Magnetoacoustic coupling detection system and method for pipeline defect detection

Abstract

The invention discloses a magnetoacoustic coupling detection system and method for pipeline defect detection, and relates to the technical field of pipeline nondestructive detection. The system comprises a pipeline defect detection module, a magnetofluid driving module, an auxiliary moving module, a signal acquisition module, a data processing module and a data transmission module. The pipeline defect detection module comprises a magnetic flux leakage detection unit and an ultrasonic detection unit; the magnetofluid driving module comprises magnetofluid and an electromagnetic excitation device; the auxiliary moving module comprises a plurality of driving wheels tightly attached to the inner wall of the pipeline. The signal acquisition module comprises a data acquisition unit and a data storage unit; and the data processing module is used for processing the acquired magnetic excitation parameters, the magnetic leakage signals and the sound wave sensing data. According to the invention, the technical problems of low defect identification precision, complex use of a coupling agent, insufficient real-time data processing capability and the like existing in a single detection mode in the prior art can be solved.

Description

Technical Field

[0001] The present invention relates to pipeline nondestructive testing technology, and in particular to a magneto-acoustic coupling detection system and method for pipeline defect detection. Background Art

[0002] As the length and age of gas pipelines increase year by year, pipeline aging becomes increasingly prominent, and leaks are a common occurrence. Many gas pipelines are susceptible to corrosion, deformation, and leakage due to factors such as pipe material quality, external corrosion, ground subsidence, and third-party damage. Failure of urban gas pipelines can lead to a range of serious consequences, including fires, explosions, poisoning, suffocation, and air pollution, posing a significant threat to life, property, and the environment. Therefore, nondestructive testing of gas pipelines to detect defects and prevent leaks early is paramount in preventing gas pipeline accidents.

[0003] Existing pipeline inspection technologies are primarily categorized as ultrasonic testing, electromagnetic ultrasonic testing, magnetic flux leakage testing, and eddy current testing. Most of these methods rely on a single method, resulting in drawbacks such as magnetic flux leakage testing's inability to detect internal defects and low depth measurement accuracy; the difficulty of applying and cleaning ultrasonic coupling agents; and eddy current testing's limited depth and difficulty in quantitative analysis. Consequently, existing in-line inspection devices for urban pipelines, particularly those for gas pipelines, suffer from technical issues such as insufficient measurement accuracy and depth, limited ability to detect surface damage but not internal defects. Data processing is complex, inefficient, and poorly effective at detecting microscopic defects. Furthermore, existing inspection results cannot be quickly transmitted and processed.

[0004] Therefore, a technical solution that can solve the above technical problems is urgently needed. Summary of the Invention

[0005] In view of the above-mentioned defects in the prior art, the present invention provides a magnetic-acoustic coupling detection system and method for pipeline defect detection, aiming to solve technical problems existing in the prior art such as low defect identification accuracy, complex use of coupling agents, and insufficient real-time data processing capabilities of a single detection method.

[0006] In one aspect of the present invention, a magnetoacoustic coupling detection system for pipeline defect detection is provided, comprising: a pipeline defect detection module, a magnetic fluid drive module, an auxiliary movement module, a signal acquisition module, a data processing module, a data transmission module, and a server; the pipeline defect detection module comprises a magnetic flux leakage detection unit and an ultrasonic detection unit, the pipeline defect detection module is used to perform magnetic flux leakage detection and ultrasonic detection on the surface and interior of the pipeline to obtain magnetic excitation parameters, magnetic flux leakage signals, and acoustic wave sensing data; the magnetic fluid drive module comprises a magnetic fluid and an electromagnetic excitation device, the electromagnetic excitation device is used to provide a magnetic field to control the movement of the magnetic fluid, the magnetic fluid serving as both a coupling agent for the ultrasonic probe and a magnetized medium for magnetic flux leakage detection; The auxiliary movement module includes a plurality of driving wheels that are tightly attached to the inner wall of the pipeline; the signal acquisition module includes a data collector and a data storage device, and the signal acquisition module is used to collect and store the magnetic excitation parameters, leakage magnetic signals, acoustic wave sensing data and moving distance data, and output the collected data to the data processing module; the data processing module is used to process the collected magnetic excitation parameters, leakage magnetic signals, acoustic wave sensing data and moving distance data, and upload the processed data to the server through the data transmission module; the server is used to store and analyze the processed data sent by the data transmission module, and respond to the client's query operation to feedback the defect type, defect location and detection report to the client.

[0007] Another aspect of the present invention provides a magnetic-acoustic coupling detection method for pipeline defect detection, comprising: obtaining an acoustic signal from the inner wall of the pipeline through an ultrasonic detection unit in a pipeline defect detection module, the acoustic signal including pipeline wall thickness data, acoustic wave reflection data of internal pipeline corrosion, and acoustic wave reflection data of pipeline cracks; obtaining a magnetic signal on the pipeline surface through a magnetic leakage detection unit in the pipeline defect detection module, the magnetic signal including magnetic field distortion information on the pipeline surface and gradient change data of magnetic leakage at the pipeline defect; obtaining detection data and moving distance data from the ultrasonic detection unit and the magnetic leakage detection unit through a signal acquisition module, and transmitting the detection data to a data processing module; the data processing module performs feature extraction and noise separation on the acoustic signal and the magnetic signal based on a machine learning algorithm, and performs multimodal data fusion. The algorithm determines the type of pipeline defect and, based on the movement distance data, marks the coordinates of confirmed defects exceeding a confidence threshold and suspected defects below the confidence threshold, and uploads the defect marking data to a server. The server generates a three-dimensional pipeline defect morphology map, corrosion rate prediction, and service life assessment report for confirmed defects using a magnetic signal and defect depth mapping algorithm and an acoustic wave remaining wall thickness calculation model. The server exports raw signal data and a two-dimensional grayscale map for suspected defects for secondary analysis by inspection personnel. An integrity report containing inspection time, defect distribution, and compliance conclusions is automatically generated for pipelines with qualified safety levels, and the report is sent to the client through a data transmission module. For pipelines with unqualified safety levels, a report containing defect location coordinates, repair priority recommendations, and a three-dimensional defect map is pushed to the client.

[0008] The present invention provides a magnetoacoustic coupling detection system and method for pipeline defect detection. Through the innovative application of magnetic fluid, it simultaneously achieves the dual functions of ultrasonic coupling and pipeline magnetization, overcoming the technical difficulties of coupling agent contamination, uneven magnetization, and multimodal data separation in traditional detection. Combined with multi-source data fusion analysis, it significantly improves the accuracy of tiny defect identification and corrosion quantification capabilities, solving the technical bottlenecks of high missed detection rates and large depth errors in single-modal detection. In addition, the use of an adaptive wheel structure and data transmission system gives the present invention strong environmental adaptability and efficient decision-making capabilities, providing a full-dimensional, high-precision technical guarantee for the safe operation and maintenance of pipelines. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Other features, objects and advantages of the present application will become more apparent upon reading the detailed description of non-limiting embodiments made with reference to the following drawings: Figure 1 A perspective view of a magnetic-acoustic coupling detection system for pipeline defect detection provided in one embodiment of the present application; Figure 2 A first axial schematic diagram of a magneto-acoustic coupling detection system for pipeline defect detection provided by one embodiment of the present application; Figure 3 A second axial schematic diagram of a magneto-acoustic coupling detection system for pipeline defect detection provided by one embodiment of the present application; Figure 4 A top view of a magnetic-acoustic coupling detection system for pipeline defect detection provided in one embodiment of the present application; Figure 5 A schematic diagram of a pipeline defect detection module provided in one embodiment of the present application; Figure 6 A schematic flow chart of a magnetic-acoustic coupling detection method for pipeline defect detection provided in one embodiment of the present application.

[0010] 100-traction module; 101-anti-collision head; 102-traction ring; 200-Pipeline defect detection module; 201-probe; 202-probe limiter; 203-Magnetic flux leakage detection probe; 204-Ultrasonic detection probe; 205-data transmission tube; 300-Magnetic fluid drive module; 301-Electromagnetic excitation device; 302-microporous channel; 303-Magnetic fluid; 304-First Space; 305-Second Space; 306-Magnetic fluid storage chamber; 400-Auxiliary mobility module; 401-driving wheel; 402-driving wheel splint; 403-Mobile chassis; 404-pin; 405-pin hole bracket; 406-first auxiliary movement module; 407-second auxiliary mobile module; 500-Signal acquisition module; 501-center tube; 600-data processing module; 700-data transmission module; 800-server. DETAILED DESCRIPTION

[0011] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0012] The terms used in the embodiments of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The singular forms "a", "the" and "the" used in the embodiments of the present invention are also intended to include plural forms, unless the context clearly indicates other meanings.

[0013] It should be understood that although the terms first, second, third, etc. may be used to describe the acquisition modules in the embodiments of the present invention, the acquisition modules should not be limited to these terms. These terms are only used to distinguish the acquisition modules from each other.

[0014] The word "if," as used herein, may be interpreted as "at the time of" or "when" or "in response to determining" or "in response to detecting," depending on the context. Similarly, the phrases "if it is determined" or "if (stated condition or event) is detected" may be interpreted as "when it is determined" or "in response to the determination" or "when detecting (stated condition or event)" or "in response to detecting (stated condition or event)," depending on the context.

[0015] It should be noted that the directional terms such as "upper," "lower," "left," and "right" described in the embodiments of the present invention are described from the perspectives shown in the accompanying drawings and should not be construed as limiting the embodiments of the present invention. Furthermore, in the context, it should be understood that when an element is referred to as being formed "on" or "under" another element, it can be formed not only directly "on" or "under" the other element, but also indirectly "on" or "under" the other element through an intermediate element.

[0016] One embodiment of the present invention provides a magnetic-acoustic coupling detection system for pipeline defect detection, which can perform full-dimensional detection of defects on the inner and outer walls of the pipeline to solve technical problems existing in the single detection method in the existing technology, such as low defect recognition accuracy, complex use of coupling agents, and insufficient real-time data processing capabilities.

[0017] See also Figure 1 The magnetoacoustic coupling detection system includes: a traction module 100, a pipeline defect detection module 200, a magnetic fluid driving module 300, an auxiliary movement module 400, a signal acquisition module 500, a data processing module 600, a data transmission module 700 and a server 800.

[0018] See also Figure 2 The traction module 100 is arranged at the front end of the magneto-acoustic coupling detection system. The traction module 100 includes an anti-collision head 101 and a traction ring 102. The geometric center of the anti-collision head 101 coincides with the axis of the magneto-acoustic coupling detection system. The traction ring 102 is connected to the traction robot (not shown in the drawings).

[0019] See also Figure 3-5 The pipeline defect detection module 200 includes a magnetic flux leakage (MFL) probe 203 and an ultrasonic detection probe 204. The module performs MFL and ultrasonic testing on the pipeline surface and interior to obtain magnetic excitation parameters, MFL signals, and acoustic sensing data. The MFL probe 203 identifies external defects and delamination damage based on magnetic field distortion signals generated by the pipeline surface after magnetization by the magnetic fluid. The ultrasonic detection probe 204 detects internal corrosion and cracks by receiving acoustic wave reflection signals from the pipeline wall thickness through the magnetic fluid coupling agent.

[0020] Specifically, the pipeline defect detection module 200 includes a probe 201 and a probe stopper 202. The probe 201 includes a probe cavity. The probe stopper 202 is a retractable structure positioned radially along the pipeline, with one end connected to the probe 201 and the other end fixed to a central tube 501. The central tube 501 is positioned axially along the pipeline. The probe stopper 202 is used to control the extension and retraction of the probe 201, ensuring a tight fit between the probe 201 and the pipeline during operation. An ultrasonic detection probe 204 is located in a first space 304 within the probe cavity. The ultrasonic detection probe 204 transmits detected acoustic wave sensor data via a data cable along the internal cavity of the probe stopper 202 to the signal acquisition module 500 within the central tube 501. A magnetic flux leakage detection probe 203 is located in a second space 305 within the probe cavity. The magnetic flux leakage detection probe 203 transmits detected magnetic flux leakage signals via a data cable along the internal cavity of the probe stopper 202 to the signal acquisition module 500 within the central tube 501. A magnetic fluid storage chamber 306 is also provided in the probe cavity, and the magnetic fluid storage chamber 306 is adjacent to the first space 304. A magnetic fluid drive module 300 is also provided in the probe 201. The magnetic fluid drive module 300 includes a magnetic fluid 303 and an electromagnetic excitation device 301. The electromagnetic excitation device 301 is used to provide a magnetic field to control the movement of the magnetic fluid 303. The magnetic fluid 303 serves as both a coupling agent for the ultrasonic probe and a magnetizing medium for magnetic flux leakage detection, thereby eliminating the contamination problem of traditional coupling agents and enhancing the magnetization efficiency. Preferably, a first isolation plate is provided between the first space 304 and the magnetic fluid storage chamber 306, and a second isolation plate is provided between the first space 304 and the second space 305. A microporous channel 302 is provided on the first isolation plate. The microporous channel 302 limits the flow range of the magnetic fluid and prevents leakage, thereby ensuring the stability of the coupling and magnetization process. Preferably, the electromagnetic excitation device 301 includes a magnetic excitation array consisting of multiple sets of conductive coils, disposed on the first and second isolation plates. The magnetic excitation array generates a gradient magnetic field through current regulation to drive the magnetic fluid 303 to flow between the first space 304 and the magnetic fluid storage chamber 306. During pipeline inspection, driven by the electromagnetic field generated by the electromagnetic excitation device 301, the magnetic fluid 303 flows from the magnetic fluid storage chamber 306 through the microporous channel 302 into the first space 304, filling the gap between the ultrasonic probe and the pipe wall to improve acoustic coupling efficiency. It also uniformly magnetizes the pipe to enhance the sensitivity of magnetic flux leakage detection. In this way, the magnetic fluid 303 serves as both a coupling agent for the ultrasonic probe and a magnetizing medium for magnetic flux leakage detection, eliminating the contamination problem of traditional coupling agents and enhancing magnetization efficiency. After the pipeline inspection is completed, the magnetic fluid 303, driven by the electromagnetic field generated by the electromagnetic excitation device 301, returns from the first space 304 through the microporous channel 302 to the magnetic fluid storage chamber 306, preventing leakage.

[0021] The auxiliary movement module 400 comprises multiple drive wheels 401 that are in close contact with the inner wall of the pipeline, a drive wheel clamping plate 402, and a mobile chassis 403. The drive wheel clamping plate 402 is used to mount the multiple drive wheels 401 and is mounted on the mobile chassis 403. The drive wheel clamping plate 402 comprises a pin 404, a torsion spring, and a pinhole bracket 405. Each drive wheel 401 is mounted to the pinhole bracket 405 via a pin 404 and a torsion spring (not shown in the figures). The torsion spring acts to keep the drive wheel 401 in close contact with the pipeline wall. Furthermore, the auxiliary movement module 400 comprises a first auxiliary movement module 406 and a second auxiliary movement module 407, respectively positioned at the front and rear ends of the pipeline defect detection module 200 along the pipeline axis. This design allows the disk diameter of the auxiliary movement module 400 to be adjustable to accommodate different pipe diameters. The auxiliary movement module 400 also monitors the travel resistance in real time to ensure stable operation of the device.

[0022] The signal acquisition module 500 includes a data acquisition device and a data storage device. Preferably, the signal acquisition module 500 is located within the central tube 501. It collects and stores the magnetic excitation parameters, magnetic flux leakage signals, acoustic sensor data, and device travel distance data, and outputs the collected data to the data processing module 600. For example, the signal acquisition module 500 can perform high-speed acquisition, format conversion, filtering, and noise reduction on data transmitted from various modules, converting the received electrical signals into digital signals. Optionally, the signal acquisition module 500 and data processing module 600 can also be located within the central tube 501.

[0023] The data processing module 600 processes the collected magnetic excitation parameters, magnetic flux leakage signals, acoustic sensor data, and travel distance data, and uploads the processed data to the server 800 via the data transmission module 700. More specifically, the data processing module 600 performs feature extraction and noise separation on the magnetic flux leakage signals and acoustic sensor data, determines the pipeline defect type using a multimodal data fusion algorithm, and coordinates and stores the locations of confirmed and suspected defects based on travel distance data. The data transmission module 700 supports 5G communication and cloud-based synchronization. After inspection, the processed inspection data can be uploaded to the server 800 (e.g., a cloud server) for intelligent analysis and decision-making.

[0024] The local data processing module 600 and the remote server 800 can implement the same or different analysis functions depending on the specific scenario. Specifically, the data processing module 600 and / or the server 800 are used to reconstruct the three-dimensional contour of the defect based on the magnetic flux leakage signal, and quantify the crack depth and corrosion area based on the magnetic field gradient change; calculate the remaining wall thickness based on the ultrasonic echo characteristics, and predict the corrosion rate and the remaining life of the pipeline; select the defect rating with the highest risk level as the final judgment basis by cross-validating the magnetic flux leakage and ultrasonic data; intelligently compare the detection results with the national standard threshold, trigger a graded warning and generate repair priority recommendations. Furthermore, the data processing module 600 and / or the server 800 are further used to build a pipeline digital twin model, integrate historical data with real-time detection results to optimize the defect prediction algorithm; analyze multiple batches of detection data through machine learning, identify pipeline degradation trends and evaluate the overall service life; and automatically push customized reports containing defect location coordinates, three-dimensional morphology, and repair solutions to the client to support intelligent closed-loop management of operation and maintenance decisions.

[0025] The magnetoacoustic coupling detection system for pipeline defect detection provided in this embodiment, through the innovative application of magnetic fluid, simultaneously achieves the dual functions of ultrasonic coupling and pipeline magnetization, overcoming the technical difficulties of coupling agent contamination, uneven magnetization, and multimodal data separation in traditional detection. Combined with multi-source data fusion analysis, it significantly improves the accuracy of small defect identification and corrosion quantification capabilities, solving the industry bottleneck of high missed detection rates and large depth errors in single-modal detection. In addition, the use of an adaptive wheel structure and data transmission system gives the present invention strong environmental adaptability and efficient decision-making capabilities, providing a full-dimensional, high-precision technical guarantee for the safe operation and maintenance of pipelines.

[0026] See also Figure 6 Another embodiment of the present application provides a magnetic-acoustic coupling detection method for pipeline defect detection, comprising the following steps (the step numbers are only used to distinguish the steps and are not intended to limit the order of the steps): Step S101: Acquire an acoustic signal from the inner wall of a pipeline through the ultrasonic detection probe 204 in the pipeline defect detection module 200. The acoustic signal includes acoustic wave reflection data of pipeline wall thickness, internal corrosion, and crack characteristics. Step S102: Magnetic signals on the surface of the gas pipeline are acquired by the magnetic flux leakage detection probe 203 in the pipeline defect detection module 200. The magnetic signals include magnetic field distortion on the pipeline surface and gradient change data of magnetic flux leakage at the defect. In step S103, the signal acquisition module 500 synchronously receives the electrical signals output by the ultrasonic detection probe 204 and the magnetic flux leakage detection probe 203, and obtains the movement distance data of the equipment in the pipeline. After completing analog-to-digital conversion by the high-precision conversion chip, the data is transmitted to the central tube 501 of the data processing module 600 through the data transmission pipe 205; In step S104, the data processing module 600 uses a built-in artificial intelligence algorithm to extract features and separate noise from the acoustic and magnetic signals. It then uses a multimodal data fusion algorithm to determine defect types, such as cracks, corrosion, and delamination. Based on the travel distance data, it then assigns coordinates to confirmed defects with a confidence level greater than 90% and suspected defects with a confidence level less than 90%, respectively, and stores the coordinates in a vibration-resistant solid-state drive. In step S105, the data transmission module 700 uploads the inspection data stored in the solid-state drive, such as defect coordinates, signal characteristic values, and confidence levels, to the server 800 via the 5G communication module. In step S106, server 800 conducts an in-depth analysis of the received data based on the pipeline digital twin model and distributed computing resources. For confirmed defects, a magnetic signal-defect depth mapping algorithm and an acoustic wave remaining wall thickness calculation model are used to generate a three-dimensional defect topography, corrosion rate prediction, and service life assessment report. For suspected defects, a manual analysis interface is provided to support the export of raw signal data and two-dimensional grayscale maps for inspection personnel to conduct secondary analysis and judgment in combination with historical pipeline data. The server 800 generates differentiated outputs based on the analysis results, including: for pipelines with qualified safety levels, it automatically generates an integrity report containing the detection time, defect distribution and compliance conclusions, and pushes it to the client through the data transmission module 700; for pipelines with defects exceeding the standard, it triggers a graded early warning mechanism and simultaneously pushes a special report containing defect location coordinates, repair priority recommendations and a three-dimensional defect map to the operation and maintenance terminal, realizing intelligent closed-loop management of detection-analysis-decision-making.

[0027] Specifically, the pipe wall inspection data is analyzed in the following ways: (1) Determine whether the defect size of the pipeline exceeds the allowable range of national standards. This is done by intelligently comparing the defect depth and length data obtained through detection with the national standard thresholds built into the pipeline defect assessment model based on artificial intelligence algorithms: if all defect parameters are within the specification limits, a pipeline integrity qualification report is generated; if there are defects exceeding the standard, the defect coordinates are automatically marked, triggering a graded early warning mechanism, and pushing alarm information and a three-dimensional defect map to the client through the server; (2) Pipeline defect assessment based on ultrasonic data. After receiving the acoustic wave characteristic data from ultrasonic testing, the artificial intelligence assessment system combines parameters such as pipeline material, wall thickness, and operating pressure to build a pipeline remaining wall thickness calculation model and a crack propagation prediction model. Utilizing the distributed computing resources of the cloud server, it outputs a defect quantitative analysis report based on acoustic characteristics, including corrosion rate prediction and service life assessment. (3) Pipeline defect assessment based on magnetic flux leakage data. The system simultaneously analyzes the magnetic field distortion data from magnetic flux leakage detection, and automatically generates three-dimensional defect morphology reconstruction data by combining the pipeline magnetization intensity and material magnetic characteristic parameters through a magnetic signal-defect depth mapping algorithm. It also identifies the distribution characteristics of internal cracks and delamination defects based on changes in the magnetic field gradient. (4) Implement magnetic-acoustic data fusion verification. Perform multimodal alignment and cross-validation on the defect depth data from ultrasonic testing and the defect contour data from magnetic flux leakage testing. Adopting the conservative principle, the conclusion with the higher defect rating in the two types of test results is selected as the final judgment basis to ensure the reliability of the defect assessment.

[0028] (5) Comprehensive safety assessment and decision-making output. The fusion assessment results are intelligently matched with industry standards for safety indicators such as the maximum allowable defect size and stress concentration factor of pipelines. If the safety requirements are met, a pipeline safety operation certification report is generated. If there are safety hazards, a special report containing defect location coordinates and repair priority recommendations is automatically generated, and the emergency response mechanism is triggered simultaneously, pushing real-time alarms to the operation and maintenance terminals via the 5G network.

[0029] The magnetoacoustic coupling detection method for pipeline defect detection in this embodiment achieves full-dimensional detection of defects on the inner and outer walls of pipelines by integrating leakage magnetic detection and ultrasonic detection technologies, combining the dynamic coupling mechanism of magnetic fluid with electromagnetic excitation control. The multi-source data fusion evaluation model constructed based on artificial intelligence algorithms significantly improves the accuracy of tiny defect recognition and corrosion quantitative analysis capabilities, and solves the technical bottlenecks of high missed detection rates and large depth measurement errors in traditional single-modal detection. In addition, the innovative design of synchronously achieving ultrasonic coupling and pipeline magnetization through magnetic fluid avoids the problem of traditional coupling agent contamination. Combined with the adaptive wheel structure and data transmission system, the device has the advantages of high environmental adaptability, low cost and intelligent decision-making, providing efficient and reliable technical guarantees for the safe operation of pipelines.

[0030] The above description is merely a preferred embodiment of the present invention. Those skilled in the art should understand that the scope of the present invention is not limited to technical solutions formed by specific combinations of the above-mentioned technical features. It also encompasses other technical solutions formed by any combination of the above-mentioned technical features or their equivalents, without departing from the above-mentioned disclosure. For example, a technical solution formed by replacing the above-mentioned features with (but not limited to) technical features with similar functions disclosed in this invention.

Claims

1. A magnetic-acoustic coupling detection system for pipeline defect detection, characterized in that: include: Pipeline defect detection module, magnetic fluid drive module, auxiliary movement module, signal acquisition module, data processing module, data transmission module and server; The pipeline defect detection module includes a magnetic flux leakage detection unit and an ultrasonic detection unit. The pipeline defect detection module is used to perform magnetic flux leakage detection and ultrasonic detection on the surface and interior of the pipeline to obtain magnetic excitation parameters, magnetic flux leakage signals and acoustic wave sensing data; The magnetic fluid driving module includes a magnetic fluid and an electromagnetic excitation device, wherein the electromagnetic excitation device is used to provide a magnetic field to control the movement of the magnetic fluid. The magnetic fluid serves as a coupling agent for the ultrasonic probe and a magnetized medium for magnetic flux leakage detection. The auxiliary movement module includes a plurality of driving wheels that are in close contact with the inner wall of the pipeline; The signal acquisition module includes a data collector and a data storage, and is used to collect and store the magnetic excitation parameters, the magnetic leakage signal, the acoustic wave sensing data and the moving distance data, and output the collected data to the data processing module; The data processing module is used to process the collected magnetic excitation parameters, magnetic flux leakage signals, acoustic sensor data and movement distance data, and upload the processed data to the server through the data transmission module; The server is used to store and analyze the processed data sent by the data transmission module, and to feed back the defect type, defect location and detection report to the client in response to the client's query operation.

2. The magnetic-acoustic coupling detection system for pipeline defect detection according to claim 1, characterized in that: The pipeline defect detection module includes a probe and a probe stopper. The probe includes a probe cavity. The probe stopper is a retractable structure arranged along the radial direction of the pipeline, with one end connected to the probe and the other end fixed to a central tube. The central tube is arranged along the axial direction of the pipeline. The probe stopper is used to control the extension and retraction of the probe so that the probe and the pipeline are tightly fitted in the working state. The ultrasonic detection unit is located in the first space within the probe cavity, and the ultrasonic detection unit inputs the detected sound wave sensing data to the signal acquisition module inside the central tube through a data line along the internal cavity of the probe stopper; The magnetic flux leakage detection unit is located in the second space in the probe cavity, and is used to input the detected magnetic flux leakage signal into the signal acquisition module inside the central tube through a data line along the internal cavity of the probe stopper.

3. The magnetic-acoustic coupling detection system for pipeline defect detection according to claim 2, characterized in that: A magnetic fluid storage chamber is provided in the probe cavity, and the magnetic fluid storage chamber is adjacent to the first space; During detection, the magnetic fluid, driven by the electromagnetic field generated by the electromagnetic excitation device, flows from the magnetic fluid storage chamber through the microporous channel into the first space to be used as a coupling agent for the ultrasonic probe and a magnetized medium for leakage magnetic detection; after the detection is completed, the magnetic fluid, driven by the electromagnetic field generated by the electromagnetic excitation device, returns from the first space through the microporous channel to the magnetic fluid storage chamber.

4. The magnetic-acoustic coupling detection system for pipeline defect detection according to claim 3, characterized in that: A first isolation plate is provided between the first space and the magnetic fluid storage chamber, a second isolation plate is provided between the first space and the second space, and the microporous channel is provided on the first isolation plate; The electromagnetic excitation device includes a magnetic excitation array composed of multiple groups of conductive coils, which is arranged on the first isolation plate and the second isolation plate. The magnetic excitation array generates a gradient magnetic field through current regulation to drive the magnetic fluid to flow between the first space and the magnetic fluid storage chamber.

5. The magnetic-acoustic coupling detection system for pipeline defect detection according to claim 1, characterized in that: Also includes: The traction module includes an anti-collision head and a traction ring. The geometric center of the anti-collision head coincides with the axis of the magneto-acoustic coupling detection system. The traction ring is connected to the traction robot.

6. The magnetic-acoustic coupling detection system for pipeline defect detection according to claim 1, characterized in that: The auxiliary moving module includes a plurality of driving wheels, a driving wheel clamping plate and a moving chassis. The driving wheel clamping plate is used to install the plurality of driving wheels, and the driving wheel clamping plate is installed on the moving chassis.

7. The magnetic-acoustic coupling detection system for pipeline defect detection according to claim 6, characterized in that: The driving wheel clamp includes a pin shaft, a torsion spring and a pin hole bracket. The driving wheel is installed on the pin hole bracket through the pin shaft and the torsion spring. The driving wheel is tightly attached to the pipe wall under the action of the torsion spring.

8. The magnetic-acoustic coupling detection system for pipeline defect detection according to claim 2, characterized in that: The auxiliary moving module includes a first auxiliary moving module and a second auxiliary moving module, and the first auxiliary moving module and the second auxiliary moving module are respectively arranged at the front and rear sides of the pipeline defect detection module along the pipeline axial direction.

9. The magnetic-acoustic coupling detection system for pipeline defect detection according to claim 1, characterized in that: The data processing module is used to extract features and separate noise from magnetic leakage signals and acoustic sensor data, determine the type of pipeline defects through a multimodal data fusion algorithm, and mark and store the coordinates of confirmed defects and suspected defects respectively.

10. A magneto-acoustic coupling detection method for pipeline defect detection based on the magneto-acoustic coupling detection system according to any one of claims 1 to 9, characterized in that: include: Acquire acoustic signals from the inner wall of the pipeline through the ultrasonic detection unit in the pipeline defect detection module, wherein the acoustic signals include pipeline wall thickness data, acoustic wave reflection data of pipeline internal corrosion, and acoustic wave reflection data of pipeline cracks; The magnetic signal on the pipeline surface is obtained by the magnetic flux leakage detection unit in the pipeline defect detection module. The magnetic signal includes magnetic field distortion information on the pipeline surface and gradient change data of magnetic flux leakage at the pipeline defect; The signal acquisition module acquires the detection data and movement distance data of the ultrasonic detection unit and the magnetic flux leakage detection unit, and transmits the collected data to the data processing module; The data processing module performs feature extraction and noise separation on the acoustic signal and the magnetic signal based on a machine learning algorithm, determines the type of pipeline defect through a multimodal data fusion algorithm, and annotates the coordinates of confirmed defects exceeding a confidence threshold and suspected defects below a confidence threshold based on the movement distance data, and uploads the defect annotation data to a server; The server generates a three-dimensional topography map, corrosion rate prediction, and service life assessment report for confirmed defects in the pipeline using a magnetic signal and defect depth mapping algorithm and an acoustic wave remaining wall thickness calculation model. It exports raw signal data and a two-dimensional grayscale map for suspected defects in the pipeline for secondary analysis by inspection personnel. For pipelines with qualified safety levels, it automatically generates an integrity report containing the inspection time, defect distribution, and compliance conclusions, and sends the report to the client via a data transmission module. For pipelines with unqualified safety levels, it pushes a report containing defect location coordinates, repair priority recommendations, and a three-dimensional defect map to the client.

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