adjacent laser displacement sensors are equal. The detection platform is connected to the rotating motor through the conductive slip ring, and the conductive slip ring and the rotating motor are fixed by the flange bracket. The other end of the flange bracket is fixed to the front-end variable-diameter walking mechanism.

[0009] The two ends of the electric control warehouse are respectively connected to the other end of the front-end variable-diameter walking mechanism and the rear-end variable-diameter walking mechanism.

[0010] Optionally, the front-end variable diameter walking mechanism includes a front-end lead screw, a front-end lead screw nut, a front-end connecting rod mechanism, a front-end hub motor bracket, a front-end hub motor and a front-end lead screw motor; wherein:

[0011] The front end lead screw is sleeved with the front end lead screw nut, and the front end lead screw nut is connected to the three front end wheel hub motor brackets and the electric control compartment respectively through the front end connecting rod mechanism;

[0012] The three front wheel hub motor brackets are evenly arranged along the circumference; two front wheel hub motors are symmetrically arranged on each front wheel hub motor bracket; the other end of the front screw is connected to the front screw motor, and the front screw motor is located in the electric control compartment.

[0013] Optionally, the rear-end variable diameter walking mechanism includes a rear-end lead screw, a rear-end lead screw nut, a rear-end connecting rod mechanism, a rear-end hub motor bracket, a rear-end hub motor and a rear-end lead screw motor; wherein:

[0014] The other end of the electric control warehouse is connected to the rear end screw; the rear end screw is covered with the rear end screw nut, and the rear end screw nut is connected to the three rear end wheel hub motor brackets through the rear end connecting rod mechanism, and the three rear end wheel hub motor brackets are evenly arranged along the circumferential direction; the rear end wheel hub motor brackets and the front end wheel hub motor brackets are staggered; two rear end wheel hub motors are symmetrically arranged on each rear end wheel hub motor bracket; the other end of the rear end screw is connected to the rear end screw motor.

[0015] In a second aspect, the present application provides a multi-sensor based pipeline detection method, which is applied to any of the multi-sensor based pipeline detection robots described above, and the method includes:

[0016] Initializing the pipeline inspection robot and determining initial operating parameters of the pipeline inspection robot; wherein the initial operating parameters include the platform rotation speed of the inspection platform, the forward speed of the pipeline inspection robot, the measurement time interval of the laser displacement sensor, and the initial installation distance; the initial installation distance is the distance between the laser displacement sensor and the IMU;

[0017] When the pipeline inspection robot passes through the pipeline to be inspected based on the initial operating parameters, the laser displacement sensor collects inspection data of the pipeline to be inspected;

[0018] Determine the defect location in the pipeline to be tested based on the detection data.

[0019] Optionally, before the pipeline inspection robot passes through the pipeline to be inspected based on the initial operating parameters, the method further includes:

[0020] Controlling the front end screw motor and the rear end screw motor of the pipeline inspection robot to operate until the front end hub motor and the rear end hub motor of the pipeline inspection robot are in a tensioned state, and locking the front end screw motor and the rear end screw motor;

[0021] Controlling the detection platform to rotate until the detection platform reaches the platform rotation speed;

[0022] The front-end hub motor and the rear-end hub motor are controlled to operate so that the pipeline inspection robot passes through the pipeline to be inspected at the forward speed.

[0023] Optionally, controlling the front end screw motor and the rear end screw motor of the pipeline inspection robot to operate until the front end hub motor and the rear end hub motor of the pipeline inspection robot are in a tensioned state, and locking the front end screw motor and the rear end screw motor includes:

[0024] Controlling the front end screw motor and the rear end screw motor of the pipeline inspection robot to operate, and collecting the front end torque of the front end screw motor and the rear end torque of the rear end screw motor;

[0025] If the front torque reaches the preset torque threshold and the rear torque reaches the preset torque threshold, it is determined that the front hub motor and the rear hub motor of the pipeline inspection robot are in a tensioned state, and the front screw motor and the rear screw motor are locked.

[0026] Optionally, collecting the detection data of the pipeline to be detected by the laser displacement sensor includes:

[0027] Based on the measurement time interval, the inner wall distance at the current collection moment is collected by the laser displacement sensor; wherein the inner wall distance is the shortest distance between the laser displacement sensor and the inner wall of the pipeline to be measured;

[0028] Determining radial position coordinates in the detection data of the pipeline to be tested based on the inner wall distance and the initial installation distance;

[0029] Acquiring standard pulse data of the rotating motor and encoder pulse data of the rotating motor at the current acquisition moment;

[0030] Obtaining an initial angle of the laser displacement sensor;

[0031] Calculating the circumferential position coordinates in the detection data using the initial angle, the encoder pulse data, and the standard pulse data;

[0032] Obtaining the wheel hub circumference of the pipeline inspection robot;

[0033] Obtain the number of rotations of the front wheel hub of each front wheel hub motor and the number of rotations of the rear wheel hub of each rear wheel hub motor;

[0034] The axial position coordinates in the detection data are calculated using the number of rotations of the front wheel hub of each front wheel hub motor, the number of rotations of the rear wheel hub of each rear wheel hub motor, and the circumference of the wheel hub.

[0035] Optionally, before calculating the circumferential position coordinates in the detection data using the initial angle, the encoder pulse data, and the standard pulse data, the method further includes:

[0036] Obtaining the x-axis acceleration and the y-axis acceleration of the laser displacement sensor based on the spatial rectangular coordinate system;

[0037] If the absolute value of the x-axis acceleration is not equal to the gravitational acceleration and is not equal to 0, and the absolute value of the y-axis acceleration is not equal to the gravitational acceleration and is not equal to 0, performing the step of calculating the circumferential position coordinates in the detection data using the initial angle, the encoder pulse data, and the standard pulse data;

[0038] If the x-axis acceleration is the gravitational acceleration and the y-axis acceleration is 0, the circumferential position coordinates in the detection data are corrected to 0; and the step of obtaining the wheel hub circumference of the pipeline inspection robot is performed;

[0039] If the x-axis acceleration is 0 and the y-axis acceleration is a negative gravitational acceleration, the circumferential position coordinates in the detection data are corrected to π / 2; and the step of obtaining the hub circumference of the pipeline inspection robot is performed;

[0040] If the x-axis acceleration is a negative gravitational acceleration and the y-axis acceleration is 0, the circumferential position coordinates in the detection data are corrected to π; and the step of obtaining the wheel hub circumference of the pipeline inspection robot is performed;

[0041] If the x-axis acceleration is 0 and the y-axis acceleration is the acceleration of gravity, the circumferential position coordinates in the detection data are corrected to 3π / 2; and the step of obtaining the hub circumference of the pipeline inspection robot is performed.

[0042] Optionally, the calculating the axial position coordinates in the detection data using the number of rotations of the front wheel hub of each front wheel hub motor, the number of rotations of the rear wheel hub of each rear wheel hub motor, and the wheel hub circumference includes:

[0043] Calculate the front end advance distance of each front end hub motor using the number of rotations of the front end hub of each front end hub motor and the circumference of the hub;

[0044] Calculate the rear end forward distance of each rear end hub motor using the number of rotations of the rear end hub of each rear end hub motor and the circumference of the hub;

[0045] Calculate the average of the front end advance distance of each front wheel hub motor and the rear end advance distance of each rear wheel hub motor;

[0046] The average value is determined as the axial position coordinate in the detection data.

[0047] Optionally, determining the defect location in the pipeline to be tested based on the detection data includes:

[0048] Performing surface fitting on the detection data to obtain a pipeline fitting surface;

[0049] Obtaining the standard inner wall radius of the pipeline to be measured;

[0050] Defect identification is performed on the pipeline fitting surface based on the standard inner wall radius to obtain a defect position; wherein the defect radius of the pipeline to be tested corresponding to the defect position is greater than the standard inner wall radius.

[0051] In a third aspect, the present application provides a computer device comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of any one of the multi-sensor based pipeline detection methods described above.

[0052] In a fourth aspect, the present application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of any one of the multi-sensor-based pipeline detection methods described above.

[0053] In a fifth aspect, the present application provides a computer program product, comprising a computer program, which, when executed by a processor, implements the steps of any one of the multi-sensor based pipeline detection methods described above.

[0054] In a sixth aspect, the present application provides a chip, comprising a processor and a communication interface, wherein the communication interface is coupled to the processor, and the processor is configured to run a program or instruction. When the processor executes the program or instruction, the steps of any one of the multi-sensor-based pipeline detection methods described above are implemented.

[0055] According to the specific embodiments provided in this application, this application discloses the following technical effects:

[0056] This application provides a multi-sensor pipeline inspection robot and method. The robot's inspection module utilizes a combination of circumferentially evenly distributed laser displacement sensors and an IMU spatial attitude solver. This technology allows for real-time acquisition of full circumferential dimensional data on the pipeline's inner wall. A rotary scanning mechanism covers the entire inner surface area, significantly improving defect detection rates. This design transcends the limitations of existing technologies for detecting obvious boundary defects. It can directly eliminate hidden quality issues such as inner diameter deviations and pipe wall thinning during the production process, preventing substandard products from reaching downstream applications. This fundamentally ensures the dimensional accuracy and structural integrity of pipeline products, thereby improving pipeline product quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0058] Figure 1 A schematic diagram of the three-dimensional structure of a multi-sensor pipeline inspection robot provided in one embodiment of the present application;

[0059] Figure 2 A schematic diagram of the three-dimensional structure of another multi-sensor-based pipeline inspection robot provided in one embodiment of the present application;

[0060] Figure 3 A schematic flow chart of a multi-sensor based pipeline detection method provided in one embodiment of the present application;

[0061] Figure 4 A schematic diagram of a sampling point array density adjustment principle provided in one embodiment of the present application;

[0062] Figure 5 A schematic diagram of a pipe inner wall column coordinate system provided in one embodiment of the present application;

[0063] Figure 6 A schematic diagram of an IMU coordinate system and acceleration measurement changes on each axis provided in one embodiment of the present application;

[0064] Figure 7 A schematic diagram of a defect type provided in an embodiment of the present application;

[0065] Figure 8 A schematic diagram of the structure of a computer device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0066] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0067] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the present application is further described in detail below with reference to the accompanying drawings and specific implementation methods.

[0068] In an exemplary embodiment, Figure 1 and Figure 2 As shown, Figure 1 A schematic diagram of the three-dimensional structure of a multi-sensor pipeline inspection robot provided in one embodiment of the present application; Figure 2 A schematic diagram of the three-dimensional structure of another multi-sensor pipeline inspection robot provided in one embodiment of the present application; wherein:

[0069] In the embodiment of the present application, the multi-sensor pipeline inspection robot includes a detection module, a front-end variable-diameter walking mechanism, an electric control compartment 3, and a rear-end variable-diameter walking mechanism, wherein:

[0070] The detection module is used to collect sensor data and robot motion data; wherein the sensor data and the robot motion data are used to determine defects inside the pipeline;

[0071] The detection module includes a detection platform 1-1, an IMU 1-2, a laser displacement sensor 1-3, a conductive slip ring 1-4, a rotating motor 1-5 and a flange bracket 1-6. The detection platform 1-1 is located at the front end of the pipeline detection robot. The IMU 1-2 is placed at the center of the detection platform 1-1. The IMU 1-2 is pre-set with a spatial rectangular coordinate system. The origin of the spatial rectangular coordinate system in the IMU 1-2 is the center point of the detection platform 1-1. The x-axis of the spatial rectangular coordinate system is perpendicular to the horizontal plane. The y-axis of the angular coordinate system is parallel to the horizontal plane, and the z-axis of the spatial rectangular coordinate system is perpendicular to the plane of the detection platform 1-1; the detection platform 1-1 has six laser displacement sensors 1-3 arranged in sequence and evenly along the circumference, and the angle between any two adjacent laser displacement sensors 1-3 is equal; the detection platform 1-1 is connected to the rotating motor 1-5 via the conductive slip ring 1-4, and the conductive slip ring 1-4 and the rotating motor 1-5 are fixed by the flange bracket 1-6; the other end of the flange bracket 1-6 is fixed to the front-end variable diameter walking mechanism;

[0072] The two ends of the electric control warehouse 3 are respectively connected to the other end of the front-end variable-diameter walking mechanism and the rear-end variable-diameter walking mechanism.

[0073] The front-end variable diameter walking mechanism includes a front-end screw 2-1, a front-end screw nut 2-2, a front-end connecting rod mechanism 2-3, a front-end hub motor 2-5 bracket 2-4, a front-end hub motor 2-5 and a front-end screw motor 2-6; wherein:

[0074] The front end lead screw 2-1 is sleeved with the front end lead screw nut 2-2, and the front end lead screw nut 2-2 is connected to the three front end hub motors 2-5, the bracket 2-4 and the electric control compartment 3 respectively through the front end connecting rod mechanism 2-3;

[0075] The three front-end hub motor 2-5 brackets 2-4 are evenly arranged along the circumferential direction; two front-end hub motors 2-5 are symmetrically arranged on each front-end hub motor 2-5 bracket 2-4; the other end of the front-end screw 2-1 is connected to the front-end screw motor 2-6, and the front-end screw motor 2-6 is located in the electric control compartment 3.

[0076] The rear-end variable diameter walking mechanism includes a rear-end screw 4-1, a rear-end screw nut 4-2, a rear-end connecting rod mechanism 4-3, a rear-end hub motor 4-5 bracket 4-4, a rear-end hub motor 4-5 and a rear-end screw motor; wherein:

[0077] The other end of the electric control warehouse 3 is connected to the rear end screw 4-1; the rear end screw 4-1 is covered with the rear end screw nut 4-2, and the rear end screw nut 4-2 is connected to the three rear end hub motor 4-5 brackets 4-4 through the rear end connecting rod mechanism 4-3, and the three rear end hub motor 4-5 brackets 4-4 are evenly arranged along the circumferential direction; the rear end hub motor 4-5 brackets 4-4 and the front end hub motor 2-5 brackets 2-4 are staggered; two rear end hub motors 4-5 are symmetrically arranged on each rear end hub motor 4-5 bracket 4-4; the other end of the rear end screw 4-1 is connected to the rear end screw motor.

[0078] The implementation of the above-mentioned embodiment can directly eliminate hidden quality problems such as inner diameter tolerance and pipe wall thinning during the production process, prevent unqualified products from flowing into downstream application links, and fundamentally ensure the dimensional accuracy and structural integrity of pipeline products, thereby improving the product quality of the pipeline.

[0079] In an exemplary embodiment, Figure 3 As shown, a multi-sensor based pipeline detection method is provided. The method is executed by a computer device, specifically, a computer device such as a terminal or a server, or a terminal and a server. The method is applied to a multi-sensor based pipeline detection robot. In the embodiment of the present application, the following steps 301 to 303 are included. Among them:

[0080] Step 301: Initialize the pipeline inspection robot and determine the initial operating parameters of the pipeline inspection robot.

[0081] In an embodiment of the present application, the initial operating parameters include the platform rotation speed of the detection platform 1-1, the forward speed of the pipeline detection robot, the measurement time interval of the laser displacement sensor 1-3, and the initial installation distance; the initial installation distance is the distance between the laser displacement sensor 1-3 and the IMU1-2.

[0082] Please also refer to Figure 4 , Figure 4 This is a schematic diagram of the principle of adjusting the density of the sampling point array provided by an embodiment of the present application; by setting the platform rotation speed of the detection platform 1-1 and the forward speed of the robot, the density of the sampling point array of the laser displacement sensor 1-3 is set. Figure 4 As shown, the robot's uniform forward speed is , the uniform rotation process is , expand the detection pipeline, at time t1, the measurement points of the six laser displacement sensors 1-3 are M1-1~M6-1 respectively, at time t2, the measurement points of the six laser displacement sensors 1-3 are M1-2~M6-2 respectively, at time tn, the measurement points of the six laser displacement sensors 1-3 are M1-n~M6-n respectively, and their position relationship is as follows Figure 4 As shown, the distance component of the measurement points along the forward direction at two adjacent moments of the same laser displacement sensor 1-3 is :

[0083]

[0084] Distance component along the rotation direction :

[0085]

[0086] By adjusting and , we can get the arrangement relationship of different measurement points, Indicates the measurement time interval.

[0087] Step 302 : When the pipeline inspection robot passes through the pipeline to be inspected based on the initial operating parameters, the laser displacement sensors 1 - 3 are used to collect inspection data of the pipeline to be inspected.

[0088] Please also refer to Figure 5 , Figure 5 A schematic diagram of a pipe inner wall column coordinate system provided in one embodiment of the present application; Figure 5 The cylindrical coordinate system r0θz is shown, with the direction of gravity at θ = 0. Point I is the center of detection platform 1-1, and point A (r0, θ, z) represents the position of laser displacement sensors 1-3. r0 is the initial installation distance, which is a constant value. Point M (ρ, θ, z) represents the detection data corresponding to the sampling position of laser displacement sensors 1-3 on the inner wall of the pipe. ρ, θ, and z vary with detection time t.

[0089] As an optional implementation, before step 302, the following steps may be further performed:

[0090] Control the front end screw motor 2-6 and the rear end screw motor of the pipeline inspection robot to operate until the front end hub motor 2-5 and the rear end hub motor 4-5 of the pipeline inspection robot are in a tensioned state, and lock the front end screw motor 2-6 and the rear end screw motor;

[0091] Controlling the detection platform 1-1 to rotate until the detection platform 1-1 reaches the platform rotation speed;

[0092] The front-end hub motor 2 - 5 and the rear-end hub motor 4 - 5 are controlled to operate so that the pipeline inspection robot passes through the pipeline to be inspected at the forward speed.

[0093] Among them, by implementing this embodiment, through the tension adjustment of the front-end screw motor 2-6 and the rear-end screw motor, it is ensured that the detection robot always maintains a stable walking posture in a complex environment with changing pipe diameters, and effectively avoids detection blind spots caused by wheel slippage or positioning offset; the precise control of the rotation speed of the detection platform 1-1 and the synergistic effect of the uniform speed drive of the hub motor enable the laser displacement sensor 1-3 to obtain inner wall morphology data at a constant scanning rhythm, eliminating the distortion of the detection data caused by speed fluctuations, thereby achieving full coverage and high-precision recognition of smooth concave defects on the inner wall, and ultimately ensuring the inner diameter dimensional accuracy and wall thickness consistency of the pipeline products, and greatly improving the overall quality level of the pipeline products.

[0094] Optionally, the front end screw motor 2-6 and the rear end screw motor of the pipeline inspection robot are controlled to operate until the front end hub motor 2-5 and the rear end hub motor 4-5 of the pipeline inspection robot are in a tensioned state, and the method of locking the front end screw motor 2-6 and the rear end screw motor may include:

[0095] Control the front end screw motor 2-6 and the rear end screw motor of the pipeline inspection robot to operate, and collect the front end torque of the front end screw motor 2-6 and the rear end torque of the rear end screw motor;

[0096] If the front end torque reaches the preset torque threshold and the rear end torque reaches the preset torque threshold, it is determined that the front end hub motor 2-5 and the rear end hub motor 4-5 of the pipeline inspection robot are in a tensioned state, and the front end screw motor 2-6 and the rear end screw motor are locked.

[0097] Among them, the implementation of this embodiment significantly improves the walking stability and detection accuracy of the pipeline inspection robot in complex pipe diameter environments through real-time torque monitoring and dynamic tension adjustment technology. By collecting torque data from the front-end screw motor 2-6 and the rear-end screw motor, and intelligently determining the hub tensioning state based on a preset threshold, adaptive fitting to the inner walls of pipes of different diameters is achieved, avoiding problems such as hub slippage and positioning offset caused by mechanical clearance or pipe diameter changes. This solution ensures that the hub is always in the optimal tension state through torque feedback closed-loop control, effectively suppressing vibration and drift during the inspection process, and enabling detection units such as laser displacement sensors 1-3 to stably obtain inner wall morphology data, thereby significantly improving the detection ability of smooth concave defects on the inner wall, ensuring the dimensional accuracy and structural reliability of pipeline products, and providing reliable technical support for improving pipeline product quality.

[0098] As an optional implementation, the method of collecting the detection data of the pipeline to be tested by the laser displacement sensors 1-3 in step 302 may specifically be:

[0099] Based on the measurement time interval, the inner wall distance at the current collection moment is collected by the laser displacement sensors 1-3; wherein the inner wall distance is the shortest distance between the laser displacement sensor and the inner wall of the pipe to be measured;

[0100] Determining radial position coordinates in the detection data of the pipeline to be tested based on the inner wall distance and the initial installation distance;

[0101] Acquire standard pulse data of the rotating motors 1-5 and encoder pulse data of the rotating motors 1-5 at the current acquisition moment;

[0102] Obtaining the initial angle of the laser displacement sensor 1-3;

[0103] Calculating the circumferential position coordinates in the detection data using the initial angle, the encoder pulse data, and the standard pulse data;

[0104] Obtaining the wheel hub circumference of the pipeline inspection robot;

[0105] Obtain the number of rotations of the front wheel hub of each front wheel hub motor 2-5 and the number of rotations of the rear wheel hub of each rear wheel hub motor 4-5;

[0106] The axial position coordinates in the detection data are calculated using the number of rotations of the front-end hubs of the front-end hub motors 2 - 5 , the number of rotations of the rear-end hubs of the rear-end hub motors 4 - 5 , and the circumference of the hubs.

[0107] Among them, by implementing this embodiment, a three-dimensional spatial information acquisition system for pipeline inner wall defects is constructed through the coordinated application of multi-dimensional spatial positioning technology, achieving a comprehensive and accurate characterization of the defect position and size. Based on the coordinated solution of laser displacement sensors 1-3 and rotating motors 1-5, the present invention breaks through the limitation of traditional detection that can only obtain single-dimensional data. Through the dynamic fusion calculation of radial distance, circumferential angle and axial displacement, the spatial morphological characteristics of inner wall defects are completely restored, so that hidden smooth concave defects can be accurately located in a three-dimensional coordinate system. This technical solution eliminates the positioning deviation that may be caused by a single measurement method through complementary correction of multi-sensor data, ensures that the detection results cover the entire surface of the inner wall of the pipeline, avoids quality omissions due to detection blind spots, provides closed-loop quality control capabilities for the pipeline manufacturing process, and fundamentally improves the structural integrity and dimensional accuracy of pipeline products.

[0108] In the embodiment of the present application, based on the inner wall distance and the initial installation distance , determine the radial position coordinates in the detection data of the pipeline to be tested The calculation formula can be:

[0109]

[0110] In the embodiment of the present application, the initial angle is used , the encoder pulse data , the standard pulse data N, calculate the circumferential position coordinates in the detection data The calculation formula can be:

[0111]

[0112] Please also refer to Figure 6 , Figure 6 A schematic diagram of an IMU1-2 coordinate system and changes in acceleration measurement values ​​of each axis provided in one embodiment of the present application; as an optional implementation, before using the initial angle, the encoder pulse data, and the standard pulse data to calculate the circumferential position coordinates in the detection data, the following steps may also be performed:

[0113] Obtaining the x-axis acceleration and the y-axis acceleration of the laser displacement sensor 1-3 based on the spatial rectangular coordinate system;

[0114] If the absolute value of the x-axis acceleration is not equal to the gravitational acceleration and is not equal to 0, and the absolute value of the y-axis acceleration is not equal to the gravitational acceleration and is not equal to 0, performing the step of calculating the circumferential position coordinates in the detection data using the initial angle, the encoder pulse data, and the standard pulse data;

[0115] If the x-axis acceleration is the gravitational acceleration and the y-axis acceleration is 0, the circumferential position coordinates in the detection data are corrected to 0; and the step of obtaining the wheel hub circumference of the pipeline inspection robot is performed;

[0116] If the x-axis acceleration is 0 and the y-axis acceleration is a negative gravitational acceleration, the circumferential position coordinates in the detection data are corrected to π / 2; and the step of obtaining the hub circumference of the pipeline inspection robot is performed;

[0117] If the x-axis acceleration is a negative gravitational acceleration and the y-axis acceleration is 0, the circumferential position coordinates in the detection data are corrected to π; and the step of obtaining the wheel hub circumference of the pipeline inspection robot is performed;

[0118] If the x-axis acceleration is 0 and the y-axis acceleration is the acceleration of gravity, the circumferential position coordinates in the detection data are corrected to 3π / 2; and the step of obtaining the hub circumference of the pipeline inspection robot is performed.

[0119] Among them, the implementation of this embodiment significantly improves the spatial positioning accuracy and reliability of pipeline inner wall inspection data by introducing dynamic acceleration compensation and a circumferential coordinate adaptive correction mechanism. Based on the real-time acceleration monitoring of laser displacement sensors 1-3 in a spatial rectangular coordinate system, the present invention can intelligently identify special states of the robot's posture (such as inversion, tilt, etc.) and automatically correct the circumferential position data through preset posture-coordinate mapping rules, avoiding coordinate offsets caused by gravity interference or abnormal movement, and ensuring a strict correspondence between the inspection data and the actual shape of the pipeline. This technical solution eliminates systematic errors caused by changes in robot posture in complex inspection environments through a multi-working condition adaptive compensation mechanism, ensuring that the circumferential positioning results always maintain a strong correlation with the pipeline axis, providing a reliable spatial reference for subsequent three-dimensional defect reconstruction and dimensional analysis, thereby further improving the controllability of pipeline product quality and the interpretability of inspection results.

[0120] like Figure 6 As shown, from the forward direction of the robot, the spatial rectangular coordinate system of IMU1-2 and the projection of laser displacement sensor 1-3 are as follows: Figure 6 As shown. Taking the detection platform 1-1 as an example, when the detection platform 1-1 rotates counterclockwise, the IMU 1-2 rotates one circle along with the detection platform 1-1, and the laser displacement sensor 1-3 also rotates one circle. At this time, the circumferential position coordinates can be measured at four positions. Make corrections:

[0121] Position (1): When the x-axis acceleration measurement value is gravity acceleration g and the y-axis acceleration measurement value is 0, Corrected to =0;

[0122] Position (2): When the x-axis acceleration measurement value is 0 and the y-axis acceleration measurement value is -g, Corrected to ;

[0123] Position 3: When the x-axis acceleration measurement value is -g and the y-axis acceleration measurement value is 0, Corrected to =π;

[0124] Position (4): When the x-axis acceleration measurement value is 0 and the y-axis acceleration measurement value is g, Corrected to = .

[0125] Optionally, a method of calculating the axial position coordinates in the detection data using the number of rotations of the front wheel hubs of the front wheel hub motors 2-5, the number of rotations of the rear wheel hubs of the rear wheel hub motors 4-5, and the wheel hub circumference may include:

[0126] Using the number of rotations of the front wheel hub of each front wheel hub motor 2-5 and the circumference of the wheel hub, calculate the front end advance distance of each front wheel hub motor 2-5;

[0127] Using the number of rotations of the rear end hub of each rear end hub motor 4-5 and the circumference of the hub, calculate the rear end forward distance of each rear end hub motor 4-5;

[0128] Calculate the average of the front end advance distances of each front wheel hub motor 2-5 and the rear end advance distances of each rear end wheel hub motor 4-5;

[0129] The average value is determined as the axial position coordinate in the detection data .

[0130] Among them, the implementation of this embodiment significantly improves the accuracy and stability of the axial position coordinates of the inner wall of the pipeline through multi-hub collaborative positioning and distance averaging calculation technology. Based on the independent rotation circle measurement of the front-end hub motor 2-5 and the rear-end hub motor 4-5, the present invention dynamically converts multiple sets of axial advance distances through the hub circumference parameters, and adopts an average value calculation strategy to eliminate single-point positioning errors caused by hub slippage, pipe diameter changes or local wear, ensuring that the axial coordinate results can truly reflect the detection position of the inner wall of the pipeline. This technical solution avoids the cumulative deviation that may be caused by single hub positioning through a multi-source data fusion correction mechanism, so that the axial position coordinates are strongly correlated with the actual length of the pipeline, providing a reliable basis for the precise positioning of defects in the axial direction of the pipeline, thereby further ensuring the quality consistency of the pipeline product throughout its entire length.

[0131] At this point, the coordinates of the detection data in the spatial rectangular coordinate system can be obtained: ( , ).

[0132] Step 303: Determine the defect location in the pipeline to be tested based on the detection data.

[0133] Please also refer to Figure 7 , Figure 7 This is a schematic diagram of a defect type provided in one embodiment of the present application. Figure 7 As shown in the figure, the depression in the pipe to be tested is the defect location.

[0134] As an optional implementation, the method of determining the defect location in the pipeline to be tested based on the detection data in step 303 may include:

[0135] Performing surface fitting on the detection data to obtain a pipeline fitting surface;

[0136] Obtaining the standard inner wall radius of the pipeline to be measured;

[0137] Defects are identified on the pipeline fitting surface based on the standard inner wall radius to obtain a defect position; wherein the absolute value of the difference between the defect radius of the pipeline to be tested and the standard inner wall radius corresponding to the defect position is greater than a preset threshold.

[0138] Among them, the implementation of this embodiment realizes the precise three-dimensional positioning of pipeline inner wall defects and intelligent identification of structural anomalies through surface fitting and dynamic comparison technology of standard radius. The pipeline fitting surface constructed based on the detection data can completely restore the continuity characteristics of the inner wall morphology. Through real-time comparison with the preset standard inner wall radius, it can efficiently screen out defective areas with local radius deviations, breaking through the limitations of traditional detection that only relies on discrete point analysis. This technical solution avoids misjudgments caused by detection noise or local fluctuations through global surface modeling and radius threshold constraints. It has significant detection advantages for progressive deformation defects such as smooth depressions, so that the identification results of defect position and size strictly correspond to the actual defect distribution of the pipeline, providing high-confidence data support for defect tracing and process improvement of pipeline products, thereby significantly improving the accuracy and reliability of product quality control.

[0139] In the embodiment of the present application, multiple sampling points can be (i=1…n) test data are fitted to obtain the pipeline fitting surface; and defects are scanned on the pipeline fitting surface. If a certain point The absolute value of the difference between the value and the standard inner wall radius r is greater than the given threshold , then the point is considered to be the defect location, and the circumferential position of the point is determined and Determine the defect location.

[0140] For example, the implementation process of a multi-sensor pipeline detection method can be:

[0141] (1) Initialization: Check whether the communication between each sensor and each motor is normal;

[0142] (2) Screw motor operation: The screw motor runs, and the hub motor is tensioned through the connecting rod mechanism, so that the 12 hub motors are close to the pipe wall to be inspected;

[0143] (3) Determine whether it is tensioned and lock the screw motor after tensioning;

[0144] (4) Scanning accuracy and forward speed settings;

[0145] (5) Determine the rotation speed of the detection platform 1-1 based on the scanning accuracy and forward speed;

[0146] (6) The rotating motor 1-5 starts running and the detection platform 1-1 starts rotating;

[0147] (7) Delay, wait until the rotating motors 1-5 are running smoothly before starting the hub motor to ensure that the detection data is comprehensive;

[0148] (8) The hub motor is running, and the robot moves forward at a constant speed. At the same time, data is collected in real time. The collected data includes the measurement data of 6 laser displacement sensors, the encoder data of the rotating motor 1-5, the IMU1-2 data, the hub motor encoder data, etc. The collected data is transmitted to the computer through the wireless module. The computer calculates the current rotation angle of the detection platform 1-1 by counting the pulses of the rotating motor 1-5 encoders, and determines the circumferential position of the current sampling point of each laser displacement sensor according to the mechanical installation position; the circumferential position is corrected according to the IMU1-2 data; the hub motor running distance is calculated by counting the pulses of the hub motor encoder, and the robot axial running distance is calculated according to the circumference of the hub motor wheel. The axial position of the current sampling point of each laser displacement sensor 1-3 is determined according to the mechanical installation position of the robot; the radial depth of the current sampling point is determined according to the measurement value of the laser displacement sensor 1-3; the surface fitting is performed based on the circumferential position, axial position and radial depth data of each sampling point, so as to realize the detection of defects on the inner wall of the pipeline.

[0149] (9) When the robot is detected to be out of the tube, the rotating motors 1-5 stop and the data acquisition and transmission stops;

[0150] (10) Delay: Wait until the rotating motors 1-5 stop completely before stopping the hub motor to ensure that the detection data is comprehensive;

[0151] (11) Stop the hub motor and the test is complete.

[0152] The implementation of the above-mentioned steps 301 to 303 can directly eliminate hidden quality problems such as inner diameter tolerance and pipe wall thinning during the production process, prevent unqualified products from flowing into downstream application links, and fundamentally guarantee the dimensional accuracy and structural integrity of pipeline products, thereby improving the product quality of pipelines. In addition, the present application can also ensure the inner diameter dimensional accuracy and pipe wall thickness consistency of pipeline products, greatly improving the overall quality level of pipeline products. In addition, the present application can also significantly improve the detection capability of smooth concave defects on the inner wall. In addition, the present application can also avoid quality omissions caused by blind detection areas, provide closed-loop quality control capabilities for the pipeline manufacturing process, and fundamentally improve the structural integrity and dimensional accuracy of pipeline products. In addition, the present application can also improve the controllability of pipeline product quality and the interpretability of test results. In addition, the present application can also ensure quality consistency throughout the entire length of pipeline products. In addition, the present application can also improve the accuracy and reliability of product quality control.

[0153] In addition, the embodiment of the present application is based on the detection method of size detection, which is suitable for detecting smooth defects without obvious interfaces. Ultrasonic, magnetic leakage, eddy current, etc. are difficult to detect the above-mentioned Figure 7 Smooth defects of the type shown. Suitable for non-metallic pipeline inspection. Based on optical measurement principles, it can inspect non-metallic pipelines. High efficiency, high precision, and low loss: The optical non-contact measurement principle provides high detection efficiency, high precision, and reduced sensor wear. It can inspect small-diameter pipelines. Its compact and flexible structure avoids the size limitations of industrial cameras and visual inspections due to blind spots, allowing for inspection of small-diameter pipelines. It can be embedded in production lines. Battery-powered, self-propelled measurement allows for single-pass inspection (avoiding return trip issues caused by dragging power and signal lines when passing through the pipeline). Non-destructive testing does not affect pipeline products and can be embedded in production lines. By comparing the measured acceleration value with the gravitational acceleration g, it corrects for circumferential coordinate offsets caused by spin. Compared to the currently used method of integrating angular velocity, this method reduces the amount of calculation and cumulative error.

[0154] In an exemplary embodiment, a computer device is provided. The computer device may be a server or a terminal. The internal structure diagram thereof may be as follows: Figure 8As shown. The computer device includes a processor, a memory, an input / output interface (Input / Output, abbreviated as I / O) and a communication interface. The processor, memory and input / output interface are connected via a system bus, and the communication interface is connected to the system bus via the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and computer program in the non-volatile storage medium. The database of the computer device is used to store video tag processing data. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal via a network connection. When the computer program is executed by the processor, a pipeline detection method based on multiple sensors is implemented.

[0155] Those skilled in the art will understand that Figure 8 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0156] In an exemplary embodiment, a computer device is further provided, including a memory and a processor. The memory stores a computer program, and the processor implements the steps in the above method embodiments when executing the computer program.

[0157] In an exemplary embodiment, a computer-readable storage medium is provided, storing a computer program. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0158] In an exemplary embodiment, a computer program product is provided, including a computer program. When the computer program is executed by a processor, the steps in the above method embodiments are implemented.

[0159] In an exemplary embodiment, a chip is provided, which includes a processor and a communication interface, the communication interface is coupled to the processor, and the processor is used to run programs or instructions to implement the steps in the above-mentioned method embodiments and achieve the same technical effects. To avoid repetition, they are not described here.

[0160] It should be understood that the chip mentioned in the embodiments of the present application can also be called a system-level chip, a system chip, a chip system or a system-on-chip chip, etc.

[0161] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant regulations.

[0162] Those skilled in the art will appreciate that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the above-mentioned embodiments. In particular, any reference to memory, database, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM may be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM).

[0163] The databases involved in the various embodiments provided herein may include at least one of a relational database and a non-relational database. Non-relational databases may include, but are not limited to, distributed databases based on blockchains. The processors involved in the various embodiments provided herein may include, but are not limited to, general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic units, data processing logic units based on quantum computing, and the like.

[0164] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0165] This document uses specific examples to illustrate the principles and implementation methods of this application. The description of the above examples is only intended to help understand the method and core concept of this application. At the same time, for those skilled in the art, based on the concept of this application, there may be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting this application.

Claims

1. A pipeline detection method based on multiple sensors, characterized in that: The method is applied to a multi-sensor based pipeline inspection robot, which includes a detection module, a front-end variable-diameter walking mechanism, an electric control compartment, and a rear-end variable-diameter walking mechanism, wherein: The detection module is used to collect sensor data and robot motion data; wherein the sensor data and the robot motion data are used to determine defects inside the pipeline; The detection module includes a detection platform, an IMU, a laser displacement sensor, a conductive slip ring, a rotating motor, and a flange bracket. The detection platform is located at the front end of the pipeline detection robot, and the IMU is placed at the center of the detection platform. The IMU is pre-set with a spatial rectangular coordinate system. The origin of the spatial rectangular coordinate system in the IMU is the center point of the detection platform. The x-axis of the spatial rectangular coordinate system is perpendicular to the horizontal plane, the y-axis of the spatial rectangular coordinate system is parallel to the horizontal plane, and the z-axis of the spatial rectangular coordinate system is perpendicular to the plane of the detection platform. The detection platform has 6 laser displacement sensors evenly arranged in sequence along the circumference, and the angles between any two adjacent laser displacement sensors are equal. The detection platform is connected to the rotating motor through the conductive slip ring, and the conductive slip ring and the rotating motor are fixed by the flange bracket. The other end of the flange bracket is fixed to the front-end variable-diameter walking mechanism. The two ends of the electric control warehouse are respectively connected to the other end of the front-end variable diameter walking mechanism and the rear-end variable diameter walking mechanism; Furthermore, the multi-sensor based pipeline detection method includes: Initializing the pipeline inspection robot and determining initial operating parameters of the pipeline inspection robot; wherein the initial operating parameters include the platform rotation speed of the inspection platform, the forward speed of the pipeline inspection robot, the measurement time interval of the laser displacement sensor, and the initial installation distance; the initial installation distance is the distance between the laser displacement sensor and the IMU; When the pipeline inspection robot passes through the pipeline to be inspected based on the initial operating parameters, the laser displacement sensor collects inspection data of the pipeline to be inspected; Determining the defect location in the pipeline to be tested based on the detection data; Furthermore, collecting the detection data of the pipeline to be tested by the laser displacement sensor includes: Based on the measurement time interval, the inner wall distance at the current collection moment is collected by the laser displacement sensor; wherein the inner wall distance is the shortest distance between the laser displacement sensor and the inner wall of the pipeline to be measured; Determining radial position coordinates in the detection data of the pipeline to be tested based on the inner wall distance and the initial installation distance; Acquiring standard pulse data of the rotating motor and encoder pulse data of the rotating motor at the current acquisition moment; Obtaining an initial angle of the laser displacement sensor; Calculating the circumferential position coordinates in the detection data using the initial angle, the encoder pulse data, and the standard pulse data; Obtaining the wheel hub circumference of the pipeline inspection robot; Obtain the number of rotations of the front wheel hub of each front wheel hub motor and the number of rotations of the rear wheel hub of each rear wheel hub motor; The axial position coordinates in the detection data are calculated using the number of rotations of the front wheel hub of each front wheel hub motor, the number of rotations of the rear wheel hub of each rear wheel hub motor, and the circumference of the wheel hub.

2. The multi-sensor based pipeline detection method according to claim 1, characterized in that: The front-end variable diameter walking mechanism includes a front-end lead screw, a front-end lead screw nut, a front-end connecting rod mechanism, a front-end wheel hub motor bracket, a front-end wheel hub motor and a front-end lead screw motor; wherein: The front end lead screw is sleeved with the front end lead screw nut, and the front end lead screw nut is connected to the three front end wheel hub motor brackets and the electric control compartment respectively through the front end connecting rod mechanism; The three front wheel hub motor brackets are evenly arranged along the circumference; two front wheel hub motors are symmetrically arranged on each front wheel hub motor bracket; the other end of the front screw is connected to the front screw motor, and the front screw motor is located in the electric control compartment.

3. The multi-sensor based pipeline detection method according to claim 2, characterized in that: The rear-end variable diameter walking mechanism includes a rear-end lead screw, a rear-end lead screw nut, a rear-end connecting rod mechanism, a rear-end wheel hub motor bracket, a rear-end wheel hub motor and a rear-end lead screw motor; wherein: The other end of the electric control warehouse is connected to the rear end screw; the rear end screw is covered with the rear end screw nut, and the rear end screw nut is connected to the three rear end wheel hub motor brackets through the rear end connecting rod mechanism, and the three rear end wheel hub motor brackets are evenly arranged along the circumferential direction; the rear end wheel hub motor brackets and the front end wheel hub motor brackets are staggered; two rear end wheel hub motors are symmetrically arranged on each rear end wheel hub motor bracket; the other end of the rear end screw is connected to the rear end screw motor.

4. The multi-sensor based pipeline detection method according to claim 3, characterized in that: Before the pipeline inspection robot passes through the pipeline to be inspected based on the initial operating parameters, the method further includes: Controlling the front end screw motor and the rear end screw motor of the pipeline inspection robot to operate until the front end hub motor and the rear end hub motor of the pipeline inspection robot are in a tensioned state, and locking the front end screw motor and the rear end screw motor; Controlling the detection platform to rotate until the detection platform reaches the platform rotation speed; The front-end hub motor and the rear-end hub motor are controlled to operate so that the pipeline inspection robot passes through the pipeline to be inspected at the forward speed.

5. The multi-sensor based pipeline detection method according to claim 4, characterized in that: The controlling the front end screw motor and the rear end screw motor of the pipeline inspection robot to operate until the front end hub motor and the rear end hub motor of the pipeline inspection robot are in a tensioned state, and locking the front end screw motor and the rear end screw motor, comprises: Controlling the front end screw motor and the rear end screw motor of the pipeline inspection robot to operate, and collecting the front end torque of the front end screw motor and the rear end torque of the rear end screw motor; If the front torque reaches the preset torque threshold and the rear torque reaches the preset torque threshold, it is determined that the front hub motor and the rear hub motor of the pipeline inspection robot are in a tensioned state, and the front screw motor and the rear screw motor are locked.

6. The multi-sensor based pipeline detection method according to claim 3, characterized in that: Before calculating the circumferential position coordinates in the detection data using the initial angle, the encoder pulse data, and the standard pulse data, the method further includes: Obtaining the x-axis acceleration and the y-axis acceleration of the laser displacement sensor based on the spatial rectangular coordinate system; If the absolute value of the x-axis acceleration is not equal to the gravitational acceleration and is not equal to 0, and the absolute value of the y-axis acceleration is not equal to the gravitational acceleration and is not equal to 0, performing the step of calculating the circumferential position coordinates in the detection data using the initial angle, the encoder pulse data, and the standard pulse data; If the x-axis acceleration is the gravitational acceleration and the y-axis acceleration is 0, the circumferential position coordinates in the detection data are corrected to 0; and the step of obtaining the wheel hub circumference of the pipeline inspection robot is performed; If the x-axis acceleration is 0 and the y-axis acceleration is a negative gravitational acceleration, the circumferential position coordinates in the detection data are corrected to π / 2; and the step of obtaining the hub circumference of the pipeline inspection robot is performed; If the x-axis acceleration is a negative gravitational acceleration and the y-axis acceleration is 0, the circumferential position coordinates in the detection data are corrected to π; and the step of obtaining the wheel hub circumference of the pipeline inspection robot is performed; If the x-axis acceleration is 0 and the y-axis acceleration is the acceleration of gravity, the circumferential position coordinates in the detection data are corrected to 3π / 2; and the step of obtaining the hub circumference of the pipeline inspection robot is performed.

7. The multi-sensor based pipeline detection method according to claim 3, characterized in that: The calculating the axial position coordinates in the detection data using the number of rotations of the front wheel hub of each front wheel hub motor, the number of rotations of the rear wheel hub of each rear wheel hub motor, and the wheel hub circumference includes: Calculate the front end advance distance of each front end hub motor using the number of rotations of the front end hub of each front end hub motor and the circumference of the hub; Calculate the rear end forward distance of each rear end hub motor using the number of rotations of the rear end hub of each rear end hub motor and the circumference of the hub; Calculate the average of the front end advance distance of each front wheel hub motor and the rear end advance distance of each rear wheel hub motor; The average value is determined as the axial position coordinate in the detection data.

8. The multi-sensor based pipeline detection method according to claim 3, characterized in that: Determining the defect location in the pipeline to be tested based on the detection data includes: Performing surface fitting on the detection data to obtain a pipeline fitting surface; Obtaining the standard inner wall radius of the pipeline to be measured; Defect identification is performed on the pipeline fitting surface based on the standard inner wall radius to obtain a defect position; wherein the defect radius of the pipeline to be tested corresponding to the defect position is greater than the standard inner wall radius.

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