Unmanned aerial vehicle-mounted equipment for pressure measurement in vacuum pipeline operation, measurement method, segment joint defect recognition device and recognition method thereof

Abstract

The invention relates to the technical field of vacuum pipeline pressure measurement, and discloses unmanned aerial vehicle-mounted equipment for pressure measurement in vacuum pipeline operation, a measurement method, a segment joint defect identification device and an identification method thereof. The objective of the invention is to solve the technical problems of limited detection range, incapability of covering key parts such as segment joints, poor equipment adaptability, susceptibility to external environment interference and low detection precision of traditional detection equipment in the prior art. The device comprises a walking structure, a working platform and a pressure detection assembly, the pressure detection assembly comprises a plurality of pressure scanners, the pressure scanners are installed on a moving assembly and connected with a control module through a communication module, the control module is installed in a control room, and at least two cameras are arranged above the control room. And a video signal output end of the camera is connected with the control module. Through the multi-degree-of-freedom moving assembly, the position and the angle of the pressure scanner can be flexibly adjusted, and comprehensive detection of the inner wall of the pipeline, including fine detection of entering a segment seam, is realized.

Description

Technical Field

[0001] The present invention relates to the technical field of vacuum pipeline pressure measurement, and in particular to an unmanned aerial vehicle (UAV) device for measuring pressure in vacuum pipeline operation, a measurement method, a segment joint defect identification device, and an identification method thereof. Background Art

[0002] With economic development, the speed of wheel-rail trains continues to break new ground, leading to increasing challenges such as air resistance and aerodynamic noise. While magnetic levitation technology, which eliminates wheel-rail contact, has significantly increased train speeds, it also poses challenges such as pressure waves generated by the interaction of high-speed trains with the air, air resistance, and aerodynamic noise. The higher the speed, the more pronounced the aerodynamic issues become, posing a significant challenge to the development of rail transit speeds. To address this issue, the concept of vacuum tube transportation, or vacuum tube maglev transportation, has emerged. Vacuum tubes reduce or even eliminate air resistance, thereby breaking through the speed bottleneck. Compared to conventional rail transit, the tubes provide insulation from external climatic conditions, resulting in higher train reliability. The lower air pressure within the tubes also significantly reduces energy consumption. The vacuum tube maglev system involves magnetic levitation trains traveling at ultra-high speeds in a vacuum tube, thus integrating two key core technologies: vacuum tubes and magnetic levitation.

[0003] Prior art Chinese patent document CN202280017040.X discloses a secondary vacuum pressure measurement device and an embedded system for measuring residual vacuum pressure. These devices and systems are particularly suitable for diagnosing vacuum pressure in compartments of a production line for depositing thin film stacks on planar substrates. The present invention also discloses a method for diagnosing vacuum pressure in a production line for thin film deposition, employing an embedded vacuum control system.

[0004] However, the implementation of the above solution presents at least the following technical challenges: Traditional inspection equipment has a limited detection range and cannot cover critical areas such as segment joints. Furthermore, the equipment has poor adaptability and is easily affected by external environmental interference, resulting in low detection accuracy. Therefore, it is urgent to propose an unmanned aerial vehicle (UAV) device for measuring pressure during vacuum pipeline operation, a measurement method, and a segment joint defect identification device and method. Summary of the Invention

[0005] In view of the above technical problems, the present disclosure provides an unmanned aerial vehicle (UAV) equipment, a measurement method, a pipe segment joint defect identification device and an identification method for pressure measurement in vacuum pipeline operation, which solves the technical problems in the prior art that traditional detection equipment has a limited detection range and cannot cover key parts such as pipe segment joints, and the equipment has poor adaptability, is easily disturbed by the external environment, and has low detection accuracy.

[0006] According to one aspect of the present disclosure, there is provided an unmanned aerial vehicle (UAV) device for measuring pressure in vacuum pipeline operations, comprising a walking structure, a work platform disposed above the walking structure, a pressure detection assembly mounted on the work platform, the pressure detection assembly comprising a plurality of pressure scanners to form a plurality of measurement channels, the pressure scanners mounted on a moving assembly to achieve multi-degree-of-freedom movement of the pressure scanners, the pressure scanners connected to a control module via a communication module to transmit detection data, the control module mounted in a control room, at least two cameras disposed above the control room, the recording signal output terminals of the cameras connected to the control module; It also includes a temperature measuring module and a distance measuring module arranged on the working platform; the temperature measuring module includes a thermometer and a vacuum gauge, and the thermometer and vacuum gauge are connected to the host computer to display the temperature and vacuum value detected by the thermometer and vacuum gauge; the distance measuring module includes at least four laser ranging sensors located in the same plane to determine the ellipticity of the pipe segment by measuring the distance between the equipment and the pipe segment.

[0007] In some embodiments of the present disclosure, the walking structure is bilaterally symmetrical and includes a front sprocket and a rear sprocket connected by a chain. The rear sprocket is connected to a first motor that drives the chain to rotate. Multiple driven wheels are installed on the inside of the chain to support the chain.

[0008] In some embodiments of the present disclosure, the moving assembly includes a longitudinal telescopic rod connected to the pressure scanner, the longitudinal telescopic rod is installed on the movable end of the transverse telescopic rod, and a rotating part is installed on the other end of the transverse telescopic rod. The rotating part includes a second motor, and the power output shaft of the second motor is connected to the driving gear, the driving gear engages with the driven gear, and the driven gear is installed on the other end of the transverse telescopic rod.

[0009] In some embodiments of the present disclosure, a first support rod is provided above the working platform and below the transverse telescopic rod, and a second support rod is installed above the second motor to support the transverse telescopic rod.

[0010] In some embodiments of the present disclosure, the pressure scanner includes a pressure-sensitive diaphragm, a measuring cavity in contact with the environment to be measured is set on one side of the pressure-sensitive diaphragm, and a reference cavity in a high vacuum environment is set on the other side. A capacitor electrode structure whose capacitance value can change with the vacuum degree is set in the reference cavity. The capacitor electrode structure includes two electrodes to form a capacitor to realize pressure measurement. The capacitor is connected to a sensor for detecting changes in capacitance and converting it into an electrical signal.

[0011] In some embodiments of the present disclosure, a baffle is installed at the entrance of the measuring cavity.

[0012] According to another aspect of the present disclosure, a method for measuring pressure in a vacuum pipeline operation is provided, which is applicable to the above-mentioned unmanned aerial vehicle (UAV) device for measuring pressure in a vacuum pipeline operation, and comprises the following steps: (1) Equipment positioning: Drive the walking structure into the vacuum pipe, obtain the internal image of the pipe in real time through the camera, identify the pipe wall features, and determine the initial detection starting point; (2) Scanning path planning: The contact distance between the pressure scanner and the pipe wall is adjusted by the longitudinal telescopic rod; the pressure scanner is allowed to enter the joint of the pipe segments for detection; the transverse telescopic rod is used to expand radially along the pipe to cover different areas; the scanner is driven to rotate around the transverse telescopic rod by the rotating part to achieve 360° coverage; at the same time, the pipeline morphology is monitored in real time by the camera, and the path is adjusted dynamically; (3) Pressure detection and data acquisition: After the mobile component drives the pressure scanner to contact the seam of the pipe sheet, multiple pressure scanners synchronously collect data, the baffle opens, the pressure-sensitive diaphragm contacts the environment to be measured, and the pressure of the measuring cavity and the environment to be measured are balanced; the pressure difference between the reference cavity and the measuring cavity causes the pressure-sensitive diaphragm to deform, causing the capacitance between the electrode sheets to change. The sensor converts the capacitance signal into a pressure value and transmits it to the control module in real time; (4) Result output: The control module generates a test report, marking the abnormal pressure value and area coordinates; sends an alarm to the terminal through the communication module; after completing the test, the walking structure moves along the pipeline and returns to the starting point.

[0013] In some embodiments of the present disclosure, driving the walking structure to enter the vacuum pipe in step (1) includes: starting the first motor to drive the rear sprocket to rotate, and then the transmission chain and the front sprocket to rotate, so that the walking mechanism enters the vacuum pipe. During the process, multiple driven wheels rotate accordingly to support the chain.

[0014] A device for identifying defects in segment seams in vacuum pipelines, installed on an unmanned aerial vehicle (UAV) used for pressure measurement in the operation of the aforementioned vacuum pipelines, comprises a multimodal composite drive mechanism capable of driving the identification device. The identification device also comprises a multi-physics coupling detection mechanism comprising a pressure scanner installed in a measurement chamber, with an adaptive sealing mechanism installed at the opening of the measurement chamber. The measurement result output terminal of the pressure scanner is connected to a control room, in which a quantum vacuum reference mechanism and a heterogeneous computing mechanism are located. The multi-modal composite drive mechanism includes a magnetic attraction wheel assembly adapted to the surface of the metal pipe and a pneumatic propulsion mechanism for recoil propulsion, wherein the pneumatic propulsion mechanism is provided with a pneumatic nozzle; the magnetic attraction wheel assembly is internally integrated with an electromagnet array, which is connected to a PID controller to dynamically adjust the distribution of magnetic attraction force to prevent friction loss caused by local overload; The multi-physics field coupling detection mechanism also includes an FBG fiber grating array integrated in the pressure scanner to measure the strain field distribution of the pipe wall; the FBG capacitor electrode substrate is etched with a microchannel, and the microchannel is embedded with a polyimide-coated optical fiber with a diameter of 50 μm; The adaptive sealing mechanism includes a shape memory alloy baffle that can be deformed to form a fluid guiding structure to reduce the impact of turbulence on the pressure-sensitive diaphragm; the shape memory alloy baffle includes a Ni-Ti-Cu alloy sheet; The quantum vacuum reference mechanism includes a cold atom interferometer integrated in a control chamber to establish a quantized vacuum pressure reference; The heterogeneous computing mechanism includes a hybrid architecture of FPGA+GPU, wherein the FPGA includes multiple channels to realize parallel acquisition of capacitance signals, and the GPU includes an accelerated convolutional neural network to identify seam defects in real time.

[0015] A method for identifying defects in pipe segment joints in a vacuum pipeline, applicable to the above-mentioned device for identifying defects in pipe segment joints in a vacuum pipeline, comprises the following steps: (1) Multi-modal composite drive: An electromagnet array is integrated inside the sprocket to form a magnetic adsorption wheel group that adapts to the surface of the metal pipe. The magnetic attraction force distribution is dynamically adjusted through the PID controller to prevent friction loss caused by local overload. The magnetic adsorption wheel group and pneumatic propulsion are used to achieve walking and enhance climbing ability. The pneumatic nozzle uses the vacuum environment of the pipe to achieve recoil propulsion. (2) Multi-physics coupling detection: During the multi-modal composite driving process described in step (1), multi-physics coupling detection is performed, and an FBG fiber grating array is integrated in the pressure scanner to synchronously measure the strain field distribution of the pipe wall; a pressure-strain coupling model is established, and the stress concentration coefficient of the joint area is calculated in real time using finite element analysis software; The integrated FBG fiber grating array comprises: etching a micro channel on a capacitor electrode substrate and embedding a polyimide-coated optical fiber with a diameter of 50 μm; (3) Adaptive sealing: During the pressure scanner detection process described in step (2), an adaptive sealing step is performed simultaneously. A shape memory alloy baffle is added to the inlet of the pressure scanner measurement chamber. The shape memory alloy baffle comprises a Ni-Ti-Cu alloy sheet. The shape memory alloy baffle is deformed under the impact of the airflow to form a fluid guide structure to reduce the impact of turbulence on the pressure-sensitive diaphragm. The shape memory alloy baffle cooperates with the temperature sensor to realize closed-loop control of the opening. (4) Establishing a quantized vacuum pressure reference: After the pressure scanner test in step (2) is completed, a cold atom interferometer is integrated in the control room to establish a quantized vacuum pressure reference; the absolute pressure calibration is achieved using the rubidium atom Bose-Einstein condensate (BEC) as a reference standard; the atomic temperature is lowered by a laser cooling device, and the phase shift caused by the vacuum is measured using matter wave interferometry; (5) Heterogeneous computing: Based on the multi-physics field coupling detection structure in step (2) and the quantized vacuum pressure benchmark in step (4), a hybrid architecture processing system based on FPGA+GPU is constructed. The FPGA is responsible for the parallel acquisition of multi-channel capacitance signals, and the GPU accelerates the convolutional neural network to recognize seam defects in real time. A three-dimensional Attention-UNet model is developed and combined with transfer learning to realize defect classification on the NVIDIA Jetson platform.

[0016] The beneficial effects of the present invention are: The pressure scanner enables high-precision pressure measurement. Changes in capacitance can sensitively reflect even tiny pressure variations, ensuring accurate and reliable measurement results. A chemical getter is placed within the reference chamber to continuously absorb residual gas and maintain a high vacuum environment. This ensures the stability of the reference chamber pressure, providing a stable baseline for precise pressure differential measurement and further improving pressure measurement accuracy. The mobile assembly, consisting of a longitudinal telescopic rod, a transverse telescopic rod, and a rotating unit, enables multi-degree-of-freedom movement of the pressure scanner in the longitudinal, transverse, and rotational directions. The longitudinal telescopic rod adjusts the contact distance between the pressure scanner and the pipe wall, enabling inspection at pipe joints. The transverse telescopic rod can be extended radially along the pipe to cover different pipe sections. The rotating unit drives the scanner to rotate around the transverse rod for 360° coverage. This flexible movement ensures the pressure scanner can conduct comprehensive, no-blind-angle inspections of the pipe interior. During scanning path planning, a camera monitors the pipe topography in real time, dynamically adjusting the path based on the actual conditions within the pipe. This allows the device to adapt to pipelines of varying shapes and diameters, as well as potential obstructions or special structures within them, ensuring a smooth inspection process and the integrity of test results. Data collected by the pressure scanner is transmitted in real time to the control module via the communication module. The control module rapidly processes this data, generates a test report, and identifies abnormal pressure values ​​and their corresponding coordinates. This real-time data processing and feedback mechanism enables operators to promptly understand pipeline pressure conditions and quickly locate problem areas, providing an accurate basis for subsequent maintenance and repair work. The control module can also send alarms to terminals via the communication module to alert personnel of abnormal pipeline pressure conditions. This enables remote monitoring of pipeline pressure conditions, allowing operators to monitor pipeline operating status even when not on-site, improving operational safety and management efficiency. The travel mechanism utilizes a chain, sprocket, and driven pulley combination. A first motor drives the rear sprocket, which in turn drives the chain and front sprocket, ensuring stable movement of the device within the pipeline. Multiple driven pulleys mounted on the inner side of the chain effectively support the chain, preventing it from loosening or falling off, ensuring smooth operation of the travel mechanism and enabling the device to enter and exit the pipeline smoothly. The bilaterally symmetrical design of the travel mechanism ensures more balanced forces within the pipeline, avoiding travel deviation or instability caused by structural asymmetry and improving the device's reliability and passability within the pipeline. A baffle is installed at the entrance of the measurement chamber. During testing, the baffle opens, allowing the pressure-sensitive diaphragm to contact the measured environment, achieving pressure equilibrium between the measurement chamber and the measured environment. This not only prevents impurities from entering the measurement chamber and affecting measurement accuracy, but also reduces interference from external environmental factors such as airflow and temperature fluctuations, ensuring a relatively stable measurement environment. A chemical getter within the reference chamber continuously absorbs residual gases, maintaining a high vacuum environment.During extended testing, the vacuum level in the reference chamber remains stable despite the gradual increase in gas volume, ensuring stable and reliable pressure measurement. Frequent vacuum calibration or maintenance is unnecessary, enhancing the device's practicality and adaptability. Microchannels are etched into the capacitive electrode substrate, embedding a 50μm diameter polyimide-coated optical fiber, achieving strain measurement resolution of 1με. The magnetic wheel conforms to the surface of the metal pipe, enhancing its climbing capability. The pneumatic nozzle utilizes the pipe's vacuum to achieve recoil propulsion, addressing the endurance issues of traditional wheel-based structures in extremely long pipes. A PID controller dynamically adjusts the magnetic force distribution to prevent frictional losses caused by local overload. When abnormal airflow is detected (ΔP > 5kPa), the baffle automatically deforms to form a fluid guide structure, reducing the impact of turbulent flow on the pressure-sensing diaphragm. A Ni-Ti-Cu alloy sheet, combined with a temperature sensor, achieves closed-loop control of the opening, with a response time of <50ms. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic diagram of the structure of an unmanned aerial vehicle (UAV) device used for pressure measurement in vacuum pipeline operations; Figure 2 This is a schematic diagram of the structure of the drone-mounted equipment used for pressure measurement in vacuum pipeline operations from another perspective; Figure 3 It is a schematic diagram of the pressure scanner structure; The names of the components in the figure are: 1. Walking structure; 2. Working platform; 3. Pressure scanner; 4. Moving assembly; 5. Control room; 6. Camera; 7. Chain; 8. Front sprocket; 9. Rear sprocket; 10. Driven wheel; 11. Longitudinal telescopic rod; 12. Horizontal telescopic rod; 13. Second motor; 14. Driving gear; 15. Driven gear; 16. First support rod; 17. Second support rod; 18. Pressure-sensitive diaphragm; 19. Measuring cavity; 20. Reference cavity; 21. Capacitive electrode structure; 22. Sensor; 23. Chemical getter; 24. Baffle. DETAILED DESCRIPTION

[0018] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention. Example 1

[0019] This example discloses an unmanned aerial vehicle device for measuring pressure in vacuum pipeline operation, a measuring method, a segment joint defect identification device and an identification method thereof, see Figures 1 to 3An unmanned aerial vehicle (UAV) device for measuring pressure in vacuum pipeline operation includes a walking structure 1, an operating platform 2 is provided above the walking structure 1, a pressure detection assembly is installed on the operating platform 2, and the pressure detection assembly includes multiple pressure scanners 3 to form multiple measurement channels. The pressure scanners 3 are mounted on a moving assembly 4 to achieve multi-degree-of-freedom movement of the pressure scanners 3. The pressure scanners 3 are connected to a control module via a communication module to transmit detection data. The control module is installed in a control room 5. At least two cameras 6 are provided above the control room 5. The recording signal output terminals of the cameras 6 are connected to the control module. It also includes a temperature measuring module and a distance measuring module arranged on the working platform; the temperature measuring module includes a thermometer and a vacuum gauge, and the thermometer and vacuum gauge are connected to the host computer to display the temperature and vacuum value detected by the thermometer and vacuum gauge; the distance measuring module includes at least four laser ranging sensors located in the same plane to determine the ellipticity of the pipe segment by measuring the distance between the equipment and the pipe segment.

[0020] The distance measurement module measures the distances to four points (up, down, left, and right) in real time, performs relative comparisons between the measurement results, and estimates the joint defects of the pipe segments through changes in relative values.

[0021] The walking structure 1 is bilaterally symmetrical and includes a front sprocket 8 and a rear sprocket 9 connected by a chain 7. The rear sprocket 9 is connected to a first motor that drives the chain 7 to rotate. A plurality of driven wheels 10 are installed inside the chain 7 to support the chain 7.

[0022] The mobile assembly 4 includes a longitudinal telescopic rod 11 connected to the pressure scanner 3, the longitudinal telescopic rod 11 is installed at the movable end of the transverse telescopic rod 12, and the other end of the transverse telescopic rod 12 is installed with a rotating part, which includes a second motor 13. The power output shaft of the second motor 13 is connected to the driving gear 14, the driving gear 14 engages with the driven gear 15, and the driven gear 15 is installed at the other end of the transverse telescopic rod 12.

[0023] A first support rod 16 is provided above the working platform 2 and below the transverse telescopic rod 12 , and a second support rod 17 is installed above the second motor 13 to support the transverse telescopic rod 12 .

[0024] The pressure scanner includes a pressure-sensitive diaphragm 18, a measuring cavity 19 in contact with the environment to be measured is set on one side of the pressure-sensitive diaphragm 18, and a reference cavity 20 in a high vacuum environment is set on the other side. A capacitor electrode structure 21 whose capacitance value can change with the vacuum degree is set in the reference cavity 20. The capacitor electrode structure includes two electrodes to form a capacitor to measure pressure. The capacitor is connected to a sensor 22 for detecting changes in capacitance and converting it into an electrical signal.

[0025] A chemical getter 23 is also provided in the reference cavity 20 for absorbing residual gas to maintain a high vacuum environment.

[0026] A baffle 24 is installed at the entrance of the measuring chamber 19.

[0027] A method for measuring pressure in a vacuum pipeline operation, applicable to the above-mentioned unmanned aerial vehicle (UAV) device for measuring pressure in a vacuum pipeline operation, comprises the following steps: (1) Equipment positioning: Drive the walking structure into the vacuum pipe, obtain the internal image of the pipe in real time through the camera, identify the pipe wall features, and determine the initial detection starting point; (2) Scanning path planning: The contact distance between the pressure scanner and the pipe wall is adjusted by the longitudinal telescopic rod; the pressure scanner is allowed to enter the joint of the pipe segments for detection; the transverse telescopic rod is used to expand radially along the pipe to cover different areas; the scanner is driven to rotate around the transverse telescopic rod by the rotating part to achieve 360° coverage; at the same time, the pipeline morphology is monitored in real time by the camera, and the path is adjusted dynamically; (3) Pressure detection and data acquisition: After the mobile component drives the pressure scanner to contact the seam of the pipe sheet, multiple pressure scanners synchronously collect data, the baffle opens, the pressure-sensitive diaphragm contacts the environment to be measured, and the pressure of the measuring cavity and the environment to be measured are balanced; the pressure difference between the reference cavity and the measuring cavity causes the pressure-sensitive diaphragm to deform, causing the capacitance between the electrode sheets to change. The sensor converts the capacitance signal into a pressure value and transmits it to the control module in real time; (4) Result output: The control module generates a test report, marking the abnormal pressure value and area coordinates; sends an alarm to the terminal through the communication module; after completing the test, the walking structure moves along the pipeline and returns to the starting point.

[0028] In step (1), driving the walking structure to enter the vacuum pipe includes: starting the first motor to drive the rear sprocket to rotate, and then the transmission chain and the front sprocket to rotate, so that the walking mechanism enters the vacuum pipe. During the process, multiple driven wheels rotate accordingly to support the chain.

[0029] A device for identifying defects in segment seams in vacuum pipelines, installed on an unmanned aerial vehicle (UAV) used for pressure measurement in the operation of the aforementioned vacuum pipelines, comprises a multimodal composite drive mechanism capable of driving the identification device. The identification device also comprises a multi-physics coupling detection mechanism comprising a pressure scanner installed in a measurement chamber, with an adaptive sealing mechanism installed at the opening of the measurement chamber. The measurement result output terminal of the pressure scanner is connected to a control room, in which a quantum vacuum reference mechanism and a heterogeneous computing mechanism are located. The multi-modal composite drive mechanism includes a magnetic attraction wheel assembly adapted to the surface of the metal pipe and a pneumatic propulsion mechanism for recoil propulsion, wherein the pneumatic propulsion mechanism is provided with a pneumatic nozzle; the magnetic attraction wheel assembly is internally integrated with an electromagnet array, which is connected to a PID controller to dynamically adjust the distribution of magnetic attraction force to prevent friction loss caused by local overload; The multi-physics field coupling detection mechanism also includes an FBG fiber grating array integrated in the pressure scanner to measure the strain field distribution of the pipe wall; the FBG capacitor electrode substrate is etched with a microchannel, and the microchannel is embedded with a polyimide-coated optical fiber with a diameter of 50 μm; The adaptive sealing mechanism includes a shape memory alloy baffle that can be deformed to form a fluid guiding structure to reduce the impact of turbulence on the pressure-sensitive diaphragm; the shape memory alloy baffle includes a Ni-Ti-Cu alloy sheet; The quantum vacuum reference mechanism includes a cold atom interferometer integrated in a control chamber to establish a quantized vacuum pressure reference; The heterogeneous computing mechanism includes a hybrid architecture of FPGA+GPU, wherein the FPGA includes multiple channels to realize parallel acquisition of capacitance signals, and the GPU includes an accelerated convolutional neural network to identify seam defects in real time.

[0030] A method for identifying defects in pipe segment joints in a vacuum pipeline, applicable to the above-mentioned device for identifying defects in pipe segment joints in a vacuum pipeline, comprises the following steps: (1) Multi-modal composite drive: An electromagnet array is integrated inside the sprocket to form a magnetic adsorption wheel group that adapts to the surface of the metal pipe. The magnetic attraction force distribution is dynamically adjusted through the PID controller to prevent friction loss caused by local overload. The magnetic adsorption wheel group and pneumatic propulsion are used to achieve walking and enhance climbing ability. The pneumatic nozzle uses the vacuum environment of the pipe to achieve recoil propulsion. (2) Multi-physics coupling detection: During the multi-modal composite driving process described in step (1), multi-physics coupling detection is performed, and an FBG fiber grating array is integrated in the pressure scanner to synchronously measure the strain field distribution of the pipe wall; a pressure-strain coupling model is established, and the stress concentration coefficient of the joint area is calculated in real time using finite element analysis software; The integrated FBG fiber grating array comprises: etching a micro channel on a capacitor electrode substrate and embedding a polyimide-coated optical fiber with a diameter of 50 μm; (3) Adaptive sealing: During the pressure scanner detection process described in step (2), an adaptive sealing step is performed simultaneously. A shape memory alloy baffle is added to the inlet of the pressure scanner measurement chamber. The shape memory alloy baffle comprises a Ni-Ti-Cu alloy sheet. The shape memory alloy baffle is deformed under the impact of the airflow to form a fluid guide structure to reduce the impact of turbulence on the pressure-sensitive diaphragm. The shape memory alloy baffle cooperates with the temperature sensor to realize closed-loop control of the opening. (4) Establishing a quantized vacuum pressure reference: After the pressure scanner test in step (2) is completed, a cold atom interferometer is integrated in the control room to establish a quantized vacuum pressure reference; the absolute pressure calibration is achieved using the rubidium atom Bose-Einstein condensate (BEC) as a reference standard; the atomic temperature is lowered by a laser cooling device, and the phase shift caused by the vacuum is measured using matter wave interferometry; (5) Heterogeneous computing: Based on the multi-physics field coupling detection structure in step (2) and the quantized vacuum pressure benchmark in step (4), a hybrid architecture processing system based on FPGA+GPU is constructed. The FPGA is responsible for the parallel acquisition of multi-channel capacitance signals, and the GPU accelerates the convolutional neural network to recognize seam defects in real time. A three-dimensional Attention-UNet model is developed and combined with transfer learning to realize defect classification on the NVIDIA Jetson platform.

[0031] Although some preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0032] Obviously, those skilled in the art may make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if such changes and modifications of the present invention fall within the scope of the claims and their equivalents, the present invention is intended to include such changes and modifications.

Claims

1. An unmanned aerial vehicle (UAV) device for measuring pressure in vacuum pipeline operations, characterized by: The device comprises a walking structure, a working platform is provided above the walking structure, a pressure detection assembly is installed on the working platform, the pressure detection assembly includes multiple pressure scanners to form multiple measurement channels, the pressure scanners are installed on the moving assembly to achieve multi-degree-of-freedom movement of the pressure scanners, the pressure scanners are connected to the control module via the communication module to transmit detection data, the control module is installed in the control room, at least two cameras are provided above the control room, and the recording signal output ends of the cameras are connected to the control module; It also includes a temperature measuring module and a distance measuring module arranged on the working platform; the temperature measuring module includes a thermometer and a vacuum gauge, and the thermometer and vacuum gauge are connected to the host computer to display the temperature and vacuum value detected by the thermometer and vacuum gauge; the distance measuring module includes at least four laser ranging sensors located in the same plane to determine the ellipticity of the pipe segment by measuring the distance between the equipment and the pipe segment.

2. The unmanned aerial vehicle (UAV) device for measuring pressure during vacuum pipeline operation according to claim 1, characterized in that: The walking structure is bilaterally symmetrical and includes a front sprocket and a rear sprocket connected by a chain. The rear sprocket is connected to a first motor that drives the chain to rotate. A plurality of driven wheels are installed inside the chain to support the chain.

3. The drone-mounted device for measuring pressure during vacuum pipeline operation according to claim 1, characterized in that: The moving assembly includes a longitudinal telescopic rod connected to the pressure scanner, the longitudinal telescopic rod is installed at the movable end of the transverse telescopic rod, the other end of the transverse telescopic rod is installed with a rotating part, the rotating part includes a second motor, the power output shaft of the second motor is connected to the driving gear, the driving gear meshes with the driven gear, and the driven gear is installed at the other end of the transverse telescopic rod.

4. The drone-mounted device for measuring pressure during vacuum pipeline operation according to claim 1, characterized in that: A first support rod is arranged above the working platform and below the transverse telescopic rod, and a second support rod is installed above the second motor to support the transverse telescopic rod.

5. The drone-mounted device for measuring pressure during vacuum pipeline operation according to claim 1, characterized in that: The pressure scanner includes a pressure-sensitive diaphragm, a measuring cavity in contact with the environment to be measured is set on one side of the pressure-sensitive diaphragm, and a reference cavity in a high vacuum environment is set on the other side. A capacitor electrode structure whose capacitance value can change with the vacuum degree is set in the reference cavity. The capacitor electrode structure includes two electrodes to form a capacitor to achieve pressure measurement. The capacitor is connected to a sensor for detecting changes in capacitance and converting them into electrical signals.

6. The drone-mounted device for measuring pressure during vacuum pipeline operation according to claim 1, characterized in that: A baffle is installed at the entrance of the measuring cavity.

7. A method for measuring pressure in a vacuum pipeline operation, applicable to the unmanned aerial vehicle device for measuring pressure in a vacuum pipeline operation according to any one of claims 1 to 6, characterized in that: The steps include: (1) Equipment positioning: Drive the walking structure into the vacuum pipe, obtain the internal image of the pipe in real time through the camera, identify the pipe wall features, and determine the initial detection starting point; (2) Scanning path planning: The contact distance between the pressure scanner and the pipe wall is adjusted by the longitudinal telescopic rod; the pressure scanner is allowed to enter the joint of the pipe segments for detection; the transverse telescopic rod is used to expand radially along the pipe to cover different areas; the scanner is driven to rotate around the transverse telescopic rod by the rotating part to achieve 360° coverage; at the same time, the pipeline morphology is monitored in real time by the camera, and the path is adjusted dynamically; (3) Pressure detection and data acquisition: After the mobile component drives the pressure scanner to contact the seam of the pipe sheet, multiple pressure scanners synchronously collect data, the baffle opens, the pressure-sensitive diaphragm contacts the environment to be measured, and the pressure of the measuring cavity and the environment to be measured are balanced; the pressure difference between the reference cavity and the measuring cavity causes the pressure-sensitive diaphragm to deform, causing the capacitance between the electrode sheets to change. The sensor converts the capacitance signal into a pressure value and transmits it to the control module in real time; (4) Result output: The control module generates a test report, marking the abnormal pressure value and area coordinates; sends an alarm to the terminal through the communication module; after completing the test, the walking structure moves along the pipeline and returns to the starting point.

8. The method for measuring pressure during operation of a vacuum pipeline according to claim 7, wherein: Driving the walking structure into the vacuum pipe in step (1) includes: starting the first motor to drive the rear sprocket to rotate, and then the transmission chain and the front sprocket to rotate, so that the walking mechanism enters the vacuum pipe. During the process, multiple driven wheels rotate accordingly to support the chain.

9. A device for identifying defects in segment joints in a vacuum pipeline, mounted on the unmanned aerial vehicle for measuring pressure in vacuum pipeline operation according to claim 1, characterized in that: The device comprises a multimodal composite drive mechanism capable of driving the movement of the identification device, the identification device further comprising a multi-physical field coupling detection mechanism, the multi-physical field coupling detection mechanism comprising a pressure scanner installed in a measurement cavity, an adaptive sealing mechanism installed at the opening of the measurement cavity; the measurement result output terminal of the pressure scanner is connected to a control room, and a quantum vacuum reference mechanism and a heterogeneous computing mechanism are installed in the control room; The multi-modal composite drive mechanism includes a magnetic attraction wheel assembly adapted to the surface of the metal pipe and a pneumatic propulsion mechanism for recoil propulsion, wherein the pneumatic propulsion mechanism is provided with a pneumatic nozzle; the magnetic attraction wheel assembly is internally integrated with an electromagnet array, which is connected to a PID controller to dynamically adjust the distribution of magnetic attraction force to prevent friction loss caused by local overload; The multi-physics field coupling detection mechanism also includes an FBG fiber grating array integrated in the pressure scanner to measure the strain field distribution of the pipe wall; the FBG capacitor electrode substrate is etched with a microchannel, and the microchannel is embedded with a polyimide-coated optical fiber with a diameter of 50 μm; The adaptive sealing mechanism includes a shape memory alloy baffle that can be deformed to form a fluid guiding structure to reduce the impact of turbulence on the pressure-sensitive diaphragm; the shape memory alloy baffle includes a Ni-Ti-Cu alloy sheet; The quantum vacuum reference mechanism includes a cold atom interferometer integrated in a control chamber to establish a quantized vacuum pressure reference; The heterogeneous computing mechanism includes a hybrid architecture of FPGA+GPU, wherein the FPGA includes multiple channels to realize parallel acquisition of capacitance signals, and the GPU includes an accelerated convolutional neural network to identify seam defects in real time.

10. A method for identifying defects in pipe segment joints in a vacuum pipeline, applicable to the device for identifying defects in pipe segment joints in a vacuum pipeline according to claim 9, characterized in that: The steps include: (1) Multi-modal composite drive: An electromagnet array is integrated inside the sprocket to form a magnetic adsorption wheel group that adapts to the surface of the metal pipe. The magnetic attraction force distribution is dynamically adjusted through the PID controller to prevent friction loss caused by local overload. The magnetic adsorption wheel group and pneumatic propulsion are used to achieve walking and enhance climbing ability. The pneumatic nozzle uses the vacuum environment of the pipe to achieve recoil propulsion. (2) Multi-physics coupling detection: Multi-physics coupling detection is performed during the multi-modal composite driving process described in step (1), and an FBG fiber grating array is integrated in the pressure scanner to synchronously measure the strain field distribution of the pipe wall; Establish a pressure-strain coupling model and use finite element analysis software to calculate the stress concentration factor of the joint area in real time; The integrated FBG fiber grating array comprises: etching a micro channel on a capacitor electrode substrate and embedding a polyimide-coated optical fiber with a diameter of 50 μm; (3) Adaptive sealing: During the pressure scanner detection process described in step (2), an adaptive sealing step is performed simultaneously. A shape memory alloy baffle is added to the inlet of the pressure scanner measurement chamber. The shape memory alloy baffle comprises a Ni-Ti-Cu alloy sheet. The shape memory alloy baffle is deformed under the impact of the airflow to form a fluid guide structure to reduce the impact of turbulence on the pressure-sensitive diaphragm. The shape memory alloy baffle cooperates with the temperature sensor to realize closed-loop control of the opening. (4) Establishing a quantized vacuum pressure reference: After the pressure scanner test in step (2) is completed, a cold atom interferometer is integrated in the control room to establish a quantized vacuum pressure reference; the absolute pressure calibration is achieved using the rubidium atom Bose-Einstein condensate (BEC) as a reference standard; the atomic temperature is lowered by a laser cooling device, and the phase shift caused by the vacuum is measured using matter wave interferometry; (5) Heterogeneous computing: Based on the multi-physics field coupling detection structure in step (2) and the quantized vacuum pressure benchmark in step (4), a hybrid architecture processing system based on FPGA+GPU is constructed. The FPGA is responsible for the parallel acquisition of multi-channel capacitance signals, and the GPU accelerates the convolutional neural network to recognize seam defects in real time. A three-dimensional Attention-UNet model is developed and combined with transfer learning to realize defect classification on the NVIDIA Jetson platform.

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