Multi-sensor fused self-adaptive hydraulic pipeline imaging system and method

Abstract

The invention provides a multi-sensor fusion self-adaptive hydraulic pipeline imaging system and method, and belongs to the field of internal imaging of hydraulic pipelines. Comprising a driving ring; the movable driving module is connected with the driving circular ring; the electrode imaging module is located on the driving circular ring; comprising a plurality of electrode plates extending towards the center of a circle; the sliding rail assembly is composed of a plurality of short arc-shaped sliding rails which are spirally arranged; each electrode plate is mounted on the corresponding sliding rail, and when the driving ring rotates, the sliding rails push the electrode plates to stretch out and draw back in the radial direction; the variable-diameter fitting module is integrated on the driving ring and comprises a ring rotating assembly mounted on the periphery of the driving ring; the pressure sensor is annularly arranged on the inner wall of the driving ring; and the guide wheel assemblies are symmetrically distributed on the driving circular ring, extend towards the direction of the circle center and can stretch out and draw back elastically. The system can move along the outer wall of the hydraulic pipeline and is automatically attached to different pipeline outer diameters, and three-dimensional imaging and damage positioning of the interior of the pipeline are achieved.

Description

Technical Field

[0001] The present application relates to the field of internal imaging of hydraulic pipelines, and specifically to a multi-sensor fusion adaptive hydraulic pipeline imaging system and method. Background Art

[0002] Hydraulic pipelines, core components for conveying fluids in industrial equipment, are widely used in aerospace, engineering machinery, energy, and chemical industries. Long-term exposure to high pressure, vibration, corrosion, and other complex operating conditions can easily lead to cracks, wear, and blockages within the pipelines, resulting in serious leaks or failures, and even threatening equipment safety. Traditional inspection methods (such as ultrasonic testing, radiographic inspection, and endoscopic observation) struggle to meet the requirements of real-time and non-contact testing, and are limited by low efficiency, high cost, and demanding installation conditions.

[0003] In recent years, electrical imaging technology has become a research hotspot for pipeline inspection due to its advantages of being non-invasive, radiation-free, and having fast dynamic response. However, existing electrical imaging systems have significant shortcomings: First, sensors often use a fixed structure, which makes it difficult to adapt to the geometric changes of pipes of different diameters, resulting in loose fit between the electrodes and the pipe wall, affecting the accuracy of the capacitance signal; second, traditional static single-section imaging can only provide two-dimensional information and cannot achieve three-dimensional defect positioning in long-distance pipelines; third, the lack of a multi-sensor collaborative mechanism makes it difficult to dynamically adjust the detection position and adapt to the surface characteristics of the pipeline, limiting its applicability in complex working conditions. In addition, the smallness and concealment of internal defects in hydraulic pipelines place higher demands on imaging resolution, and existing technologies still face bottlenecks in multi-section data fusion and three-dimensional reconstruction algorithms.

[0004] Therefore, there is an urgent need to develop a hydraulic pipeline inspection system with adaptive fitting, multi-section scanning, and intelligent positioning functions to improve defect identification accuracy and engineering applicability, and provide reliable technical support for the health management of industrial equipment. Summary of the Invention

[0005] The purpose of the embodiments of the present application is to provide a multi-sensor fusion adaptive hydraulic pipeline imaging system and method to address the problems in the prior art, such as the difficulty of pipeline imaging systems in adapting to the geometric changes of pipelines of different diameters, the inability to provide three-dimensional information of long-distance pipelines, and the difficulty in dynamically adjusting the detection position and adapting to pipeline surface features.

[0006] In order to solve the above technical problems, this application is implemented as follows: In a first aspect, an embodiment of the present application provides a multi-sensor fusion adaptive hydraulic pipeline imaging system, comprising: A driving ring, the center of which is used for passing a hydraulic pipeline; A mobile driving module is connected to the driving ring and includes driving wheels symmetrically arranged on both sides of the driving ring; The electrode imaging module is located on the cross section of the driving ring and includes: A plurality of electrode sheets extend from the cross section of the driving ring toward the center of the circle; The slide rail assembly is composed of a plurality of short circular arc slide rails arranged in a spiral shape and opened in the cross section of the driving ring. Each electrode sheet is installed on a corresponding slide rail. When the driving ring rotates, the slide rail pushes the electrode sheet to expand and contract radially. The variable diameter fitting module is integrated into the drive ring and includes: The ring rotation assembly is installed on the periphery of the driving ring and is used to drive the driving ring to rotate, so as to cooperate with the electrode imaging module to change the fitting diameter of the electrode sheet; The pressure sensor is arranged around the inner wall of the driving ring; The guide wheel assembly is centrally and symmetrically distributed on the annular surface of the driving ring and extends toward the center of the circle and can be elastically extended and retracted.

[0007] Preferably, the mobile drive module further comprises: The elastic clamping mechanism is set on both sides of the driving ring, connecting the driving wheel and the driving ring, and providing the driving wheel with a tightening force to fit the hydraulic pipe; The electrode imaging module also includes: The electrode sheet sliding block is installed on the slide rail assembly, and the electrode sheet is attached to one side of the electrode sheet sliding block.

[0008] Preferably, a roller is provided on the other side of the electrode sheet sliding block, the pressure sensor is provided on the roller, and the circumference formed by the roller is smaller than the circumference formed by the electrode sheet.

[0009] Preferably, the guide wheel assembly further comprises: A guide wheel extends toward the center of the driving ring; A guide slider connects the guide wheel and the driving ring; The spring is arranged at one end of the guide slider to provide telescopic elastic force for the guide wheel.

[0010] Preferably, the ring rotating assembly comprises: A ring-shaped turbine is arranged around the driving ring; The worm is located below the turbine and meshes with it, and is used to drive the turbine to rotate, thereby driving the driving ring to rotate.

[0011] Preferably, the system further comprises a data processing module for collecting electrical signals and performing image reconstruction.

[0012] In a second aspect, an embodiment of the present application provides a multi-sensor fusion adaptive hydraulic pipeline imaging method, comprising: The driving ring is driven to move along the hydraulic pipeline; Applying excitation voltage to the electrode sheet to drive the electrode sheet to work and obtain electrical signals; Input the electrical signal to the host computer to obtain the imaging picture; The Landweber iterative algorithm is used to reconstruct the imaging image to obtain a clear image.

[0013] Preferably, the specific steps of driving the driving ring to move along the hydraulic pipeline include: The driving wheel is tightly fitted to the hydraulic pipe through the elastic clamping mechanism; The driving motor is controlled to drive the driving wheel to move along the axial direction of the pipeline.

[0014] Preferably, the Landweber iterative algorithm is used to reconstruct the image, and the specific steps of obtaining a clear image include: Through simulation, a hydraulic pipeline cross-section model is established to obtain the empty field capacitance matrix, sensitivity matrix and full field capacitance matrix. Image reconstruction is performed based on the sensitivity matrix and capacitance data, combined with the Landweber iterative algorithm to obtain a clear image.

[0015] Preferably, the method further comprises: Update the current position to repeat the above steps to obtain imaging data of multiple sections; Based on the imaging data and combined with the 3D reconstruction algorithm, a 3D image of the internal structure of the hydraulic pipeline is generated.

[0016] Compared with the prior art, the above technical solution provided by this application includes at least the following beneficial effects: This application first assembles an adaptive hydraulic pipeline imaging system, including a drive ring, a mobile drive module, an electrode imaging module, and a variable diameter fitting module. The drive ring is used to pass through the hydraulic pipeline. The mobile drive module includes drive wheels symmetrically arranged on both sides of the drive ring, and an elastic clamping mechanism ensures a tight fit with the pipeline. The electrode imaging module consists of multiple electrode plates and a slide rail assembly. The slide rail pushes the electrode plates to expand and contract radially to accommodate different pipe diameters. The system is installed on the hydraulic pipeline to be inspected. After the system is started, initial positioning and fitting are achieved through the guide wheel assembly and pressure sensor. The guide wheel assembly is symmetrically distributed and elastically expands and contracts to ensure stable operation of the system. The pressure sensor is arranged around the inner wall of the drive ring to monitor the contact pressure between the electrode plates and the outer wall of the pipeline to ensure a tight fit. When the system is stably fitted, an excitation voltage is applied to the electrode plates, driving the electrode plates to operate and collect electrical signals. The electrode plates automatically adjust their diameter through the slide rail assembly to adapt to changes in pipe diameter. Multiple electrodes switch the excitation and reception signals in turn. After being processed by the multiplexer, the capacitance signal is converted into a digital signal through a capacitance-to-digital conversion chip, and then transmitted to the host computer for preliminary image reconstruction.

[0017] This application is different from the traditional fixed-position patch electrode tomography structure. The sensor is placed on the outside of the pipeline to form a surrounding structure for the pipeline. A driving structure is added to enable the imaging system to move along the pipeline, thereby achieving the function of fault locating.

[0018] At the same time, based on the mechanism that pipeline damage will cause changes in the dielectric constant of the internal structure of the hydraulic pipeline, this application solves the problem of internal damage monitoring and image reconstruction of hydraulic pipelines with complex materials by combining electrode tomography technology of pressure sensors for monitoring, thereby significantly reducing leakage caused by hydraulic pipeline damage.

[0019] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become obvious from the description below, or will be learned through practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which: Figure 1 This is a pipeline installation diagram of a multi-sensor fusion adaptive hydraulic pipeline imaging system provided by some embodiments of the present application; Figure 2 This is a three-dimensional schematic diagram of the structure of a multi-sensor fusion adaptive hydraulic pipeline imaging system shown in some embodiments of the present application; Figure 3 is a diagram showing the internal structure of a multi-sensor fusion adaptive hydraulic pipeline imaging system shown in some embodiments of the present application; Figure 4 is a structural isometric diagram of a multi-sensor fusion adaptive hydraulic pipeline imaging system shown in some embodiments of the present application; Figure 5 is a simulation diagram of an empty field working condition of a hydraulic pipeline cross section shown in some embodiments of the present application; Figure 6 It is a simulation diagram of the full-field working condition of the hydraulic pipeline cross section shown in some embodiments of the present application.

[0021] Description of reference numerals: 100, driving ring; 200, mobile drive module; 210, drive wheel; 220, elastic clamping mechanism; 300, electrode imaging module; 310, slide rail assembly; 320, electrode sheet sliding block; 330, roller; 400, variable diameter fitting module; 410, circular rotating assembly; 411, turbine; 412, worm; 420, guide wheel assembly; 421, guide wheel; 422, guide slider. DETAILED DESCRIPTION

[0022] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0023] The terms "first," "second," and the like in the specification and claims of this application are used to distinguish similar objects and are not used to describe a particular order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate so that the embodiments of this application can be implemented in an order other than those illustrated or described herein. In addition, the term "and / or" in the specification and claims refers to at least one of the connected objects, and the character " / " generally indicates that the objects associated with each other are in an "or" relationship.

[0024] In the following, in conjunction with the accompanying drawings, a multi-sensor fusion adaptive hydraulic pipeline imaging system and method provided by the embodiments of the present application are described in detail through specific embodiments and their application scenarios.

[0025] Considering that during hydraulic system operation, hydraulic pipelines primarily consist of an outer pipe wall layer and an inner fluid layer. Different layer materials exhibit different dielectric constants, and when a pipeline is damaged, the internal dielectric constant becomes non-uniform. By sequentially stimulating the built-in electrode array, the capacitance of each electrode pair is extracted. An image reconstruction algorithm is then used to reconstruct the internal structure of the pipeline, reflecting the dielectric constant distribution. A drive mechanism that moves along the pipeline and a fitting mechanism that adapts to the pipeline diameter are used to perform three-dimensional imaging and damage location within the pipeline. The imaging system is applicable to both pipelines with a single wall material and composite pipelines composed of a liquid-resistant inner rubber layer, a middle rubber layer, a reinforcement layer, and an outer rubber layer.

[0026] This embodiment provides a multi-sensor fusion adaptive hydraulic pipeline imaging system, please refer to Figure 1 、 Figure 2 and Figure 3 The system includes: a driving ring, the center of which is used to pass a hydraulic pipeline; a mobile driving module connected to the driving ring; including driving wheels symmetrically arranged on both sides of the driving ring; an electrode imaging module located on the cross section of the driving ring; including: a plurality of electrode sheets extending from the cross section of the driving ring toward the center of the circle; a slide rail assembly composed of a plurality of short arc-shaped slide rails arranged in a spiral shape and opened on the cross section of the driving ring; each electrode sheet is installed on a corresponding slide rail, and when the driving ring rotates, the slide rail pushes the electrode sheet to expand and contract radially; a variable diameter fitting module integrated on the driving ring, including: a ring rotation assembly installed on the periphery of the driving ring, used to drive the rotation of the driving ring to cooperate with the electrode imaging module to change the fitting diameter of the electrode sheet; a pressure sensor, which is arranged around the inner wall of the driving ring; a guide wheel assembly, which is symmetrically distributed on the annular surface of the driving ring and extends toward the center of the circle, and can be elastically expanded and contracted.

[0027] Furthermore, the mobile drive module further comprises: an elastic clamping mechanism, which is arranged on both sides of the drive ring, connects the drive wheel and the drive ring, and provides a tightening force for the drive wheel to fit the hydraulic pipe; Furthermore, the electrode imaging module further includes: an electrode sheet sliding block, which is mounted on the slide rail assembly, and the electrode sheet is attached to one side of the electrode sheet sliding block.

[0028] Furthermore, a roller is provided on the other side of the electrode sheet sliding block, the pressure sensor is provided on the roller, and the circumference formed by the roller is smaller than the circumference formed by the electrode sheet.

[0029] Furthermore, the guide wheel assembly also includes: a guide wheel extending toward the center of the driving ring; a guide slider connecting the guide wheel and the driving ring; and a spring arranged at one end of the guide slider to provide telescopic elastic force for the guide wheel.

[0030] Furthermore, the annular rotating assembly includes: an annular turbine, which is arranged around the driving ring; and a worm, which is located below the turbine and meshes with the turbine, and is used to drive the turbine to rotate, thereby driving the driving ring to rotate.

[0031] Furthermore, the system also includes a data processing module for collecting electrical signals and performing image reconstruction.

[0032] In this embodiment, the drive wheel has a built-in distance sensor, and an elastic clamping mechanism enables the drive wheel to clamp the hydraulic pipe. When the drive wheel is in operation, the imaging system can be moved and positioned along the pipe's axial direction. The worm has a self-locking function, and the worm and the turbine enable the imaging system to adaptively fit pipes of different diameters. The electrode imaging module includes an iris mechanism consisting of an electrode sheet, a slide rail assembly, and an electrode sheet slider that can spirally extend or retract toward the center of a circle, as well as a capacitance-to-digital conversion chip, a multiplexer, a signal generator, and a data acquisition card. This enables the electrode sheet to adaptively perform three-dimensional imaging inside pipes of different diameters. The data processing module consists of an industrial computer and host computer software. Pipeline internal imaging is achieved by fusing the capacitance signals between the electrode arrays and the force signals from the pressure sensors. The pressure sensors and distance sensors work together to enable the imaging system to move axially along the pipeline and adapt to pipes of varying diameters. This multi-sensor fusion ultimately enables real-time monitoring and location of internal defects in hydraulic pipelines.

[0033] Taking into account the fact that the diameters of hydraulic pipelines are not uniform and they are closed pipelines, and combined with the advantages of electrode tomography's non-invasiveness and real-time imaging, it is considered to introduce electrode tomography technology into hydraulic pipeline damage detection. Traditional electrode tomography detection mostly uses fixed-position patch processing to achieve the detection effect. However, considering the actual hydraulic pipeline wall and the multi-layer material, hydraulic pipelines are mostly damaged internally. Fixed-position detection is difficult to accurately locate the fault and it is also difficult to detect damage faults. Therefore, a detection device that can be driven along the pipeline is designed.

[0034] Among them, the driving device consists of two driving motors, and a rubber roller is used to increase the friction with the outer wall of the pipe. Adding a spring to tighten can make the rubber wheel better adhere to the pipe wall to achieve driving.

[0035] Considering that the electrodes are arranged in an equidistant annular array on the periphery of the tube wall and require variable diameter enlargement and reduction, and the mechanism needs to be simplified, an iris mechanism is designed to achieve this requirement. The structure of this embodiment adopts an array of 8 electrodes. The iris mechanism mainly includes electrode sheets, a slide rail assembly, a movable slider with electrodes attached, and a drivable ring connected to the slider. When the circumference of the driving ring rotates clockwise (counterclockwise), the slider of the circular array increases (decreases), thereby achieving the effect of adaptive adhesion to the tube wall.

[0036] Multi-sensor fusion is used for positioning and fitting, integrating the pressure sensor with the distance sensor. For the movable electrode sheet slider that can be retracted and enlarged, the slider also adopts a symmetrical design. One side is used for fitting the electrode sheet, and the other side is equipped with a roller and a strain gauge of the pressure sensor. The circumference formed by the roller is smaller than the circumference formed by the electrode sheet. When the electrode sheet slider moves to fit the pipe wall, the roller can first contact the pipe wall and compress the roller. When the strain gauge senses the pressure increase, when the pressure increases to the set value, it can indirectly indicate that the electrode sheet has effectively fitted the pipe. When the pressure is less than the set value, it can be moved and linked to the above-mentioned drivable ring to rotate, reducing the rotation stroke. At the same time, it can also achieve the role of limiting to prevent the electrode sheet from being damaged by pressure. The drive structure has a built-in distance sensor, which is used for effective positioning of faults detected during the detection process of this embodiment.

[0037] The driving problem of the driving ring is that the electrode slider and the driving ring are in a sliding form, so the driving ring needs to achieve a self-locking effect. The device of this embodiment adopts a worm gear mechanism to solve this problem well.

[0038] The device is a circular structure as a whole, requiring the hydraulic pipeline to be placed in the middle of the ring of the device, so a limiting mechanism needs to be designed. This embodiment uses a spring limiting structure, see Figure 4 Four symmetrical movable guide sliders with guide wheels are added to the outer wall of the fixed ring to achieve position limiting. The springs are initially fully extended. When hydraulic pipes are inserted, the sliders compress the springs, causing them to enter a compressed state, providing elastic force to limit the device. The guide wheels on the sliders serve as a guide, and the linear contact between the guide wheels and the hydraulic pipe wall does not cause excessive friction on the hydraulic pipe, which also facilitates the operation of the aforementioned drive mechanism.

[0039] The data processing module utilizes the following configuration: the sensor copper sheet is a rectangular copper sheet with a thickness of 1 mm. Based on the principles of electrical capacitance tomography (ECT), an 8-electrode annular array requires sequential excitation signals to stimulate the electrodes. This embodiment utilizes a multiplexer to switch between electrode pairs. The C / V conversion circuit is the core circuit that converts capacitance to voltage. The amplitude of its output voltage is proportional to the capacitance being measured. When the dielectric constant of the measured material changes, the output voltage signal of the capacitance sensor changes. This embodiment utilizes a capacitance-to-digital converter (ADI) chip to connect the multiplexer to the capacitance measurement chip to control the switching of electrode pairs. This supports high-precision measurements. A signal generator capable of generating 1 kHz to 1 MHz excitation signals is used to output the excitation signals to the excitation electrodes. The signals from the receiving electrodes are amplified and filtered before being input to an acquisition card. A microcontroller controls the channel switching of the multiplexer and synchronously triggers the data acquisition card. Data acquisition is performed using host computer software to collect and store data for the electrode pairs. An iterative algorithm reconstructs the dielectric constant distribution, achieving image reconstruction.

[0040] Compared with the prior art, the above technical solution provided by this application includes at least the following beneficial effects: 1. This embodiment proposes an imaging system for detecting internal pipeline damage. Based on the mechanism by which pipeline damage causes changes in the dielectric constant of the hydraulic pipeline's internal structure, this system uses electrode tomography technology combined with pressure sensors for monitoring. This system solves the internal damage monitoring and image reconstruction issues for hydraulic pipelines made of complex materials, thereby significantly reducing leakage caused by hydraulic pipeline damage.

[0041] 2. This embodiment designs a movable electrode tomography monitoring structure. Different from the traditional fixed-position patch electrode tomography structure, this embodiment can place the sensor on the outside of the pipeline to form a surrounding structure around the pipeline. The addition of a drive structure allows the imaging system to move along the pipeline, thereby achieving the function of fault location.

[0042] 3. Combining the above two benefits, this embodiment designs a movable electrode structure. For the electrodes arrayed outside the pipe, the equidistant array electrodes need to change the diameter of the entire electrode array to achieve a structure that adapts to different pipe diameters. This embodiment designs an iris mechanism to solve the variable diameter problem.

[0043] 4. This embodiment uses multi-sensor fusion. Combining the above three innovations, this embodiment uses multi-sensor fusion. Through the synergistic effect of pressure sensors and distance sensors, the patch electrode can be more effectively fitted to the pipeline, and more tightly fitted to hydraulic pipelines of different diameters. At the same time, the pressure sensor can improve the accuracy of electrode tomography. Combined with the analysis of imaging results, the internal status of the pipeline can be monitored in real time and damage can be located. This embodiment can use three-dimensional reconstruction for the interior of the pipeline. Combining the above four innovative points, the structure can achieve two-dimensional imaging at a fixed distance, and the two-dimensional data can be processed by combining algorithms to achieve three-dimensional reconstruction.

[0044] In a second aspect, an embodiment of the present application provides a multi-sensor fusion adaptive hydraulic pipeline imaging method, comprising: Step S101: driving the driving ring to move along the hydraulic pipeline; Preferably, the specific steps of driving the driving ring to move along the hydraulic pipeline include: making the driving wheel fit tightly against the hydraulic pipeline through the elastic clamping mechanism; and controlling the driving motor to drive the driving wheel to move axially along the pipeline.

[0045] Specifically, in the initial installation of this embodiment, the outer spring limit guide wheel must be installed on the annular fixed base, the symmetrical annular base and the internal movable slider must be assembled into a whole, the worm motor must be installed on one side of the annular base to cooperate with the turbine, and the electrode must be placed on the largest opening circle for easy installation on the hydraulic pipeline.

[0046] Step S102: applying an excitation voltage to the electrode sheet to drive the electrode sheet to work and obtain an electrical signal; Specifically, the electrodes and motors are connected to the data processing module, and by applying an excitation voltage to the electrodes, the electrical signals are output through the capacitance conversion module to the acquisition card to collect capacitance data, and then connected to the host computer software for real-time imaging.

[0047] The motor is connected to an electronic control system composed of a single-chip microcomputer, and the drive motor is controlled to make the mechanism of this embodiment move along the pipeline. For the electrode bonding module, the internal motor is bonded to the pipe wall by controlling the worm gear motor to drive the turbine movement. A compressible moving wheel is added to the electrode bonding slider, and a pressure sensing device is installed inside. When the movable wheel is pressurized and the pressure sensing device reaches a limit value, the worm motor is stopped. Combined with the self-locking characteristics of the worm gear, the radial movement of the electrode can be well limited to achieve a reasonable radial diameter that is bonded but not damaged.

[0048] Step S103: inputting the electrical signal to the host computer to obtain an imaging image; Step S104: using the Landweber iterative algorithm to reconstruct the image to obtain a clear image.

[0049] Preferably, the Landweber iterative algorithm is used to reconstruct the image, and the specific steps of obtaining a clear image include: establishing a hydraulic pipeline cross-section model through simulation to obtain an empty field capacitance matrix, a sensitivity matrix, and a full field capacitance matrix; based on the sensitivity matrix and capacitance data, combined with the Landweber iterative algorithm, image reconstruction is performed to obtain a clear image.

[0050] Preferably, the method further comprises: updating the current position to repeat the above steps to obtain imaging data of multiple sections; and generating a three-dimensional image of the internal structure of the hydraulic pipeline based on the imaging data in combination with a three-dimensional reconstruction algorithm.

[0051] Specifically, in this embodiment, the Landweber iterative algorithm is used as an example for image reconstruction. The Landweber iterative algorithm continuously corrects dielectric parameters according to the steepest gradient descent method, thereby improving the quality of the reconstructed image.

[0052] First, the minimum objective function of the Landweber iterative algorithm is introduced as: The gradient of the function f(G) to be determined is: The Landweber iterative algorithm calculation formula is: in, is the minimum objective function of the Landweber iterative algorithm, is the dielectric constant distribution, is the dielectric constant distribution vector, is the gradient of the minimum objective function, is the sensitivity matrix transpose matrix, is the dielectric constant vector calculated in step k+1, is the dielectric constant vector calculated in step k, is the iteration step length, is the initial vector of dielectric constant, for The maximum eigenvalue of .

[0053] The pipe cross section is simulated by COMSO modeling of eight-electrode capacitance tomography. The electrical signal is added through software simulation and traverses each electrode. Considering the large number of grids, the potential method is used to solve the sensitivity S. The sensitivity field solution formula of the potential method is: in, for point The dielectric constant is Time sensor electrode and electrodes The sensitivity between for point The area, For electrodes is the excitation electrode and the voltage is Time measurement point The electric field strength is For electrodes As the excitation electrode and the voltage is Time measurement point The electric field strength, for point The pressure correction factor.

[0054] Obtain the empty field capacitance matrix and sensitivity matrix, set the full field working condition, that is, the case of pipeline damage as follows Figure 5 As shown, the full-field capacitance matrix of the working condition is obtained.

[0055] The sensitivity matrix and capacitance data obtained through simulation, combined with the Landweber iterative algorithm given earlier, are used to reconstruct the image in MATLAB. This can be very effective in inspecting faulty pipelines, such as Figure 6 The figure shows the simulation effect of a situation where gaps appear in the pipe wall, that is, internal damage occurs. Combined with the capacitance matrix under this working condition, the image of this working condition can be well reconstructed. In the reconstruction result, the dielectric constant is mapped with color at the 8-electrode two-dimensional cross-section. The location where the dielectric constant is low, that is, the location where the air gap appears, can be effectively displayed, and the radial position of the fault can be located. It can effectively identify the presence of pipeline damage and know the location of the damage.

[0056] Based on the capacitance matrix of the two-dimensional cross-section, the dielectric constant distribution matrix of the two-dimensional cross-section, and the driving structure, the capacitance matrix of multiple cross-sections can be obtained by driving the imaging structure of this embodiment to move along the pipeline, thereby obtaining a three-dimensional dielectric constant distribution, and performing image reconstruction on the host computer software to obtain a three-dimensional imaging effect. The three-dimensional imaging of the pipe wall can effectively show that the low dielectric constant is the air gap position, that is, the pipeline damage position, and can effectively obtain the axial position data of the fault and locate the fault position.

[0057] The above embodiment adopts a combination of simulation and experiment. The sensitivity matrix in the experiment is difficult to solve and inaccurate. The sensitivity matrix under the empty field condition is first solved using simulation software. The empty field capacitance data is collected through experiments, and the capacitance data under different working conditions is collected in real time. The drive along the pipeline is controlled, and the capacitance data of each cross section can be collected and imaged in real time. The position of the pipeline with fault damage can be located through the imaging effect diagram, and better remedial measures can be taken to detect it.

[0058] The multi-sensor fusion adaptive hydraulic pipeline imaging system in the embodiments of the present application can be a device, or a component, integrated circuit, or chip in a terminal. The device can be a mobile electronic device or a non-mobile electronic device. For example, the mobile electronic device can be a mobile phone, tablet computer, laptop computer, PDA, in-vehicle electronic device, wearable device, ultra-mobile personal computer (UMPC), netbook, or personal digital assistant (PDA), etc. The non-mobile electronic device can be a server, network attached storage (NAS), personal computer (PC), television (TV), ATM, or self-service machine, etc., and the embodiments of the present application do not specifically limit this.

[0059] The multi-sensor fusion adaptive hydraulic pipeline imaging system in the embodiments of the present application can be a device having an operating system. The operating system can be an Android operating system, an iOS operating system, or other possible operating systems, which are not specifically limited in the embodiments of the present application.

[0060] Optionally, an embodiment of the present application also provides an electronic device, including a processor, a memory, and a computer program stored in the memory and executable on the processor. When the computer program is executed by the processor, the various processes of the above-mentioned multi-sensor fusion adaptive hydraulic pipeline imaging method embodiment are implemented, and the same technical effect can be achieved. To avoid repetition, they will not be described here.

[0061] An embodiment of the present application also provides a readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by a processor, the various processes of the above-mentioned multi-sensor fusion adaptive hydraulic pipeline imaging method embodiment are implemented, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0062] The processor is the processor in the electronic device described in the above embodiment. The readable storage medium includes a computer-readable storage medium, such as a computer read-only memory (ROM), random access memory (RAM), a magnetic disk, or an optical disk.

[0063] An embodiment of the present application further provides a chip, which includes a processor and a communication interface, wherein the communication interface is coupled to the processor, and the processor is used to run programs or instructions to implement the various processes of the above-mentioned multi-sensor fusion adaptive hydraulic pipeline imaging method embodiment, and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0064] It should be understood that the chip mentioned in the embodiments of the present application can also be called a system-level chip, a system chip, a chip system or a system-on-chip chip, etc.

[0065] It should be noted that, in this article, the terms "comprise", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the statement "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device comprising the element. In addition, it should be noted that the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in the opposite order according to the functions involved. For example, the described method may be performed in an order different from that described, and various steps may also be added, omitted, or combined. In addition, the features described with reference to certain examples may be combined in other examples.

[0066] Through the description of the above embodiments, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus the necessary general hardware platform. Of course, they can also be implemented by hardware, but in many cases the former is a more preferred embodiment. Based on this understanding, the technical solution of this application, or the part that contributes to the existing technology, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes a number of instructions for enabling a terminal (which can be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in each embodiment of this application.

[0067] The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of this application, ordinary technicians in this field can also make many forms without departing from the purpose of this application and the scope of protection of the claims, all of which are within the protection of this application.

Claims

1. A multi-sensor fusion adaptive hydraulic pipeline imaging system, characterized in that: include: A driving ring, the center of which is used to pass a hydraulic pipeline; A mobile driving module connected to the driving ring; It includes driving wheels symmetrically arranged on both sides of the driving ring; The electrode imaging module is located on the cross section of the driving ring and includes: A plurality of electrode sheets extending from the cross section of the driving ring toward the center of the circle; The slide rail assembly is composed of a plurality of short circular arc slide rails arranged in a spiral shape and opened in the cross section of the driving ring; each electrode sheet is mounted on a corresponding slide rail, and when the driving ring rotates, the slide rail pushes the electrode sheet to expand and contract radially; The variable diameter fitting module is integrated on the driving ring and includes: A ring rotating assembly is installed on the periphery of the driving ring, and is used to drive the driving ring to rotate, so as to cooperate with the electrode imaging module to change the fitting diameter of the electrode sheet; A pressure sensor is arranged around the inner wall of the driving ring; The guide wheel assembly is centrally and symmetrically distributed on the annular surface of the driving ring, extends toward the center of the circle, and can be elastically extended and retracted.

2. The imaging system according to claim 1, wherein: The mobile drive module further includes: An elastic clamping mechanism is provided on both sides of the driving ring, connecting the driving wheel and the driving ring, and providing a tightening force for the driving wheel to fit the hydraulic pipe; The electrode imaging module further includes: The electrode sheet sliding block is installed on the slide rail assembly, and the electrode sheet is attached to one side of the electrode sheet sliding block.

3. The imaging system according to claim 2, wherein: A roller is provided on the other side of the electrode sheet sliding block, the pressure sensor is provided on the roller, and the circumference formed by the roller is smaller than the circumference formed by the electrode sheet.

4. The imaging system according to claim 1, wherein: The guide wheel assembly also includes: A guide wheel extending toward the center of the driving ring; A guide slider, connecting the guide wheel and the driving ring; A spring is provided at one end of the guide slider to provide telescopic elastic force for the guide wheel.

5. The imaging system according to claim 1, wherein: The ring rotating assembly comprises: A ring-shaped turbine is arranged around the driving ring; The worm is located below the turbine and meshes with the turbine, and is used to drive the turbine to rotate, thereby driving the driving ring to rotate.

6. The imaging system according to claim 1, wherein: The system also includes a data processing module for collecting electrical signals and performing image reconstruction.

7. A multi-sensor fusion adaptive hydraulic pipeline imaging method, applied to a multi-sensor fusion adaptive hydraulic pipeline imaging system according to any one of claims 1 to 6, characterized in that the steps include: driving the driving ring to move along the hydraulic pipeline; Applying an excitation voltage to the electrode sheet to drive the electrode sheet to work and obtain an electrical signal; Inputting the electrical signal into a host computer to obtain an imaging image; The Landweber iterative algorithm is used to reconstruct the imaging picture to obtain a clear image.

8. The multi-sensor fusion adaptive hydraulic pipeline imaging method according to claim 7, characterized in that: The specific steps of driving the driving ring to move along the hydraulic pipeline include: The elastic clamping mechanism is used to make the driving wheel fit tightly against the hydraulic pipeline; The driving motor is controlled to drive the driving wheel to move along the axial direction of the pipeline.

9. The multi-sensor fusion adaptive hydraulic pipeline imaging method according to claim 7, characterized in that: The specific steps of reconstructing the image using the Landweber iterative algorithm to obtain a clear image include: Through simulation, a hydraulic pipeline cross-section model is established to obtain the empty field capacitance matrix, sensitivity matrix and full field capacitance matrix. Image reconstruction is performed based on the sensitivity matrix and capacitance data in combination with the Landweber iterative algorithm to obtain the clear image.

10. The multi-sensor fusion adaptive hydraulic pipeline imaging method according to claim 7, characterized in that: The method further comprises: Update the current position to repeat the above steps to obtain imaging data of multiple sections; Based on the imaging data and combined with a three-dimensional reconstruction algorithm, a three-dimensional image of the internal structure of the hydraulic pipeline is generated.

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