Cable defect detection method combining electromagnetic induction and dynamic signal analysis

Abstract

The invention provides a cable defect detection method combining electromagnetic induction and dynamic signal analysis, which comprises the following steps: acquiring the advancing speed of an inspection device in real time through an encoder, and dynamically switching excitation signal frequency to adapt to different depth defect detection requirements; s2, pulse excitation is applied to the detection mechanism with the three-coil axial symmetry layout, cable eddy current is excited, and a defect voltage signal is received through a differential coil; s3, analyzing a fluctuation mode of the differential signal, and positioning defects and calculating geometric features in combination with amplitude change and recovery time; s4, associating defect coordinates according to speed and time, and storing the defect coordinates to a microprocessor; and S5, quantitatively evaluating the number of broken strands, the defect depth and the severity level based on the simulation optimization model. According to the device disclosed by the invention, through an electromagnetic induction detection technology of three-coil axial symmetry layout, speed self-adaptive dynamic excitation frequency adjustment and differential signal identification defect positions are combined, so that 360-degree blind area-free detection of the cable in the circumferential direction and high-precision evaluation of the strand breaking depth are realized.

Description

Technical Field

[0001] The present invention relates to the technical field of cable detection, and more particularly, to a cable defect detection method combining electromagnetic induction and dynamic signal analysis. Background Art

[0002] With the rapid increase in the mileage of overhead cables in China, the traditional manual inspection mode has been difficult to meet the high-intensity and high-precision line detection requirements. Currently, the mainstream non-destructive testing technologies (such as infrared thermography, ultrasonic waves, lidar) generally have defects such as low detection efficiency, poor environmental adaptability, and insufficient deep defect recognition ability. Although foreign electromagnetic detection technologies have been partially applied, domestic related research started relatively late. The existing technologies still rely on complex mechanical structures to achieve the detection function. Although the existing electromagnetic detection robots can partially replace manual labor, there are still significant bottlenecks in their core defect detection technologies. The traditional single / double coil sensors have a circumferential blind area of ≥120° due to asymmetric layout, and cannot identify deep defects such as cable strand breaks and internal cracks. In addition, the existing electromagnetic detection devices use a fixed excitation frequency, resulting in insufficient resolution of deep defects under low-speed working conditions, and signal aliasing due to insufficient sampling rate at high speeds, making it difficult to capture fast-moving defects. Moreover, the existing coil spacing design is unreasonable, resulting in serious coupling interference, and the selection of wire diameter does not balance parasitic resistance and noise sensitivity, and the signal-to-noise ratio of the detection signal is generally lower than 15dB. Particularly prominent is that the existing methods have insufficient quantization accuracy for defects: the single-sensor signal lacks a complementary verification mechanism, and cannot suppress environmental noise through multi-source data fusion. In addition, the defect determination depends on empirical thresholds, and a quantitative evaluation model based on electromagnetic field simulation has not been established, resulting in an error rate of more than 20% for key parameters such as the number of broken strands and crack depth.

[0003] Therefore, there is an urgent need to develop a cable defect detection method that can achieve 360° circumferential non-blind detection of cables, simultaneously improve the sensitivity of deep defects and the ability to capture dynamic defects, and construct an anti-interference and high-precision defect quantization model. Summary of the Invention

[0004] In view of the above technical problems, a cable defect detection method combining electromagnetic induction and dynamic signal analysis is provided. The device of the present invention uses an electromagnetic induction detection technology with an axisymmetric layout of three coils, combined with a dynamic excitation frequency adjustment with speed adaptability and differential signal to identify the defect position, to achieve 360° circumferential non-blind detection of cables and high-precision evaluation of the broken strand depth.

[0005] To achieve the above object, the present invention provides a cable defect detection method combining electromagnetic induction and dynamic signal analysis, including the following steps;

[0006] S1. Obtain the walking speed of the inspection device in real time through an encoder, and dynamically adjust the frequency of the electromagnetic excitation signal; use a low-frequency signal at low speed to extend the sampling time and enhance the deep defect detection ability, and switch to a high-frequency signal at high speed to increase the sampling rate and capture fast-moving defect information;

[0007] S2. Apply a pulsed excitation signal to the detection coils with a three-coil axisymmetric layout, stimulate eddy currents on and inside the cable surface, and receive the voltage signals caused by defects through differential coils;

[0008] S3. Analyze the fluctuation pattern of the differential signal to identify defect characteristics: when the differential signal shows continuous fluctuations of "increase - decrease - increase", determine the defect position, and calculate the geometric characteristics of the defect based on the signal amplitude change and recovery time;

[0009] S4. Combine the speed information and defect position data, and record and store the defect coordinates and signal parameters through a microprocessor;

[0010] S5. Based on a preset simulation optimization model, quantitatively analyze the amplitude, phase, and waveform characteristics of the differential signal to evaluate the severity of the defect, including the number of broken strands and the defect depth.

[0011] Further, in the three-coil axisymmetric layout, the three detection coils are equally angularly symmetrically distributed at 120° with the cable as the axis, and the adjacent coil spacing is 1 / 4 of the excitation signal wavelength, which is used to eliminate the detection blind area and achieve 360° full circumferential electric field complementary detection.

[0012] Further, in step S2, the detection coil is wound with a wire with a diameter of 1 mm to balance the parasitic resistance and noise resistance performance, and suppress external interference through multi-coil signal fusion.

[0013] The present invention also provides an electromagnetic composite detection device, including: a three-coil detection mechanism, a control center, and a driving mechanism; wherein,

[0014] The three-coil detection mechanism has an axisymmetric equal-angle layout and includes a detachable detection coil and a hollowed-out accommodation model;

[0015] The control center includes a signal receiver, a brushless motor drive board, and a microprocessor, which are used to dynamically adjust the excitation frequency and perform signal analysis;

[0016] The driving mechanism includes a silicone wheel driven by a brushless motor and a driven wheel. The groove opening radius of the driven wheel is greater than the cable diameter, and a retaining edge is provided on the outside to restrict the traveling direction.

[0017] Further, the driven wheel and the silicone wheel are assembled into a coaxial structure through a wheel drive housing, and the wheel drive housing is connected to symmetrically distributed electric push rods through damping hinges, realizing synchronous telescoping and angle adaptive adjustment of the pressing mechanism.

[0018] Further, the electric push rod controls the telescoping length through a remote control signal, enabling the driving mechanism to press cables of different sizes.

[0019] Further, the control center includes a signal conversion chip for converting the forward and reverse signals output by the remote control into speed regulation instructions for the brushless motor, and synchronously transmitting the defect position data and speed information in real time.

[0020] Further, the hollowed-out accommodation model is compatible with ultrasonic sensors, supporting the extended installation of multi-modal detection modules.

[0021] Further, the detection mechanism and the driving mechanism are symmetrically distributed with respect to the cable axis, and three axially symmetric accommodation models are configured at the tail for balancing the mass distribution of the device and reducing the overturning moment.

[0022] Due to the adoption of the above technical solutions, compared with the prior art, the present invention has the following advantages:

[0023] 1. A cable defect detection method combining electromagnetic induction and dynamic signal analysis provided by the present invention forms a complementary spatial electric field through an axially symmetric layout of three coils, with an equal angular distribution of 120° and a spacing of 1 / 4 of the excitation signal wavelength, eliminating the circumferential blind area of the traditional single / double coil detection system, achieving 360° full coverage detection of the cable, reducing the defect recognition blind area to 0°, and significantly improving the detection rate of deep defects such as broken strands and cracks.

[0024] 2. A cable defect detection method combining electromagnetic induction and dynamic signal analysis provided by the present invention dynamically switches the excitation frequency based on the real-time speed feedback of the motor encoder, synchronously improving the penetration ability of deep defects and the fast defect capture efficiency, and quantitatively analyzing the amplitude, phase, and waveform characteristics of the differential signal in combination with the simulation optimization model, reducing the evaluation error rate of the number of broken strands and defect depth.

[0025] 3. A cable defect detection method combining electromagnetic induction and dynamic signal analysis provided by the present invention adopts a hollowed-out accommodation model to support the independent disassembly and rapid replacement of the detection coil, avoiding equipment downtime caused by a single failure; the symmetric installation design compatible with multi-modal sensors such as ultrasonic waves expands the detection function and adapts to the diversified detection requirements under complex working conditions.

[0026] Based on the above reasons, the present invention can be widely promoted in the field of cable detection technology. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0028] Figure 1 It is a flowchart of a cable defect detection method combining electromagnetic induction and dynamic signal analysis according to the present invention;

[0029] Figure 2 It is a distribution diagram of the arrangement of three coils in a cable defect detection method combining electromagnetic induction and dynamic signal analysis according to the present invention;

[0030] Figure 3 It is a combined closed schematic diagram of a three - coil detection device and a driving device in a cable defect detection method combining electromagnetic induction and dynamic signal analysis according to the present invention;

[0031] Figure 4 It is a combined unfolded schematic diagram of a three - coil detection device and a driving device in a cable defect detection method combining electromagnetic induction and dynamic signal analysis according to the present invention.

[0032] In the figure: 1. Detection coil housing; 2. Three - coil detection mechanism; 3. Integrated outer frame; 4. Electric push rod; 5. Wheel drive housing; 6. Driven wheel; 7. Driven wheel shaft; 8. Damping hinge. Specific embodiments

[0033] It should be noted that, without conflict, the embodiments in the present invention and the features in the embodiments can be combined with each other. The following will describe the present invention in detail with reference to the drawings and in combination with the embodiments.

[0034] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in combination with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. The description of at least one exemplary embodiment is actually only illustrative and in no way limits the present invention and its application or use. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0035] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments of the present invention. As used herein, unless the context clearly indicates otherwise, the singular forms are also intended to include the plural forms. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they specify the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0036] Unless otherwise specifically stated, the relative arrangements of the components and steps, numerical expressions, and values set forth in these embodiments do not limit the scope of the present invention. At the same time, it should be clear that, for the sake of convenience of description, the dimensions of the various parts shown in the drawings are not drawn in actual proportional relationships. Technologies, methods, and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, such technologies, methods, and devices should be regarded as part of the authorized specification. In all the examples shown and discussed here, any specific values should be construed as merely exemplary and not as a limitation. Therefore, other examples of the exemplary embodiments may have different values. It should be noted that like reference numerals and letters denote like items in the following drawings, and thus, once an item is defined in one drawing, it does not require further discussion in subsequent drawings.

[0037] In the description of the present invention, it should be understood that the orientation or positional relationships indicated by orientation words such as "front, back, up, down, left, right", "lateral, vertical, perpendicular, horizontal", and "top, bottom", etc., are usually based on the orientation or positional relationships shown in the drawings. They are only for the convenience of describing the present invention and simplifying the description. Without contrary instructions, these orientation words do not indicate and imply that the devices or elements referred to must have a specific orientation or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting the protection scope of the present invention: the orientation words "inside, outside" refer to the inside and outside relative to the contour of each component itself.

[0038] For ease of description, spatial relative terms such as "above", "over", "on the upper surface", "upper", etc. can be used here to describe the spatial positional relationship of a device or feature shown in the figure with other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation in addition to the orientation depicted in the figure. For example, if the device in the figure is inverted, a device described as "above or over other devices or structures" will then be positioned "below or under other devices or structures". Thus, the exemplary term "above" can include both the orientations of "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and corresponding interpretations are made for the spatial relative descriptions used here.

[0039] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is merely for the convenience of differentiating the corresponding components. Without additional declaration, the above terms have no special meaning, and thus should not be construed as limiting the protection scope of the present invention.

[0040] Embodiment 1

[0041] As Figures 1 to 3 shown, the present invention provides a cable defect detection method combining electromagnetic induction and dynamic signal analysis, including the following steps;

[0042] S1. Obtain the running speed of the inspection device in real time through an encoder, and dynamically adjust the frequency of the electromagnetic excitation signal; use a low-frequency signal at low speed to extend the sampling time and enhance the deep defect detection ability, and switch to a high-frequency signal at high speed to increase the sampling rate and capture fast-moving defect information;

[0043] S2. Apply a pulsed excitation signal to the detection coils arranged axially symmetrically in three coils, excite eddy currents on and inside the cable surface, and receive the voltage signal caused by the defect through a differential coil;

[0044] S3. Analyze the fluctuation pattern of the differential signal to identify defect characteristics: when the differential signal shows continuous fluctuations of "increase - decrease - increase", determine the defect position, and calculate the geometric characteristics of the defect according to the signal amplitude change and recovery time;

[0045] S4. Combine the speed information and defect position data, and record and store the defect coordinates and signal parameters through a microprocessor;

[0046] S5. Based on a preset simulation optimization model, quantitatively analyze the amplitude, phase, and waveform characteristics of the differential signal to evaluate the severity of the defect, including the number of broken strands and the defect depth.

[0047] Specifically, S1 dynamically adjusts the frequency of the electromagnetic excitation signal, starts the inspection device, and collects the traveling speed of the device along the cable in real time through an encoder, and dynamically switches the excitation frequency according to the speed. Among them,

[0048] Low-speed state: Adopt a low-frequency excitation signal (such as 1 kHz), extend the sampling time to 10 ms, and enhance the detection ability for deep cable defects;

[0049] High-speed state: Switch to a high-frequency excitation signal (such as 10 kHz), shorten the sampling time to 2 ms, and increase the sampling rate to capture fast-moving shallow defects;

[0050] The speed range of the low-speed state is 0-1 m / s, and the speed of the high-speed state > 1 m / s.

[0051] The frequency switching logic is controlled in real time by a microprocessor to ensure that the excitation signal matches the traveling speed.

[0052] Specifically, S2 applies a pulse excitation and receives a differential signal, applies a pulse excitation signal to the three-coil detection mechanism, and excites eddy currents on the surface and inside of the cable. The amplitude of the pulse excitation signal is 5 V, and the pulse width is 100 ns;

[0053] Receives the voltage signal caused by the defect through a differential coil. Among them,

[0054] The three coils respectively capture the electromagnetic field changes in different directions. Due to the axisymmetric layout, the signals of each coil complementarily cover the entire circumference of the cable;

[0055] Adopt a coil design with a wire diameter of 1 mm to balance the parasitic resistance and noise resistance performance, and eliminate external interference through multi-coil signal fusion.

[0056] Record the original voltage signal in real time and transmit it to the microprocessor for preprocessing.

[0057] Specifically, S3 analyzes the differential signal fluctuation pattern, performs time-domain analysis on the preprocessed differential signal, and identifies the characteristic waveform;

[0058] When the signal shows continuous fluctuations of "increase-decrease-increase", it is determined as the defect position.

[0059] Calculate the amplitude change amount ΔV and the recovery time T through geometric features. Among them,

[0060] The amplitude change amount ΔV is the difference between the calculated peak value and the valley value, reflecting the defect size. It is set that ΔV = 0.25 V represents a defect with a depth ≥ 1 mm, and the amplitude change amount ΔV and the depth show a multiple growth;

[0061] The recovery time is the time from the peak to the baseline, which is related to the defect shape. For example, T < 5 ms indicates a sharp crack, and T > 10 ms indicates a slow - changing dent.

[0062] Combined with the cross - verification of the three - coil data, false detections are excluded. For example, when a single coil is interfered, the data of the other two coils are still valid.

[0063] Specifically, S4 records the defect position and parameters. The absolute position of the current inspection device is obtained through an encoder. The distance from the starting point is set as X meters. Combining the traveling speed v and the detection time t, the defect coordinates are calculated:

[0064] Defect position: X = v×t;

[0065] The defect coordinates, ΔV, T, and the original signal waveform are stored in the microprocessor.

[0066] Specifically, S5 quantitatively evaluates the defect severity. The pre - set simulation optimization model is called. Based on the finite - element simulation and experimental calibration data, ΔV, T, and waveform characteristic parameters are input:

[0067] Number of broken strands: According to the relationship model between ΔV and the cable cross - sectional area loss rate, the number of broken strands is determined. When ΔV = 0.2, it corresponds to 1 broken strand;

[0068] Defect depth: Through the relationship curve between T and the attenuation rate, the depth is determined. When T = 1 ms, it corresponds to a depth of 0.5 mm.

[0069] The evaluation result is output and the grade is marked, where:

[0070] Severe grade: ΔV≥0.8 V or defect depth≥3 mm or number of broken strands≥5 or recovery time T < 4 ms, high - amplitude / depth defect or sharp crack with rapid response, which may lead to the risk of cable structure fracture or short - circuit, and immediate outage for maintenance is required;

[0071] Medium grade: 0.5ΔV≤ΔV<0.8 V or 1.5 mm≤defect depth < 3 mm or 2≤number of broken strands < 5 or 4 ms≤T < 8 ms, medium - degree damage, which may affect the long - term operation stability, and planned maintenance and continuous monitoring are required;

[0072] Minor grade: ΔV < 0.5 V or defect depth < 1.5 mm or number of broken strands < 2 or T≥8 ms, superficial or slow - changing defect, which poses no significant threat to the current operation, and can be recorded and regularly re - inspected.

[0073] The detection result is transmitted to the ground terminal in real - time through the wireless module for the operation and maintenance personnel to review.

[0074] Embodiment 2

[0075] The present invention also provides an electromagnetic composite detection device, including: a three-coil detection mechanism 2, a control center, and a driving mechanism; wherein,

[0076] The three-coil detection mechanism 2 is arranged inside the detection coil housing 1 and is arranged in an axially symmetric and equal-angle layout, including a detachable detection coil and a hollowed-out accommodation model;

[0077] The control center includes a signal receiver, a brushless motor drive board, and a microprocessor, and is used for dynamically adjusting the excitation frequency and performing signal analysis;

[0078] The driving mechanism includes a silicone wheel driven by a brushless motor and a driven wheel 6. The groove opening radius of the driven wheel 6 is larger than the cable diameter, and a retaining edge is provided on the outside to restrict the traveling direction.

[0079] The simplified design of directly connecting the silicone wheel to the output shaft of the brushless motor through a flange reduces transmission loss and improves driving efficiency. At the same time, through the guidance of the groove of the driven wheel 6 and the restraint of the retaining edge, it ensures that the inspection device walks precisely along the cable direction; the control center integrates remote control speed regulation and pressing force feedback functions to achieve remote operation and adaptive pressing, reducing the difficulty of manual intervention.

[0080] The groove opening radius of the middle part of the driven wheel 6 is larger than the cable diameter, and a retaining edge is provided on the outside. It is fixed on the wheel drive housing 5 through the driven wheel shaft 7 and bearings. The driven wheel 6 and the silicone wheel are assembled into a coaxial structure through the wheel drive housing 5; [[ID=I6]]

[0081] The electric push rods 4 are symmetrically distributed and fixed between the integrated outer frame 3 and the wheel drive housing 5 through damping hinges 8 to achieve synchronous telescoping and angle adaptive adjustment of the pressing mechanism; the electric push rods 4 control the telescoping length through remote control signals, so that the driving mechanism presses cables of different sizes, and the symmetrically distributed electric push rods 4 telescope synchronously to adapt to different cable sizes.

[0082] Further, the control center also includes a signal conversion chip, which is used to convert the forward and reverse signals output by the remote control into speed regulation commands for the brushless motor, and synchronize the defect position data and speed information in real time.

[0083] Further, the hollowed-out accommodation model is compatible with ultrasonic sensors, supports the expansion and installation of multi-modal detection modules. Ultrasonic sensors can be installed in the hollowed-out accommodation model and connected to the control center through a unified interface to achieve electromagnetic-ultrasonic composite detection. At the same time, it supports the independent disassembly and replacement of coils, reducing the time for single coil maintenance.

[0084] Further, the detection mechanism and the driving mechanism are axially symmetrically distributed with respect to the cable, and three axially symmetric accommodation models are configured at the tail to balance the mass distribution of the device and reduce the tipping moment, effectively balancing the overall mass distribution of the device and eliminating the additional tipping moment caused by the asymmetric structure.

[0085] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some or all of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A cable defect detection method combining electromagnetic induction and dynamic signal analysis, characterized in that Including the following steps; S1. Obtain the walking speed of the inspection device in real time through an encoder and dynamically adjust the frequency of the electromagnetic excitation signal; use a low-frequency signal at low speed to extend the sampling time and enhance the deep defect detection ability, and switch to a high-frequency signal at high speed to increase the sampling rate and capture fast-moving defect information; S2. Apply a pulsed excitation signal to the detection coils with a three-coil axisymmetric layout, excite eddy currents on and inside the cable surface, and receive the voltage signal caused by the defect through a differential coil; S3. Analyze the fluctuation pattern of the differential signal to identify defect characteristics: when the differential signal shows continuous fluctuations of "increase - decrease - increase", determine the defect position, and calculate the geometric characteristics of the defect based on the signal amplitude change and recovery time; S4. Combine the speed information and defect position data, and record and store the defect coordinates and signal parameters through a microprocessor; S5. Based on a preset simulation optimization model, quantitatively analyze the amplitude, phase, and waveform characteristics of the differential signal to evaluate the severity of the defect, including the number of broken strands and the defect depth.

2. The cable defect detection method combining electromagnetic induction and dynamic signal analysis according to claim 1, wherein In the three-coil axisymmetric layout, the three detection coils are equally angularly symmetrically distributed at 120° with the cable as the axis, and the distance between adjacent coils is 1 / 4 of the excitation signal wavelength, which is used to eliminate the detection blind area and achieve 360° full circumferential electric field complementary detection.

3. A cable defect detection method combining electromagnetic induction and dynamic signal analysis according to claim 1, characterized in that In step S2, a detection coil is wound with a wire with a diameter of 1 mm to balance the parasitic resistance and noise resistance performance, and external interference is suppressed through multi-coil signal fusion.

4. An electromagnetic composite detection device, characterized in that, Including: A three-coil detection mechanism, a control center, and a driving mechanism; among them, The three-coil detection mechanism has an axisymmetric equal-angle layout and includes a detachable detection coil and a hollowed-out accommodation model; The control center includes a signal receiver, a brushless motor drive board, and a microprocessor, which are used to dynamically adjust the excitation frequency and perform signal analysis; The driving mechanism includes a silicone wheel driven by a brushless motor and a driven wheel. The groove opening radius of the driven wheel is greater than the cable diameter, and a retaining edge is provided on the outside to restrict the traveling direction.

5. An electromagnetic composite detection device according to claim 4, characterized in that, The driven wheel and the silicone wheel are assembled into a coaxial structure through a wheel drive housing, and the wheel drive housing is connected to symmetrically distributed electric push rods through damping hinges to realize synchronous telescoping and angle adaptive adjustment of the pressing mechanism.

6. An electromagnetic composite detection device according to claim 5, characterized in that, The electric push rod controls the telescoping length through a remote control signal to press different-sized cables by the driving mechanism.

7. An electromagnetic composite detection device according to claim 4, characterized in that, The control center includes a signal conversion chip, which is used to convert the forward and reverse signals output by the remote control into speed adjustment commands for the brushless motor, and synchronize the defect position data and speed information in real time.

8. An electromagnetic composite detection device according to claim 4, characterized in that, The hollowed-out accommodation model is compatible with ultrasonic sensors and supports the expansion and installation of multi-modal detection modules.

9. An electromagnetic composite detection device according to claim 4, characterized in that The detection mechanism and the driving mechanism are symmetrically distributed with the cable as the axis, and three axisymmetric accommodation models are configured at the tail to balance the mass distribution of the device and reduce the tipping moment.

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