Acoustic-magnetoelectric pipeline internal detection system and method, storage medium and product

Abstract

The invention discloses an acoustic magnetoelectric pipeline interior detection system and method, a storage medium and a product, and relates to the technical field of pipeline detection, and the system comprises an electromagnetic ultrasonic probe, a magnetoacoustic piezoelectric probe, a residual magnetic stress detection probe, a signal generation module and a signal acquisition module; the signal generation module is used for providing sine wave current excitation signals for the electromagnetic ultrasonic probe and the magnetoacoustic piezoelectric probe; the electromagnetic ultrasonic probe is used for generating a magnetic field voltage signal; the magnetoacoustic piezoelectric probe is used for generating a vibration signal; the residual magnetism stress detection probe is used for capturing magnetic field signals to obtain characteristic signals of stress areas and surface defects; the signal acquisition module is used for acquiring and storing a magnetic field voltage signal, a vibration signal and a characteristic signal. The system can effectively detect circumferential weld cracks and internal defects of pipelines, can detect low-flow, low-pressure, large-wall-thickness and weak-magnetic pipelines, and can improve the precision and efficiency of pipeline detection.

Description

Technical Field

[0001] This application relates to the technical field of pipeline detection, and particularly relates to an acoustic-magnetic-electric in-pipeline detection system, method, storage medium and product. Background Art

[0002] Oil and gas pipelines are the most important means of transporting oil and natural gas. Due to external reasons such as geological subsidence and environmental vibration, as well as the corrosion of the inner and outer surfaces of the pipeline under the high-pressure environment inside the pipeline, the strength of the pipeline body decreases. In addition, as an important position for pipeline welding connection, the girth weld is prone to defects such as cracks and leaks due to the welding strength being lower than that of the pipe body and poor welding quality. Moreover, due to process problems during the pipeline manufacturing process, initial defects are very likely to appear in the pipe body itself. The pipeline works in a high-pressure environment for a long time, and due to the change of the pipeline transportation capacity, the risk of pipeline damage will be further increased. Therefore, it is necessary to regularly detect the pipeline to prevent potential defects and risks as early as possible and avoid social disasters caused by pipeline leakage and explosion.

[0003] The magnetic flux leakage in-pipeline detection technology is a non-destructive detection method widely used in pipeline defect detection at present. However, the traditional magnetic flux leakage detection technology can only detect the corrosion of the pipe body, is difficult to detect cracks and leakage defects, and is limited to detecting the inner surface defects of the pipeline and is not applicable to low-pressure and small-diameter pipelines. Therefore, how to solve the above technical defects has become an urgent technical problem for those skilled in the art. Summary of the Invention

[0004] The purpose of this application is to provide an acoustic-magnetic-electric in-pipeline detection system, method, storage medium and product, which can effectively detect girth weld cracks and internal pipeline defects, can detect low-flow and low-pressure, large-wall-thickness and weakly magnetic pipelines, and can improve the accuracy and efficiency of pipeline detection.

[0005] To solve the above technical problems, this application provides an acoustic-magnetic-electric in-pipeline detection system, including:

[0006] Electromagnetic ultrasonic probe, magneto-acoustic piezoelectric probe, residual magnetic stress detection probe, signal generation module, signal acquisition module;

[0007] The signal generation module is used to provide a sine wave current excitation signal to the electromagnetic ultrasonic probe and the magneto-acoustic piezoelectric probe;

[0008] The electromagnetic ultrasonic probe is used to generate a magnetic field voltage signal when the signal generation module provides a sine current excitation signal;

[0009] The magneto-acoustic piezoelectric probe is used to generate a vibration signal when the signal generation module provides a sine current excitation signal;

[0010] The residual magnetic stress detection probe is used to capture magnetic field signals to obtain characteristic signals of stress areas and surface defects;

[0011] The signal acquisition module is used to acquire and store the magnetic field voltage signal, the vibration signal, and the characteristic signal.

[0012] In some embodiments, the electromagnetic ultrasonic probe and the magnetoacoustic piezoelectric probe are arranged in the electromagnetic detection section; the residual magnetic stress detection probe is arranged in the residual magnetic stress detection section; the electromagnetic detection section is connected to the residual magnetic stress detection section; along the detection direction, the electromagnetic detection section is located in front of the residual magnetic stress detection section.

[0013] In some embodiments, the electromagnetic ultrasonic probe and the magnetoacoustic piezoelectric probe are circumferentially arranged in the housing of the electromagnetic detection section, and the electromagnetic ultrasonic probe and the magnetoacoustic piezoelectric probe are arranged in a staggered manner.

[0014] In some embodiments, the signal acquisition module includes a first signal acquisition module and a second signal acquisition module;

[0015] The first signal acquisition module is used to acquire and store the magnetic field voltage signal and the vibration signal;

[0016] The second signal acquisition module is used to acquire and store the characteristic signal.

[0017] In some embodiments, the first signal acquisition module is arranged in the electromagnetic detection section, and the second signal acquisition module is arranged in the residual magnetic stress detection section.

[0018] In some embodiments, the signal generation module is arranged in the electromagnetic detection section.

[0019] In some embodiments, it further includes:

[0020] A processor for analyzing the magnetic field voltage signal, the vibration signal, and the characteristic signal.

[0021] To solve the above technical problems, the present application also provides an acoustic-magnetic-electric in-pipe detection method, which is applied to the acoustic-magnetic-electric in-pipe detection system as described above, and includes:

[0022] Providing a sine wave current excitation signal to the electromagnetic ultrasonic probe and the magnetoacoustic piezoelectric probe through the signal generation module;

[0023] Generating a magnetic field voltage signal through the electromagnetic ultrasonic probe when the signal generation module provides a sine current excitation signal;

[0024] Generating a vibration signal through the magnetoacoustic piezoelectric probe when the signal generation module provides a sine current excitation signal;

[0025] The characteristic signals of the stress area and surface defects are obtained by capturing magnetic field signals with a residual magnetic stress detection probe.

[0026] The magnetic field voltage signal, the vibration signal, and the characteristic signal are collected and stored by a signal acquisition module.

[0027] To solve the above technical problems, the present application also provides a computer-readable storage medium storing a computer program, wherein the computer program, when executed by a processor, implements the steps of the above-described magneto-acoustic-electric in-pipe detection method.

[0028] To solve the above technical problems, the present application also provides a computer program product including a computer program, which, when executed by a processor, implements the steps of the above-described magneto-acoustic-electric in-pipe detection method.

[0029] The magneto-acoustic-electric in-pipe detection system provided by the present application includes: an electromagnetic ultrasonic probe, a magneto-acoustic piezoelectric probe, a residual magnetic stress detection probe, a signal generation module, and a signal acquisition module; the signal generation module is used to provide a sine wave current excitation signal to the electromagnetic ultrasonic probe and the magneto-acoustic piezoelectric probe; the electromagnetic ultrasonic probe is used to generate a magnetic field voltage signal when the signal generation module provides a sine current excitation signal; the magneto-acoustic piezoelectric probe is used to generate a vibration signal when the signal generation module provides a sine current excitation signal; the residual magnetic stress detection probe is used to capture magnetic field signals to obtain the characteristic signals of the stress area and surface defects; the signal acquisition module is used to collect and store the magnetic field voltage signal, the vibration signal, and the characteristic signal.

[0030] It can be seen that the magneto-acoustic-electric in-pipe detection system provided by the present application combines three technologies of electromagnetic ultrasound, magneto-acoustic effect, and residual magnetic stress, and uses the physical correlation of the three for in-pipe detection. It can not only identify leakage, cracks, corrosion, and deformation defects, but also identify defects in all positions (surface or internal defects), which can greatly improve the efficiency and accuracy of in-pipe detection and reduce the detection cost. In addition, the in-pipe detection system has high expandability and applicability, and is not only applicable to general oil and gas pipelines, but also to hydrogen transmission pipelines, and can be applicable to low-pressure and low-flow oil and gas pipelines.

[0031] The magneto-acoustic-electric in-pipe detection method, computer-readable storage medium, and computer program product provided by the present application all have the above technical effects. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] To more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required in the prior art and the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0033] Figure 1 Schematic diagram of an acoustic-magnetic-electric in-pipe detection system provided by an embodiment of the present application;

[0034] Figure 2 Principle and system schematic diagram of an acoustic-magnetic-electric detection technology provided by an embodiment of the present application;

[0035] Figure 3 Schematic diagram of the principle of electromagnetic ultrasonic provided by an embodiment of the present application;

[0036] Figure 4 Schematic diagram of the principle of magnetostriction provided by an embodiment of the present application;

[0037] Figure 5 Schematic diagram of the double-section design of an acoustic-magnetic-electric in-pipe detection system provided by an embodiment of the present application;

[0038] Figure 6 Schematic diagram of an acoustic-magnetic-electric in-pipe detection provided by an embodiment of the present application;

[0039] Figure 7 Flow schematic diagram of an acoustic-magnetic-electric in-pipe detection method provided by an embodiment of the present application. Detailed implementation manners

[0040] The core of the present application is to provide an acoustic-magnetic-electric in-pipe detection system, method, storage medium and product, which can effectively detect circumferential weld cracks and internal defects of pipelines, can detect low-flow low-pressure, large-wall-thickness and weakly magnetic pipelines, and can improve the accuracy and efficiency of pipeline detection.

[0041] To make the objectives, technical solutions and advantages of the embodiments of the present application clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some, rather than all, of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present application.

[0042] Please refer to Figure 1 , Figure 1 Schematic diagram of an acoustic-magnetic-electric in-pipe detection system provided by an embodiment of the present application. Refer toFigure 1 As shown, the in-pipe detection system includes:

[0043] An electromagnetic ultrasonic probe 10, a magnetoacoustic piezoelectric probe 20, a residual magnetic stress detection probe 30, a signal generation module 40, and a signal acquisition module 50;

[0044] The signal generation module 40 is used to provide a sine wave current excitation signal to the electromagnetic ultrasonic probe 10 and the magnetoacoustic piezoelectric probe 20;

[0045] The electromagnetic ultrasonic probe 10 is used to generate a magnetic field voltage signal when the signal generation module 40 provides a sine current excitation signal;

[0046] The magnetoacoustic piezoelectric probe 20 is used to generate a vibration signal when the signal generation module 40 provides a sine current excitation signal;

[0047] The residual magnetic stress detection probe 30 is used to capture the magnetic field signal to obtain the characteristic signals of the stress area and surface defects;

[0048] The signal acquisition module 50 is used to collect and store the magnetic field voltage signal, the vibration signal, and the characteristic signal.

[0049] Electromagnetic ultrasound is an electromagnetic non-destructive testing technology. Refer to Figure 2 And Figure 3 As shown. The electromagnetic ultrasonic transducer mainly includes a permanent magnet and a coil. The permanent magnet is used to provide a vertical bias magnetic field, and the coil is used to excite and receive detection signals. A transient excitation current is loaded onto the helical coil. Due to electromagnetic induction, pulsed eddy currents will be induced in the near surface of the workpiece to be tested. The secondary magnetic field generated by the skin current (induced eddy current) induces a pulsed eddy current signal in the coil. The Lorentz force causes the specimen to vibrate and generate ultrasonic waves, and the ultrasonic waves propagate in the workpiece to be tested and then reflect back to the surface of the workpiece to be tested. Contrary to the excitation process, the detection coil generates an induced electromotive force, and the detection voltage obtained in the detection coil is a composite value of the electromagnetic ultrasonic detection signal and the pulsed eddy current detection signal. The excitation of electromagnetic ultrasonic body waves and guided waves is closely related to the structure of the permanent magnet. The permanent magnet, as an energy driving body, is the fundamental reason for the skin current to generate alternating vibrations. The structure of the permanent magnet can change the direction of the magnetic field force, further change the direction of particle vibration, and thus determine the type of waveform generated.

[0050] The magnetoacoustic effect refers to the characteristic that under the action of an externally applied magnetic field, the shape and volume of ferromagnetic materials produce small deformations along the magnetization direction, and then generate acoustic vibrations. The principle of magnetostrictive technology can be referred to Figure 4As shown. When the material is not interfered by external forces, the magnetization of each magnetic domain inside it is in different states, and the overall torque is zero. At this time, the macroscopic magnetic properties of the material are not displayed. Once an external force field is applied to the magnetic material, the directions of the magnetic domains will gradually tend to the direction of the applied force field. The magnetoacoustic effect is a phenomenon in which the shape and volume of a ferromagnetic material produce minute deformations along the magnetization direction under the action of an external magnetic field. Among them, according to the macroscopic characteristics caused by the movement of magnetic domain walls, its growth and contraction modes can be classified into linear magnetostriction and volume magnetostriction. During the movement of magnetic domain walls, the change in the crystal spin direction will occur, thus generating inelastic stress-strain waves. Magnetostriction is a state quantity of the change in magnetic domains, while magnetoacoustic emission is a process effect. The energy of magnetoacoustic emission comes from three aspects: the magnetoacoustic effect generated by the movement of 180° domain walls; the magnetoacoustic effect generated by the movement of 90° domain walls; the magnetoacoustic effect generated by the rotation of magnetization vectors. The physical signals generated by stress-strain waves can be captured by contact piezoelectric sensing probes. The morphology of the characteristic signals of the magnetoacoustic effect is jointly determined by the properties of the material itself, the stress state, the excitation intensity, and the excitation frequency, etc. Defects in the pipe wall will cause differences in its own structural properties and stress load conditions that are different from normal. Under the action of the alternating magnetic field generated by the yoke iron coil, the magnetic material generates alternating tensile deformations within its variable length, thereby forming vibrations inside the material and finally propagating outward in the form of sound waves.

[0051] Remanence refers to the generation of a magnetic field near the ferromagnetic material after magnetization. The strength of the remanence is related to the structural characteristics of the material surface. The buried ferromagnetic pipeline is in a weak geomagnetic field. Before reaching the Curie temperature, common metal pipelines have certain magnetism. Under the long-term action of the internal medium and non-operating loads, the magnetic domains of the material crystal will undergo irreversible reorientation (Barkhausen jumps), magnetizing the pipeline and forming a leakage magnetic field around the pipeline, thus generating weak signals. When there are macroscopic defects or microstructural defects in the pipeline, local stress concentration mostly occurs, and the stress concentration will cause local weak magnetic signal mutations. The pipeline remanence stress detection technology collects the weak magnetic signals above the pipeline through circumferentially distributed tunneling magnetoresistance sensors, and identifies the stress concentration area / defect area of the pipeline according to the magnetic field distribution characteristics corresponding to the stress anomalies. The leakage magnetic field can be further enhanced based on the permanent magnet in electromagnetic ultrasound and the electromagnet in the magnetoacoustic effect, thereby improving the detection rate of the stress concentration area / defect area.

[0052] Based on the above technical principles, the present application uses an electromagnetic ultrasonic probe 10, a magneto-acoustic piezoelectric probe 20, a remanent magnetic stress detection probe 30, a signal generation module 40, and a signal acquisition module 50 for in-pipe detection. Based on the sine current excitation signal provided by the signal generation module 40, the electromagnetic ultrasonic probe 10 generates a magnetic field voltage signal. Based on the sine current excitation signal provided by the signal generation module 40, the magneto-acoustic piezoelectric probe 20 generates a vibration signal. The magnetic field effect of the permanent magnet in the electromagnetic ultrasonic probe 10 and the magnet in the magneto-acoustic piezoelectric probe 20 on the pipe wall enables the pipe wall to have a remanent magnetic detection environment. The remanent magnetic stress detection probe 30 captures the magnetic field signal to obtain the characteristic signals of the stress area and surface defects.

[0053] Electromagnetic ultrasonic and magneto-acoustic piezoelectric sensing can share a set of excitation modules, that is, a set of signal generation modules 40 is set. The signal generation module 40 is used for coil excitation in the electromagnetic ultrasonic probe 10 and core coil excitation in the magneto-acoustic piezoelectric probe 20, and provides a sine wave current excitation signal to the electromagnetic ultrasonic probe 10 and the magneto-acoustic piezoelectric probe 20.

[0054] The signal acquisition module 50 is used to collect and store the magnetic field voltage signal generated by the electromagnetic ultrasonic probe 10, the vibration signal generated by the magneto-acoustic piezoelectric probe 20, and the characteristic signals obtained by the remanent magnetic stress detection probe 30. Furthermore, time-frequency domain analysis is performed on the three types of signals. The initial analysis of the signals is completed by judging the time-frequency characteristics, and then through comparative analysis of the three types of signals, the accurate discrimination and classification of defects are further realized. Finally, the defect location is completed in combination with the mileage data. Specifically, the signal of electromagnetic ultrasonic uses the amplitude and frequency characteristics of ultrasonic echoes as the discrimination direction for defects. When there is no defect, the echo signal is weak and the frequency characteristics are not obvious. When there is a defect, the amplitude of the echo signal is high and it will show frequency domain characteristics different from the general according to the defect type. The signal of magneto-acoustic sensing has no obvious fluctuation in the vibration sound signal generated when there is no defect, and the signal intensity will decrease when there is a defect. The remanent magnetic tunneling magnetoresistance detection signal will generate two different signal characteristics according to the relative position of the defect and the probe when identifying defects, namely sine-shaped and saddle-shaped. Generally, when the defect or stress area is parallel to the probe, a saddle-shaped signal will be generated, and a sine-shaped signal will be generated when they are perpendicular.

[0055] In some embodiments, the electromagnetic ultrasonic probe 10 and the magneto-acoustic piezoelectric probe 20 are arranged in the electromagnetic detection section; the remanent magnetic stress detection probe 30 is arranged in the remanent magnetic stress detection section; the electromagnetic detection section is connected to the remanent magnetic stress detection section; along the detection direction, the electromagnetic detection section is located before the remanent magnetic stress detection section.

[0056] Reference Figure 5As shown in the figure, in this embodiment, the in-pipe inspection system adopts a two-section design. The in-pipe inspection system includes an electromagnetic inspection section and a residual magnetic stress inspection section. The electromagnetic inspection section and the residual magnetic stress inspection section can be axially connected through a universal joint. The electromagnetic ultrasonic probe 10 and the magneto-acoustic piezoelectric probe 20 are arranged in the electromagnetic inspection section; the residual magnetic stress detection probe 30 is arranged in the residual magnetic stress inspection section. Along the detection direction, the electromagnetic inspection section is located in front of the residual magnetic stress inspection section. The electromagnetic ultrasonic probe 10 and the magneto-acoustic piezoelectric probe 20 are arranged in the electromagnetic inspection section, which is beneficial to the synchronization of electromagnetic excitation and the convenience of installation. The dual magnetization of the electromagnetic inspection section can effectively enhance the intensity of the leakage magnetic field required in the residual magnetic detection section. The residual magnetic stress inspection section uses the residual magnetic stress detection probe 30 (TMR probe) to detect the leakage magnetic field and identify defects and locate stress concentration areas. The number of the electromagnetic ultrasonic probe 10 and the magneto-acoustic piezoelectric probe 20 on the electromagnetic inspection section can be determined according to the diameter of the pipeline. Two detection techniques are adopted on the electromagnetic inspection section, and both detection techniques can detect circumferential and axial defects by adjusting the arrangement orientation of the probes, either in the same direction or in the opposite direction. The bias magnetic field in the electromagnetic ultrasonic probe 10 is provided by a permanent magnet, and an electromagnet structure is adopted in the magneto-acoustic piezoelectric probe 20. The positions of the permanent magnet and the electromagnet in the electromagnetic inspection section correspond to the position of the residual magnetic stress detection probe 30 in the residual magnetic stress inspection section, so that the magnetic field characteristics of the residual magnetism can be effectively utilized for the detection of the stress area.

[0057] In some embodiments, the electromagnetic ultrasonic probe 10 and the magneto-acoustic piezoelectric probe 20 are circumferentially arranged on the housing of the electromagnetic inspection section, and the electromagnetic ultrasonic probe 10 and the magneto-acoustic piezoelectric probe 20 are arranged in a staggered manner.

[0058] In this embodiment, the electromagnetic inspection section realizes the detection of the pipe wall coverage by circumferentially arranging the electromagnetic ultrasonic probe 10 and the magneto-acoustic piezoelectric probe 20. In view of the working mechanisms of the two types of probes being guided wave detection and acoustic emission detection respectively, dense distribution is not required. Therefore, as Figure 5 shown in the figure, in this embodiment, the two types of probes are arranged in a staggered manner, so as to avoid space tension while maximizing the advantages of the two types of probes.

[0059] In some embodiments, the signal acquisition module 50 includes a first signal acquisition module and a second signal acquisition module;

[0060] The first signal acquisition module is used to acquire and store the magnetic field voltage signal and the vibration signal;

[0061] The second signal acquisition module is used to acquire and store the characteristic signal.

[0062] In this embodiment, the in-pipe detection system is provided with two sets of signal acquisition modules 50. The electromagnetic ultrasonic probe 10 and the magneto-acoustic piezoelectric probe 20 share the same set of signal acquisition modules. The residual magnetic stress detection probe 30 uses a set of signal acquisition modules. The first signal acquisition module and the second signal acquisition module can perform multi-channel data acquisition, parallel processing, and large-capacity storage, including functions such as digital-to-analog conversion, filtering and amplification, data cleaning, and independent storage. After the detection is completed, data can be read from the first signal acquisition module and the second signal acquisition module, and then data analysis can be performed.

[0063] In some embodiments, the first signal acquisition module is arranged in the electromagnetic detection section, and the second signal acquisition module is arranged in the residual magnetic stress detection section. The signal generation module 40 is arranged in the electromagnetic detection section. Combining the embodiments where the electromagnetic ultrasonic probe 10 and the magneto-acoustic piezoelectric probe 20 are arranged in the electromagnetic detection section; and the residual magnetic stress detection probe 30 is arranged in the residual magnetic stress detection section, in a specific implementation, the electromagnetic ultrasonic probe 10, the magneto-acoustic piezoelectric probe 20, the first signal acquisition module, and the signal generation module 40 can be arranged in the electromagnetic detection section, and the residual magnetic stress detection probe 30 and the second signal acquisition module can be arranged in the residual magnetic stress detection section.

[0064] In some embodiments, it further includes:

[0065] A processor is used to analyze the magnetic field voltage signal, vibration signal, and characteristic signal.

[0066] In this embodiment, the in-pipe detection system itself is provided with a processor, and the in-pipe detection system integrates an analysis function. Through the processor, the magnetic field voltage signal, vibration signal, and characteristic signal can be analyzed to determine the defects in the pipeline.

[0067] Reference Figure 6 As shown below, a specific detection implementation process is described:

[0068] Taking the differential pressure drive type as an example, the in-pipe detection system equipped with a driving leather cup is put into the pipeline to be inspected through the transceiver bin, and the electromagnetic detection section and the residual magnetic stress detection section are connected by a universal joint. Among them, the electromagnetic detection section (i.e., Figure 6 the first section shown in Figure 6After the second section shown in the figure is inserted, when both sections are inserted into the pipeline to be inspected, the newly built pipeline can provide power by controlling the pressure difference between the head and the end through an air compressor, and the in-service pipeline without shutdown can provide power by controlling the pressure difference between the head and the end. The in-pipe detection system travels and detects in the pipeline under the action of the pressure difference driving the cup leather. During the detection process, the signal generation module in the electromagnetic detection section respectively provides sine wave current excitation signals to the electromagnetic ultrasonic probe and the magnetoacoustic piezoelectric probe, so as to generate magnetic field voltage signals and vibration sound signals respectively by generating ultrasonic waves and the phenomenon of magnetic domain wall movement. The signal acquisition module inside the housing of the electromagnetic detection section performs amplification filtering processing of the two types of signals and multi-channel data storage. The permanent magnet in the electromagnetic ultrasonic probe of the electromagnetic detection section and the electromagnet in the magnetoacoustic piezoelectric probe induce the magnetic field of the pipe wall, enabling the pipe wall to have a residual magnetic detection environment. The residual magnetic stress detection probe of the residual magnetic stress detection section, that is, the residual magnetic tunnel magnetoresistance sensor, can obtain the characteristic signals of the stress area and surface defects by capturing weak magnetic field signals, and then the signal acquisition module inside the residual magnetic stress detection section performs signal acquisition and storage (it can also share with the signal acquisition module in the electromagnetic detection section). The detection process maintains the above state all the time. After the in-pipe detection of the pipeline is completed, the in-pipe detection system is retrieved at the end of the pipeline to be inspected, and the three types of detection data and mileage data in the signal acquisition module are downloaded through the upper computer software. Then, the three types of data are analyzed in the time-frequency domain, and the preliminary analysis of the signals is completed by judging the time-frequency characteristics. Then, the three types of data are compared and analyzed to further realize the accurate discrimination and classification of defects. Finally, the defect location is completed in combination with the mileage data.

[0069] In summary, the acoustic-magnetic-electric in-pipe detection system provided by the present application combines three technologies of electromagnetic ultrasound, magnetoacoustic effect and residual magnetic stress, and uses the physical correlation of the three to perform in-pipe detection of pipelines. It can not only identify leakage, cracks, corrosion and deformation defects, but also identify defects in all positions (surface or internal defects), which can greatly improve the efficiency and accuracy of in-pipe detection of pipelines and reduce the detection cost. In addition, the in-pipe detection system has high expansion applicability, and is not only applicable to general oil and gas pipelines, but also applicable to hydrogen transmission pipelines, and can be applicable to oil and gas pipelines with low pressure and low flow rate.

[0070] The present application also provides an acoustic-magnetic-electric in-pipe detection method, and the device described below can be correspondingly referred to the system described above. Please refer to Figure 7 , Figure 7 is a schematic flow chart of an acoustic-magnetic-electric in-pipe detection method provided by an embodiment of the present application. Combining Figure 7 shown, the method includes:

[0071] S101: Provide sine wave current excitation signals to the electromagnetic ultrasonic probe and the magnetoacoustic piezoelectric probe through a signal generation module;

[0072] S102: Generate a magnetic field voltage signal by means of the electromagnetic ultrasonic probe when the signal generation module provides a sine current excitation signal;

[0073] S103: Generate a vibration signal by means of the magneto-acoustic piezoelectric probe when the signal generation module provides a sine current excitation signal;

[0074] S104: Capture a magnetic field signal through the remanent magnetic stress detection probe to obtain characteristic signals of the stress area and surface defects;

[0075] S105: Collect and store the magnetic field voltage signal, the vibration signal, and the characteristic signal through the signal acquisition module.

[0076] This application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the following steps can be implemented:

[0077] Provide a sine wave current excitation signal to the electromagnetic ultrasonic probe and the magneto-acoustic piezoelectric probe through the signal generation module; generate a magnetic field voltage signal by means of the electromagnetic ultrasonic probe when the signal generation module provides a sine current excitation signal; generate a vibration signal by means of the magneto-acoustic piezoelectric probe when the signal generation module provides a sine current excitation signal; capture a magnetic field signal through the remanent magnetic stress detection probe to obtain characteristic signals of the stress area and surface defects; collect and store the magnetic field voltage signal, the vibration signal, and the characteristic signal through the signal acquisition module.

[0078] The computer-readable storage medium may include: various media such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disc that can store program codes.

[0079] For the introduction of the computer-readable storage medium provided in this application, please refer to the above method embodiment, and this application will not elaborate here.

[0080] This application also provides a computer program product, including a computer program. When the computer program is executed by a processor, the following steps are implemented:

[0081] A sine wave current excitation signal is provided to the electromagnetic ultrasonic probe and the magnetoacoustic piezoelectric probe through a signal generation module; when the signal generation module provides a sine current excitation signal, a magnetic field voltage signal is generated by the electromagnetic ultrasonic probe; when the signal generation module provides a sine current excitation signal, a vibration signal is generated by the magnetoacoustic piezoelectric probe; a characteristic signal of a stress area and a surface defect is obtained by capturing a magnetic field signal through a residual magnetic stress detection probe; the magnetic field voltage signal, the vibration signal, and the characteristic signal are collected and stored by a signal acquisition module.

[0082] The various embodiments in the specification are described in a progressive manner. The key point of each embodiment is to illustrate the differences from other embodiments. For the same or similar parts among the embodiments, reference can be made to each other. For the devices, equipment, and computer-readable storage media disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple, and reference can be made to the description of the method part for related parts.

[0083] Those skilled in the art can further realize that the units and algorithm steps of each example described in combination with the embodiments disclosed in this article can be implemented by electronic hardware, computer software, or a combination of the two. To clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described according to functions in the above description. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of this application.

[0084] The steps of the method or algorithm described in combination with the embodiments disclosed in this article can be directly implemented by hardware, a software module executed by a processor, or a combination of the two. The software module can be placed in a random access memory (RAM), internal memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, register, hard disk, removable disk, CD-ROM, or any other form of storage medium well-known in the technical field.

[0085] The above has introduced in detail the acoustic-magnetic-electric in-pipe detection system, method, storage medium, and product provided by this application. Specific examples are used in this article to elaborate on the principle and implementation manner of this application. The description of the above embodiments is only used to help understand the method and its core idea of this application. It should be noted that for those of ordinary skill in the art in this technical field, without departing from the principle of this application, several improvements and modifications can be made to this application, and these improvements and modifications also fall within the protection scope of the claims of this application.

Claims

1. An acoustic-magnetic-electric in-pipe detection system, characterized in that, Including: an electromagnetic ultrasonic probe, a magnetoacoustic piezoelectric probe, a residual magnetic stress detection probe, a signal generation module, and a signal acquisition module; the signal generation module is configured to provide a sine wave current excitation signal to the electromagnetic ultrasonic probe and the magnetoacoustic piezoelectric probe; the electromagnetic ultrasonic probe is configured to generate a magnetic field voltage signal when the signal generation module provides a sine current excitation signal; the magnetoacoustic piezoelectric probe is configured to generate a vibration signal when the signal generation module provides a sine current excitation signal; the residual magnetic stress detection probe is configured to capture a magnetic field signal to obtain characteristic signals of a stress area and a surface defect; the signal acquisition module is configured to acquire and store the magnetic field voltage signal, the vibration signal, and the characteristic signal.

2. The magnetoacoustic-electric in-pipe detection system according to claim 1, characterized in that, The electromagnetic ultrasonic probe and the magnetoacoustic piezoelectric probe are arranged in an electromagnetic detection section; the residual magnetic stress detection probe is arranged in a residual magnetic stress detection section; the electromagnetic detection section is connected to the residual magnetic stress detection section; along the detection direction, the electromagnetic detection section is located in front of the residual magnetic stress detection section.

3. The acousto-magnetic-electric in-pipe detection system according to claim 2, characterized in that, The electromagnetic ultrasonic probe and the magnetoacoustic piezoelectric probe are circumferentially arranged in a housing of the electromagnetic detection section, and the electromagnetic ultrasonic probe and the magnetoacoustic piezoelectric probe are arranged in a staggered manner.

4. The magnetoacoustic-electric in-pipe detection system according to claim 1, wherein The signal acquisition module includes a first signal acquisition module and a second signal acquisition module; the first signal acquisition module is configured to acquire and store the magnetic field voltage signal and the vibration signal; the second signal acquisition module is configured to acquire and store the characteristic signal.

5. The magnetoacoustic-electric in-pipe detection system according to claim 4, wherein, The first signal acquisition module is arranged in the electromagnetic detection section, and the second signal acquisition module is arranged in the residual magnetic stress detection section.

6. The magnetostrictive electro-magnetic in-pipe detection system according to claim 1, wherein The signal generation module is arranged in the electromagnetic detection section.

7. The magnetoacoustic-electric in-pipe detection system according to claim 1, wherein Further including: a processor configured to analyze the magnetic field voltage signal, the vibration signal, and the characteristic signal.

8. An in-pipe detection method of acousto-magneto-electricity, characterized in that, Applied to the acoustic-magnetic-electric in-pipe detection system as claimed in claim 1, including: providing a sine wave current excitation signal to the electromagnetic ultrasonic probe and the magnetoacoustic piezoelectric probe through the signal generation module; generating a magnetic field voltage signal through the electromagnetic ultrasonic probe when the signal generation module provides a sine current excitation signal; generating a vibration signal through the magnetoacoustic piezoelectric probe when the signal generation module provides a sine current excitation signal; capturing a magnetic field signal through the residual magnetic stress detection probe to obtain characteristic signals of a stress area and a surface defect; acquiring and storing the magnetic field voltage signal, the vibration signal, and the characteristic signal through the signal acquisition module.

9. A computer-readable storage medium, characterized in that, A computer program is stored in the computer-readable storage medium, wherein when the computer program is executed by the processor, the steps of the acoustic-magnetic-electric in-pipe detection method as claimed in claim 8 are implemented.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, the steps of the acoustic-magnetic-electric in-pipe detection method as claimed in claim 8 are implemented.

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