A magnetoacoustic coupling detection system and method for pipeline defect detection

Abstract

This invention discloses a magnetoacoustic coupling detection system and method for pipeline defect detection, relating to the field of pipeline nondestructive testing technology. The system includes: a pipeline defect detection module, a magnetofluid drive module, an auxiliary movement module, a signal acquisition module, a data processing module, and a data transmission module. The pipeline defect detection module includes a magnetic flux leakage detection unit and an ultrasonic detection unit; the magnetofluid drive module includes a magnetofluid and an electromagnetic excitation device; the auxiliary movement module includes multiple drive wheels that are tightly attached to the inner wall of the pipeline; the signal acquisition module includes a data acquisition unit and a data storage unit; and the data processing module is used to process the acquired magnetic excitation parameters, magnetic flux leakage signals, and acoustic wave sensing data. This invention can solve the technical problems of low defect identification accuracy, complex coupling agent usage, and insufficient real-time data processing capabilities inherent in existing single detection methods.

Description

Technical Field

[0001] This invention relates to pipeline non-destructive testing technology, and in particular to a magnetoacoustic coupling testing system and method for pipeline defect detection. Background Technology

[0002] As the length and service life of gas pipelines increase year by year, pipeline aging problems are becoming increasingly prominent, and leaks are occurring frequently. Many gas pipelines fail due to factors such as pipe material quality, external corrosion, and third-party damage caused by ground subsidence, resulting in corrosion, deformation, and leaks. Once a city's gas pipeline fails, it can trigger a series of serious consequences, potentially leading to fires, explosions, poisoning, asphyxiation, and air pollution, posing a significant threat to life, property, and the environment. Therefore, non-destructive testing of gas pipelines to detect defects and prevent leaks as early as possible is the primary choice for preventing gas pipeline accidents.

[0003] Existing pipeline inspection technologies mainly include ultrasonic testing, electromagnetic ultrasonic testing, magnetic flux leakage testing, and eddy current testing, most of which are single-method detection methods. Therefore, they suffer from drawbacks such as magnetic flux leakage testing's inability to detect internal defects and low depth measurement accuracy; difficulties in applying and cleaning coupling agents in ultrasonic testing; and limited depth and difficulty in quantitative analysis in eddy current testing. Consequently, existing urban pipeline inspection devices, especially those for gas pipelines, suffer from insufficient measurement accuracy and depth, can only detect surface damage and cannot detect internal defects, generate complex data, have low processing efficiency, are ineffective at detecting microscopic defects, and lack the ability to quickly transmit and process existing inspection results.

[0004] Therefore, there is an urgent need for a technical solution that can solve the above-mentioned technical problems. Summary of the Invention

[0005] In view of the above-mentioned deficiencies in the prior art, the present invention provides a magnetoacoustic coupling detection system and method for pipeline defect detection, aiming to solve the technical problems of low defect identification accuracy, complex use of coupling agent and insufficient real-time data processing capability in the single detection method of the prior art.

[0006] One aspect of the present invention provides a magnetoacoustic coupling detection system for pipeline defect detection, comprising: a pipeline defect detection module, a magnetofluid 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 includes a magnetic flux leakage detection unit and an ultrasonic detection unit, and is used to perform magnetic flux leakage detection and ultrasonic detection on the surface and interior of the pipeline, acquiring magnetic excitation parameters, magnetic flux leakage signals, and acoustic wave sensing data; the magnetofluid drive module includes a magnetofluid and an electromagnetic excitation device, the electromagnetic excitation device being used to provide a magnetic field to control the movement of the magnetofluid, and the magnetofluid simultaneously serving as a coupling agent for the ultrasonic probe and a magnetizing medium for magnetic flux leakage detection; The auxiliary movement module includes multiple drive wheels that fit snugly against the inner wall of the pipe; the signal acquisition module includes a data acquisition unit and a data storage unit. The signal acquisition module is used to acquire and store the magnetic excitation parameters, leakage magnetic signals, acoustic wave sensing data, and movement distance data, and outputs the acquired data to the data processing module; the data processing module is used to process the acquired magnetic excitation parameters, leakage magnetic signals, acoustic wave sensing data, and movement distance data, and uploads 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 responds to client queries by feeding back the defect type, defect location, and inspection report to the client.

[0007] In another aspect, the present invention provides a magnetoacoustic coupling detection method for pipeline defect detection, comprising: acquiring acoustic signals from the inner wall of the pipeline through an ultrasonic detection unit in a pipeline defect detection module, the acoustic signals including pipeline wall thickness data, acoustic wave reflection data from internal corrosion of the pipeline, and acoustic wave reflection data from pipeline cracks; acquiring magnetic signals from the pipeline surface through a magnetic flux leakage detection unit in the pipeline defect detection module, the magnetic signals including magnetic field distortion information of the pipeline surface and gradient change data of magnetic flux leakage at the pipeline defect; acquiring detection data and movement distance data from the ultrasonic detection unit and the magnetic flux leakage detection unit through a signal acquisition module, and transmitting the detection data to a data processing module; the data processing module performing feature extraction and noise separation on the acoustic signals and the magnetic signals based on machine learning algorithms, and performing multimodal data fusion. The algorithm determines the type of pipeline defect. Based on the travel distance data, it marks the coordinates of confirmed defects exceeding the confidence threshold and questionable defects below the confidence threshold, and uploads the defect marking data to the server. The server generates a three-dimensional morphology map, corrosion rate prediction, and service life assessment report for confirmed defects using a magnetic signal-defect depth mapping algorithm and an acoustic residual wall thickness calculation model. For questionable defects, it exports the original signal data and two-dimensional grayscale map for secondary analysis by inspection personnel. For pipelines with qualified safety levels, it automatically generates a complete report containing inspection time, defect distribution, and compliance conclusions, and sends the report to the client through a data transmission module. For pipelines with unqualified safety levels, it pushes a report containing defect location coordinates, repair priority suggestions, and a three-dimensional defect map to the client.

[0008] This invention provides a magnetoacoustic coupling detection system and method for pipeline defect detection. Through the innovative application of magnetofluids, it simultaneously achieves the dual functions of ultrasonic coupling and pipeline magnetization, overcoming the technical challenges of coupling agent contamination, uneven magnetization, and multimodal data separation in traditional detection methods. Combined with multi-source data fusion analysis, it significantly improves the accuracy of identifying minute defects and the ability to quantify corrosion, solving the technical bottlenecks of high false negative rates and large depth errors in single-modal detection. Furthermore, the adoption of an adaptive wheel structure and data transmission system endows this invention with strong environmental adaptability and efficient decision-making capabilities, providing comprehensive and high-precision technical support for the safe operation and maintenance of pipelines. Attached Figure Description

[0009] Other features, objects, and advantages of this application will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0010] Figure 1 A perspective view of a magnetoacoustic coupling detection system for pipeline defect detection provided in one embodiment of this application;

[0011] Figure 2This is a first axial schematic diagram of a magnetoacoustic coupling detection system for pipeline defect detection provided in one embodiment of this application;

[0012] Figure 3 This is a second axial schematic diagram of a magnetoacoustic coupling detection system for pipeline defect detection provided in one embodiment of this application;

[0013] Figure 4 A top view of a magnetoacoustic coupling detection system for pipeline defect detection provided in one embodiment of this application;

[0014] Figure 5 This is a schematic diagram of a pipeline defect detection module provided in one embodiment of this application;

[0015] Figure 6 This is a schematic flowchart of a magnetoacoustic coupling detection method for pipeline defect detection provided in one embodiment of this application.

[0016] 100-Traction Module;

[0017] 101-Bumper Head;

[0018] 102-Traction ring;

[0019] 200-Pipeline Defect Detection Module;

[0020] 201 - Probe;

[0021] 202 - Probe limiter;

[0022] 203 - Magnetic flux leakage detection probe;

[0023] 204 - Ultrasonic testing probe;

[0024] 205 - Data transmission tube;

[0025] 300-Magnetofluid Drive Module;

[0026] 301 - Electromagnetic excitation device;

[0027] 302 - Microporous Channel;

[0028] 303-Magnetofluid;

[0029] 304 - First Space;

[0030] 305 - Second Space;

[0031] 306 - Magnetofluid storage compartment;

[0032] 400 - Auxiliary Mobility Module;

[0033] 401 - Drive wheel;

[0034] 402 - Drive wheel clamp;

[0035] 403 - Mobile Chassis;

[0036] 404-pin;

[0037] 405-Pin Hole Bracket;

[0038] 406 - First Auxiliary Mobility Module;

[0039] 407 - Second Auxiliary Movement Module;

[0040] 500 - Signal Acquisition Module;

[0041] 501 - Center tube;

[0042] 600 - Data Processing Module;

[0043] 700 - Data Transmission Module;

[0044] 800-Server. Detailed Implementation

[0045] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0046] The terminology used in the embodiments of this invention is for the purpose of describing particular embodiments only and is not intended to limit the invention. The singular forms “a,” “the,” and “the” used in the embodiments of this invention are also intended to include the plural forms unless the context clearly indicates otherwise.

[0047] 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, these acquisition modules should not be limited to these terms. These terms are only used to distinguish the acquisition modules from each other.

[0048] Depending on the context, the word "if" as used here can be interpreted as "when," "when," "in response to determination," or "in response to detection." Similarly, depending on the context, the phrase "if determination" or "if detection (of the stated condition or event)" can be interpreted as "when determination," "in response to determination," "when detection (of the stated condition or event)," or "in response to detection (of the stated condition or event)."

[0049] It should be noted that the directional terms such as "upper," "lower," "left," and "right" used in the embodiments of the present invention are used to describe the angles 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 it is mentioned that an element is formed "upper" or "lower" of another element, it can not only be formed directly "upper" or "lower" of the other element, but also indirectly "upper" or "lower" of the other element through an intermediate element.

[0050] One embodiment of the present invention provides a magnetoacoustic coupling detection system for pipeline defect detection, which can perform full-dimensional detection of defects on the inner and outer walls of pipelines, thereby solving the technical problems of low defect identification accuracy, complex use of coupling agent and insufficient real-time data processing capability in the single detection method of the prior art.

[0051] See Figure 1 The magnetoacoustic coupling detection system includes: a traction module 100, a pipeline defect detection module 200, a magnetohydrodynamic drive 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.

[0052] See Figure 2 The traction module 100 is located at the front end of the magnetoacoustic 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 magnetoacoustic coupling detection system. The traction ring 102 is connected to the traction robot (not shown in the figure).

[0053] See Figure 3-5 The pipeline defect detection module 200 includes a magnetic flux leakage detection probe 203 and an ultrasonic detection probe 204. The module is used to perform magnetic flux leakage detection and ultrasonic testing on the surface and interior of the pipeline to obtain magnetic excitation parameters, magnetic flux leakage signals, and acoustic wave sensing data. Specifically, the magnetic flux leakage detection probe 203 identifies external defects and delamination damage based on the magnetic field distortion signal on the pipeline surface after magnetohydrodynamic coupling. The ultrasonic detection probe 204 receives the acoustic wave reflection signal of the pipeline wall thickness through a magnetohydrodynamic coupling agent to detect internal corrosion and cracks in the pipeline.

[0054] Specifically, the pipeline defect detection module 200 includes a probe 201 and a probe limiter 202. The probe 201 includes a probe cavity. The probe limiter 202 is a telescopic structure, arranged radially along the pipeline, with one end connected to the probe 201 and the other end fixed to the central cylinder 501. The central cylinder 501 is arranged axially along the pipeline. The probe limiter 202 controls the extension and retraction of the probe 201 to ensure a tight fit between the probe 201 and the pipeline during operation. An ultrasonic testing probe 204 is located in the first space 304 within the probe cavity. The ultrasonic testing probe 204 inputs the detected acoustic wave sensing data to the signal acquisition module 500 inside the central cylinder 501 via a data cable through the internal cavity of the probe limiter 202. A magnetic flux leakage detection probe 203 is located in the second space 305 within the probe cavity. The magnetic flux leakage detection probe 203 inputs the detected magnetic flux leakage signal to the signal acquisition module 500 inside the central cylinder 501 via a data cable through the internal cavity of the probe limiter 202. The probe cavity also includes a magnetofluid storage chamber 306, which is adjacent to the first space 304. The probe 201 also contains a magnetofluid drive module 300, which includes a magnetofluid 303 and an electromagnetic excitation device 301. The electromagnetic excitation device 301 provides a magnetic field to control the movement of the magnetofluid 303. The magnetofluid 303 serves simultaneously as a coupling agent for the ultrasonic probe and a magnetizing medium for detecting magnetic leakage, thus eliminating the contamination problem of traditional coupling agents and enhancing magnetization efficiency. Preferably, a first isolation plate is provided between the first space 304 and the magnetofluid storage chamber 306, and a second isolation plate is provided between the first space 304 and the second space 305. The first isolation plate has microporous channels 302, which limit the flow range of the magnetofluid and prevent leakage, ensuring the stability of the coupling and magnetization process. Preferably, the electromagnetic excitation device 301 includes a magnetic excitation array composed of multiple sets of conductive coils. The magnetic excitation array is disposed on the first and second isolation plates. The magnetic excitation array generates a gradient magnetic field through current regulation to drive the magnetofluid 303 to flow between the first space 304 and the magnetofluid storage chamber 306. During pipeline inspection, the magnetofluid 303, driven by the electromagnetic field generated by the electromagnetic excitation device 301, flows from the magnetofluid storage chamber 306 into the first space 304 through the microporous channel 302, filling the gap between the ultrasonic probe and the pipe wall to improve the acoustic coupling efficiency. At the same time, it uniformly magnetizes the pipeline to enhance the sensitivity of magnetic leakage detection. In this way, the magnetofluid 303 can simultaneously serve as a coupling agent for the ultrasonic probe and a magnetizing medium for magnetic leakage detection, thereby eliminating the contamination problem of traditional coupling agents and enhancing magnetization efficiency. After the pipeline inspection is completed, the magnetofluid 303, driven by the electromagnetic field generated by the electromagnetic excitation device 301, returns from the first space 304 to the magnetofluid storage chamber 306 through the microporous channel 302, thereby preventing leakage.

[0055] The auxiliary moving module 400 includes multiple drive wheels 401 that are pressed against the inner wall of the pipe, drive wheel clamping plates 402, and a moving chassis 403. The drive wheel clamping plates 402 are used to mount the multiple drive wheels 401 and are mounted on the moving chassis 403. The drive wheel clamping plates 402 include pins 404, torsion springs, and pin hole brackets 405. Each drive wheel 401 is mounted on the pin hole bracket 405 via the pins 404 and torsion springs (not shown in the attached figures), and the drive wheel 401 is pressed against the pipe wall by the torsion springs. Furthermore, the auxiliary moving module 400 includes a first auxiliary moving module 406 and a second auxiliary moving module 407, which are respectively located on the front and rear sides of the pipe defect detection module 200 along the pipe axis. This design allows the disc diameter of the auxiliary moving module 400 to be adjusted to accommodate different pipe diameters. The auxiliary moving module 400 can also monitor the travel resistance in real time to ensure stable operation of the device.

[0056] The signal acquisition module 500 includes a data acquisition unit and a data storage unit. Preferably, the signal acquisition module 500 is located inside the central cylinder 501. It is used to acquire and store the magnetic excitation parameters, leakage magnetic signals, acoustic wave sensing data, and the device's movement distance data, and outputs the acquired 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 the data transmitted from various modules, converting the received electrical signals into digital signals. Optionally, the central cylinder 501 may contain the signal acquisition module 500, the data processing module 600, etc.

[0057] The data processing module 600 processes the collected magnetic excitation parameters, leakage magnetic field signals, acoustic wave sensing 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 leakage magnetic field signals and acoustic wave sensing data, determines the pipeline defect type using a multimodal data fusion algorithm, and marks and stores the coordinates of identified and suspected defects based on the travel distance data. The data transmission module 700 supports 5G communication and cloud synchronization, and can upload the processed detection data to the server 800 (e.g., a cloud server) for intelligent analysis and decision output after detection is completed.

[0058] The local data processing module 600 and the remote server 800 can perform the same or different analysis functions depending on the specific scenario. Specifically, the data processing module 600 and / or server 800 are used to reconstruct the three-dimensional contour of defects based on magnetic flux leakage signals, and quantify crack depth and corrosion area by combining magnetic field gradient changes; calculate the remaining wall thickness based on ultrasonic echo characteristics, and predict the corrosion rate and remaining pipeline life; select the defect rating with the highest risk level as the final judgment basis by cross-validating magnetic flux leakage and ultrasonic data; intelligently compare the detection results with national standard thresholds, trigger graded early warnings, and generate repair priority suggestions. Furthermore, the data processing module 600 and / or server 800 are further used to build a digital twin model of the pipeline, integrate historical data and real-time detection results to optimize the defect prediction algorithm; analyze multiple batches of detection data through machine learning to identify pipeline deterioration trends and assess overall service life; and automatically push customized reports containing defect location coordinates, three-dimensional morphology, and repair plans to the client to support intelligent closed-loop management of operation and maintenance decisions.

[0059] The magnetoacoustic coupling detection system for pipeline defect detection provided in this embodiment achieves the dual functions of ultrasonic coupling and pipeline magnetization simultaneously through the innovative application of magnetofluids, overcoming the technical challenges of coupling agent contamination, uneven magnetization, and multimodal data separation in traditional detection methods. Combined with multi-source data fusion analysis, it significantly improves the accuracy of identifying minute defects and the ability to quantify corrosion, solving the industry bottleneck of high false negative rates and large depth errors in single-modal detection. Furthermore, the adoption of an adaptive wheel structure and data transmission system endows this invention with strong environmental adaptability and efficient decision-making capabilities, providing comprehensive and high-precision technical support for the safe operation and maintenance of pipelines.

[0060] See Figure 6 Another embodiment of this application provides a magnetoacoustic coupling detection method for pipeline defect detection, comprising the following steps (the step numbers are only used to distinguish each step and are not intended to limit the order of the steps):

[0061] Step S101: Acquire acoustic signals of the inner wall of the pipe through the ultrasonic testing probe 204 in the pipe defect detection module 200. The acoustic signals include acoustic wave reflection data of pipe wall thickness, internal corrosion and crack characteristics.

[0062] Step S102: The magnetic signal on the surface of the gas pipeline is obtained by the magnetic flux leakage detection probe 203 in the pipeline defect detection module 200. The magnetic signal includes magnetic field distortion on the pipeline surface and gradient change data of magnetic flux leakage at the defect.

[0063] 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 acquires the movement distance data of the equipment in the pipeline. After the analog-to-digital conversion is completed by the high-precision conversion chip, the data is transmitted to the central cylinder 501 of the data processing module 600 through the data transmission tube 205.

[0064] In step S104, the data processing module 600 performs feature extraction and noise separation on the acoustic and magnetic signals based on the built-in artificial intelligence algorithm, determines the defect type, such as cracks, corrosion, and delamination, through a multimodal data fusion algorithm, and marks the coordinates of the confirmed defects with a confidence level greater than 90% and the doubtful defects with a confidence level less than 90% based on the movement distance data, and stores them in a solid-state drive with vibration resistance.

[0065] In step S105, the data transmission module 700 uploads the detection data stored in the solid-state drive, such as defect coordinates, signal characteristic values, and confidence level, to the server 800 via the 5G communication module.

[0066] In step S106, server 800 performs in-depth analysis of the received data based on the pipeline digital twin model and distributed computing resources: for identified defects, it generates a three-dimensional morphology map of the defect, corrosion rate prediction, and service life assessment report through the magnetic signal-defect depth mapping algorithm and the acoustic wave remaining wall thickness calculation model; for doubtful defects, it opens a manual analysis interface to support the export of raw signal data and two-dimensional grayscale maps for inspection personnel to conduct secondary analysis in conjunction with pipeline historical data.

[0067] Server 800 generates differentiated outputs based on the analysis results, including: for pipelines that meet the safety level, it automatically generates a complete report containing the detection time, defect distribution, and compliance conclusions, which is pushed 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 suggestions, and a three-dimensional defect map to the operation and maintenance terminal, realizing intelligent closed-loop management of detection-analysis-decision.

[0068] Specifically, the pipe wall inspection data is analyzed in the following ways:

[0069] (1) Determine whether the defect size of the pipeline exceeds the allowable range of the national standard. By intelligently comparing the defect depth and length data obtained by detection with the national standard threshold built into the pipeline defect assessment model based on artificial intelligence algorithm: if all defect parameters are within the standard limits, a pipeline integrity qualified report is generated; if there are defects exceeding the standard, the defect coordinates are automatically marked, a graded early warning mechanism is triggered, and alarm information and three-dimensional defect map are pushed to the client through the server;

[0070] (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 construct a calculation model for the remaining wall thickness of the pipeline and a crack propagation prediction model. Utilizing the distributed computing resources of the cloud server, it outputs a quantitative analysis report of defects based on acoustic characteristics, including corrosion rate prediction and service life assessment.

[0071] (3) Pipeline defect assessment based on magnetic flux leakage data. The system synchronously analyzes the magnetic field distortion data of magnetic flux leakage detection, and automatically generates three-dimensional morphology reconstruction data of defects by combining the magnetic signal-defect depth mapping algorithm with the pipeline magnetization intensity and material magnetic property parameters. Based on the change of magnetic field gradient, the distribution characteristics of internal cracks and delamination defects are identified.

[0072] (4) Implement magnetoacoustic data fusion verification. Perform multimodal alignment and cross-verification of defect depth data from ultrasonic testing and defect contour data from magnetic flux leakage testing. Adopting the principle of conservatism, select the conclusion with the higher defect rating from the two types of test results as the final judgment basis to ensure the reliability of defect assessment.

[0073] (5) Comprehensive safety assessment and decision output. The integrated assessment results are intelligently matched with safety indicators in industry standards, 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 suggestions is automatically generated, and the emergency response mechanism is triggered simultaneously, pushing real-time alarms to the operation and maintenance terminal through the 5G network.

[0074] This embodiment of the magnetoacoustic coupling detection method for pipeline defect detection integrates magnetic flux leakage detection and ultrasonic detection technologies, combined with a magnetohydrodynamic coupling mechanism and electromagnetic excitation control, to achieve full-dimensional detection of defects on the inner and outer walls of pipelines. A multi-source data fusion evaluation model built based on artificial intelligence algorithms significantly improves the accuracy of identifying minute defects and the ability to quantify corrosion, overcoming the technical bottlenecks of high false negative rates and large depth measurement errors in traditional single-modal detection. Furthermore, the innovative design of synchronous ultrasonic coupling and pipeline magnetization via magnetohydrodynamics avoids the contamination problems of traditional coupling agents. Combined with an adaptive wheel structure and data transmission system, the device possesses advantages in high environmental adaptability, low cost, and intelligent decision-making, providing efficient and reliable technical support for the safe operation of pipelines.

[0075] The above description is merely a preferred embodiment of the present invention. Those skilled in the art should understand that the scope of disclosure in this invention is not limited to the specific combination of the above-described technical features, but should also cover other technical solutions formed by any combination of the above-described technical features or their equivalents without departing from the above-described concept. For example, technical solutions formed by substituting the above features with (but not limited to) technical features with similar functions disclosed in this invention.

Claims

1. A magnetoacoustic coupling detection system for pipeline defect detection, characterized in that, include: The system includes a pipeline defect detection module, a magnetohydrodynamic 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 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 inside of the pipeline to obtain magnetic excitation parameters, magnetic flux leakage signals and acoustic wave sensing data. The magnetohydrodynamic drive module includes a magnetohydrodynamic fluid and an electromagnetic excitation device. The electromagnetic excitation device is used to provide a magnetic field to control the movement of the magnetohydrodynamic fluid. The magnetohydrodynamic fluid also serves as a coupling agent for the ultrasonic probe and a magnetizing medium for detecting magnetic leakage. The auxiliary movement module includes multiple drive wheels that are flush against the inner wall of the pipe; The signal acquisition module includes a data acquisition unit and a data storage unit. The signal acquisition module is used to acquire and store the magnetic excitation parameters, the leakage magnetic signal, the acoustic wave sensing data and the moving distance data, and output the acquired 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 to respond to client queries by feeding back the defect type, defect location, and detection report to the client.

2. The magnetoacoustic 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 limiter. The probe includes a probe cavity. The probe limiter is a telescopic structure that is arranged radially along the pipeline. One end is connected to the probe, and the other end is fixed to the central cylinder. The central cylinder is arranged axially along the pipeline. The probe limiter is used to control the extension and retraction of the probe so that the probe and the pipeline fit tightly together in the working state. The ultrasonic detection unit is located in the first space inside the probe cavity. The ultrasonic detection unit inputs the detected acoustic wave sensing data to the signal acquisition module inside the central cylinder through a data cable along the internal cavity of the probe limiter. The magnetic flux leakage detection unit is located in the second space inside the probe cavity. The magnetic flux leakage detection unit is used to input the detected magnetic flux leakage signal to the signal acquisition module inside the central cylinder through the data line along the internal cavity of the probe limiter.

3. The magnetoacoustic coupling detection system for pipeline defect detection according to claim 2, characterized in that: The probe cavity is provided with a magnetofluid storage chamber, which is adjacent to the first space. During testing, the magnetofluid flows from the magnetofluid storage chamber into the first space through a microporous channel under the drive of the electromagnetic field generated by the electromagnetic excitation device, serving as a coupling agent for the ultrasonic probe and a magnetizing medium for detecting magnetic leakage. After testing, the magnetofluid returns from the first space to the magnetofluid storage chamber under the drive of the electromagnetic field generated by the electromagnetic excitation device.

4. The magnetoacoustic 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 magnetofluid storage chamber, and a second isolation plate is provided between the first space and the second space. The microporous channel is provided on the first isolation plate. The electromagnetic excitation device includes a magnetic excitation array composed of multiple sets of conductive coils. The magnetic excitation array is disposed 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 magnetofluid to flow between the first space and the magnetofluid storage chamber.

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

6. The magnetoacoustic coupling detection system for pipeline defect detection according to claim 1, characterized in that, The auxiliary movement module includes multiple drive wheels, drive wheel clamps, and a mobile chassis. The drive wheel clamps are used to mount the multiple drive wheels and are mounted on the mobile chassis.

7. A magnetoacoustic coupling detection system for pipeline defect detection according to claim 6, characterized in that, The drive wheel clamping plate includes a pin, a torsion spring, and a pin hole bracket. The drive wheel is mounted on the pin hole bracket via the pin and the torsion spring, and the drive wheel is pressed against the pipe wall under the action of the torsion spring.

8. A magnetoacoustic 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, which are respectively disposed on the front and rear sides of the pipeline defect detection module along the pipeline axis.

9. A magnetoacoustic 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 leakage magnetic field signals and acoustic wave sensing data. It determines the type of pipeline defect through a multimodal data fusion algorithm and marks and stores the coordinates of the identified defects and suspected defects.

10. A magnetoacoustic coupling detection method based on the magnetoacoustic coupling detection system for pipeline defect detection according to any one of claims 1-9, characterized in that, include: The ultrasonic testing unit in the pipeline defect detection module acquires the acoustic signals of the inner wall of the pipeline. The acoustic signals include pipeline wall thickness data, acoustic wave reflection data of internal corrosion of the pipeline, and acoustic wave reflection data of pipeline cracks. The magnetic signal on the pipe surface is obtained by the magnetic flux leakage detection unit in the pipe defect detection module. The magnetic signal contains magnetic field distortion information on the pipe surface and gradient change data of magnetic flux leakage at the pipe 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 acquired data to the data processing module. The data processing module performs feature extraction and noise separation on the acoustic and magnetic signals based on machine learning algorithms, determines the pipeline defect type through multimodal data fusion algorithms, and, based on the movement distance data, marks the coordinates of confirmed defects exceeding the confidence threshold and doubtful defects below the confidence threshold, and uploads the defect marking data to the server. The server generates three-dimensional morphology maps, corrosion rate predictions, and service life assessment reports for identified defects in pipelines using a magnetic signal-defect depth mapping algorithm and an acoustic residual wall thickness calculation model. It also exports raw signal data and two-dimensional grayscale maps for questionable defects in pipelines, allowing inspection personnel to conduct secondary analysis. For pipelines meeting safety standards, it automatically generates a complete report including inspection time, defect distribution, and compliance conclusions, and sends the report to the client via a data transmission module. For pipelines failing safety standards, it pushes a report to the client containing defect location coordinates, repair priority suggestions, and a three-dimensional defect map.

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