Pipeline magnetic flux leakage internal detection system and method with autonomous disaster recovery storage function

Abstract

The application relates to the technical field of pipeline magnetic flux leakage internal detection, in particular to a pipeline magnetic flux leakage internal detection system and method with autonomous disaster recovery storage function, which comprises a central electronic package, a data fusion module and a plurality of intelligent junction boxes; when communication link state data determines that the intelligent junction box and the central electronic package have a communication failure, a signal path switching module sends a switching control signal to establish a data path with an independent memory module; the intelligent junction box autonomously receives sensor data and attitude information, and acquires a timestamp from the independent memory module to form a data frame with space-time context; and the data frame is stored in the independent memory module. The system collects data through the central electronic package, the data fusion module and the intelligent junction box; when a fault occurs, the intelligent junction box autonomously stores the data frame with space-time context; and the data fusion module integrates the data, so that the problem of broken detection data set after the pipeline magnetic flux leakage internal detector fails is solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of pipeline magnetic flux leakage internal detection, in particular to a pipeline magnetic flux leakage internal detection system and method with autonomous disaster recovery storage function. BACKGROUND

[0002] As the core infrastructure for oil and gas resource transportation, pipelines are subject to complex working conditions such as high temperature, high pressure, internal medium corrosion and external environmental impact during long-term operation. Defects on the inner wall of the pipeline may cause leakage accidents, resulting in economic losses and safety risks. Pipeline magnetic flux leakage internal detection technology uses a magnetic flux leakage internal detector to run inside the pipeline and collects sensor signals related to the defects on the inner wall of the pipeline using the principle of magnetic flux leakage, thereby realizing the positioning and evaluation of pipeline defects. It is a key technical means to ensure the safe operation of the pipeline. The current pipeline magnetic flux leakage internal detector needs to integrate data acquisition, transmission and processing functions to cope with complex scenarios such as sudden changes in pipeline diameter, foreign object extrusion and severe vibration. The reliability of its data acquisition architecture directly determines the success or failure of the detection task and the integrity of the data.

[0003] The data acquisition architecture of the pipeline magnetic flux leakage internal detection system adopts a master-slave centralized control model, around which two types of implementation schemes are formed. Scheme one is a passive junction box scheme, which only integrates analog signal conditioning circuits and level conversion functions, has no autonomous data processing or decision-making capabilities, and all data acquisition, processing and storage logic are completed by the central electronic package. The junction box only serves as a preliminary conditioning and forwarding node for sensor signals. Scheme two is a primary intelligent junction box scheme, which integrates a microcontroller in the junction box, has basic data processing capabilities such as digital filtering and data packaging, but all operations of the microcontroller such as starting acquisition, stopping acquisition and data uploading strictly depend on the instructions of the central electronic package, has no independent decision-making and autonomous working capabilities, and only serves as an execution unit of the central electronic package.

[0004] In the master-slave centralized control model, the central electronic package is the only decision-making and control core, and the junction box has no autonomous working capabilities. First, if the central electronic package fails or the communication link is interrupted, the detection data after the fault point will be completely lost, and data disaster recovery cannot be achieved. Second, the data acquisition and storage lack spatial and temporal context integrity. The existing junction box does not have independent attitude sensing and time stamp management capabilities. Even if it has basic data processing functions, it cannot generate complete data with attitude information and time stamps after being separated from the central electronic package, which makes it difficult to recover and utilize the subsequent data, ultimately leading to the risk of broken detection data set and affecting the accuracy of pipeline defect positioning and evaluation. SUMMARY

[0005] The present application provides a pipeline magnetic flux leakage internal detection system and method with autonomous disaster recovery storage function to solve the problem of broken detection data set after the pipeline magnetic flux leakage internal detector fails.

[0006] In a first aspect, the application provides a pipeline magnetic flux leakage internal detection system with autonomous disaster recovery storage function, comprising a central electronic package, a data fusion module and a plurality of intelligent junction boxes.

[0007] The central electronic package is configured to send an enabling signal for collecting sensor data to the intelligent junction box.

[0008] The intelligent junction box comprises an environment perception module, a decision core module, an independent memory module and a signal path switching module.

[0009] The environment perception module is configured to generate attitude information and communication link state data for representing spatial reference and motion context.

[0010] The decision core module is configured to:

[0011] receive the enabling signal, upload the sensor data to the central electronic package via the signal path switching module, and monitor the communication link state data from the environment perception module.

[0012] If it is determined that the intelligent junction box and the central electronic package have communication failure based on the communication link state data, a switching control signal is sent to the signal path switching module to establish a data path with the independent memory module.

[0013] The sensor data and the attitude information are received, and a time stamp is obtained from the independent memory module.

[0014] The sensor data, the attitude information and the time stamp are encapsulated to form a data frame with space-time context.

[0015] The data frame is stored in the independent memory module.

[0016] The data fusion module is configured to fuse the sensor data stored in the central electronic package with the data frame stored in the independent memory module of at least one intelligent junction box to generate a pipeline detection data set.

[0017] Optionally, the environment perception module comprises an attitude sensing unit and a communication state monitoring unit.

[0018] The attitude sensing unit is configured to detect mileage increment data, running speed data and three-axis attitude data of the pipeline internal detection device, and generate attitude information.

[0019] The communication state monitoring unit is configured to collect heartbeat communication packet transmission state, signal integrity parameters and communication port level signals between the intelligent junction box and the central electronic package, and generate communication link state data.

[0020] Optionally, the decision core module is further configured to:

[0021] When the preset number N of heartbeat communication packets from the central electronic package are continuously lost by detecting the communication link state data, and the abnormal state of the communication port level signal lasts for more than the preset time threshold T, a switching control signal is generated.

[0022] Optionally, the independent memory module comprises a non-volatile storage unit and a time unit.

[0023] The non-volatile storage unit is an eMMC or MicroSD card; the time accuracy of the time unit is not less than millisecond level, and the time stamp is time sequence information generated by the time unit.

[0024] The decision core module is further configured to compress the data frame by using a lightweight lossless compression algorithm before storing the data frame.

[0025] Optionally, the signal path switching module is configured to:

[0026] Receive the switching control signal of the decision core module, disconnect the independent memory module from the bus connected to the central electronic package, and switch the independent memory module to the bus connected to the decision core module.

[0027] Optionally, the signal path switching module is further configured to:

[0028] Generate a hardware trigger signal by detecting the voltage of the VBUS pin of the USB interface.

[0029] Based on the hardware trigger signal, switch the independent memory module to the data path for communication with the external device.

[0030] When it is detected that the USB device is unplugged, disconnect the data path for communication with the external device, and restore the data path between the independent memory module and the decision core module.

[0031] Optionally, the data fusion module is further configured to:

[0032] Preprocess the sensor data stored in the central electronic package and the data frame stored in the independent memory module, decompress the data frame, and extract the sensor data, attitude information and time stamp in the data frame.

[0033] Align the time axis of the sensor data in the independent memory module and the sensor data in the central electronic package based on the time stamp, and complete the spatial position calibration combined with the attitude information.

[0034] Splice the aligned and calibrated sensor data by using a data splicing algorithm, and remove abnormal data segments by redundancy check to generate a complete and continuous pipeline detection data set.

[0035] Optionally, the decision core module is further configured to:

[0036] When the intelligent terminal box and the central electronic package communicate normally, record the baseline parameters sent by the central electronic package, including the period of the enable signal, the acquisition frequency of the sensor data and the data upload timing.

[0037] When the switching control signal is generated, the acquisition timing is generated based on the baseline parameters, and the sensor data and the attitude information are acquired.

[0038] Optionally, it further comprises an emergency energy module.

[0039] The emergency energy module is used to provide power for the decision core module and the independent memory module when the decision core module determines that the main power supply fails.

[0040] In the second aspect, the application provides a pipeline magnetic leakage internal detection method with autonomous disaster recovery storage function, which is applied to the pipeline magnetic leakage internal detection system with autonomous disaster recovery storage function in the first aspect, and comprises:

[0041] Obtain the enable signal sent by the central electronic package to the plurality of intelligent terminal boxes for acquiring sensor data.

[0042] Generate attitude information and communication link state data for representing spatial reference and motion context through the environment perception module.

[0043] Based on the enable signal, upload the sensor data to the central electronic package through the signal path switching module.

[0044] Monitor the communication link state data from the environment perception module.

[0045] Determine whether the communication failure occurs between the intelligent terminal box and the central electronic package based on the communication link state data.

[0046] When it is determined that the communication failure occurs, send a switching control signal to the signal path switching module.

[0047] In response to the switching control signal, establish a data path between the decision core module and the independent memory module through the signal path switching module.

[0048] Receive the sensor data and the attitude information.

[0049] Obtain the time stamp from the independent memory module.

[0050] Encapsulate the sensor data, the attitude information and the time stamp to form a data frame with space-time context, and store the data frame in the independent memory module.

[0051] Fuse the sensor data stored in the central electronic package and the data frame stored in the independent memory module of at least one intelligent terminal box through the data fusion module to generate a pipeline detection data set.

[0052] According to the technical scheme, the application provides a pipeline magnetic flux leakage internal detection system and method with autonomous disaster recovery storage function. The pipeline magnetic flux leakage internal detection system with autonomous disaster recovery storage function comprises a central electronic package, a data fusion module and a plurality of intelligent junction boxes. The central electronic package is configured to send an enabling signal for collecting sensor data to the intelligent junction boxes. The intelligent junction boxes comprise an environment perception module, a decision core module, an independent memory module and a signal path switching module. The environment perception module is configured to generate attitude information and communication link state data for representing spatial reference and motion context. The decision core module is configured to receive the enabling signal, upload the sensor data to the central electronic package via the signal path switching module, and monitor the communication link state data from the environment perception module. When it is determined that the intelligent junction box and the central electronic package have communication failure based on the communication link state data, the decision core module sends a switching control signal to the signal path switching module to establish a data path with the independent memory module, receives the sensor data and the attitude information, and obtains a time stamp from the independent memory module. The sensor data, the attitude information and the time stamp are encapsulated to form a data frame with space-time context. The data frame is stored in the independent memory module. The data fusion module is configured to fuse the sensor data stored in the central electronic package and the data frame stored in the independent memory module of at least one intelligent junction box to generate a pipeline detection data set. In the system, the central electronic package collects data in normal times, the intelligent junction box stores the data frame with space-time context autonomously in case of failure, and the data fusion module integrates the data, so that the problem of broken detection data set after the pipeline magnetic flux leakage internal detector fails is solved. BRIEF DESCRIPTION OF DRAWINGS

[0053] In order to more clearly illustrate the technical scheme of the application, the drawings needed in the embodiments will be briefly introduced. Obviously, other drawings can also be obtained by those skilled in the art without creative labor.

[0054] Figure 1 One of the structure schematic diagrams of the pipeline magnetic flux leakage internal detection system with autonomous disaster recovery storage function provided by the embodiments of the application;

[0055] Figure 2 The second structure schematic diagram of the pipeline magnetic flux leakage internal detection system with autonomous disaster recovery storage function provided by the embodiments of the application;

[0056] Figure 3 The structure schematic diagram of the environment perception module provided by the embodiments of the application;

[0057] Figure 4 The structure schematic diagram of the independent memory module provided by the embodiments of the application;

[0058] Figure 5 A pipeline magnetic flux leakage internal detection method flow chart with autonomous disaster tolerance storage function is provided for the embodiments of the present application.

[0059] It is illustrated that:

[0060] Among them, 11, central electronic package; 12, intelligent terminal box; 121, environment perception module; 1211, attitude sensing unit; 1212, communication state monitoring unit; 122, decision core module; 123, independent memory module; 1231, timing unit; 1232, non-volatile storage unit; 124, signal path switching module; 13, data fusion module; 14, emergency energy module. DETAILED DESCRIPTION

[0061] The embodiments will be described in detail below, examples of which are shown in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following embodiments do not represent all implementations consistent with the present application. They are merely examples of systems and methods consistent with some aspects of the present application.

[0062] The pipeline magnetic flux leakage internal detector is a complex system operating inside the oil and gas pipeline with high temperature, high pressure, high impact and strong vibration. The existing data acquisition architecture generally adopts a master-slave centralized control model, with the central electronic package 11 as the decision center, responsible for all decisions, timing control and data aggregation; multiple terminal boxes as nerve endings, only responsible for the preliminary conditioning and forwarding of sensor signals. The master-slave centralized control model has a big problem under the complex working conditions in the pipeline. When the central electronic package 11 and its communication link fail, all data after the fault point will be lost, causing irreversible economic loss and safety risk.

[0063] To solve the problem of broken detection data set after the pipeline magnetic flux leakage internal detector fails, referring to Figure 1 The embodiments of the present application provide a pipeline magnetic flux leakage internal detection system with autonomous disaster tolerance storage function, comprising:

[0064] The central electronic package 11, the data fusion module 13 and the multiple intelligent terminal boxes 12.

[0065] The central electronic package 11 is configured to send an enabling signal for collecting sensor data to the intelligent terminal box 12.

[0066] The central electronic package 11 sends an enabling signal to each intelligent junction box 12. The enabling signal is an instruction to trigger sensor data collection. The central electronic package 11 generates and sends the enabling signal according to a preset pipeline detection scheme at a fixed period, and explicitly informs the intelligent junction box 12 when to start sensor data collection, the collection duration, and the data upload node.

[0067] The intelligent junction box 12 includes an environment perception module 121, a decision core module 122, an independent memory module 123, and a signal path switching module 124.

[0068] The environment perception module 121 is configured to generate attitude information and communication link state data for representing spatial reference and motion context.

[0069] The decision core module 122 is configured to:

[0070] receive the enabling signal, upload the sensor data to the central electronic package 11 via the signal path switching module 124, and monitor the communication link state data from the environment perception module 121.

[0071] If a communication failure occurs between the intelligent junction box 12 and the central electronic package 11 based on the communication link state data, a switching control signal is sent to the signal path switching module 124 to establish a data path with the independent memory module 123.

[0072] receive the sensor data and the attitude information, and obtain a timestamp from the independent memory module 123.

[0073] encapsulate the sensor data, the attitude information, and the timestamp to form a data frame with spatio-temporal context.

[0074] store the data frame in the independent memory module 123.

[0075] The data fusion module 13 is configured to fuse the sensor data stored in the central electronic package 11 with the data frame stored in the independent memory module 123 of at least one intelligent junction box 12 to generate a pipeline detection data set.

[0076] Specifically, the environment perception module 121 generates attitude information and communication link state data for representing spatial reference and motion context; the decision core module 122, after receiving the enable signal of the central electronic package 11, uploads the data collected by the sensor to the central electronic package 11 through the signal path switching module 124, while continuously monitoring the communication link state. If a communication failure is determined, a switching control signal is sent to the signal path switching module 124 to establish a data path with the independent memory module 123, and then receive the sensor data and attitude information, encapsulate into a data frame with space-time context and store in combination with the time stamp provided by the independent memory module 123; the data fusion module 13 then fuses the sensor data stored in the central electronic package 11 and the data frame with space-time context stored in the independent memory module 123 of the intelligent junction box 12 to generate a complete and continuous pipeline detection data set, which not only guarantees the collaborative collection of data under normal working conditions, but also solves the problem of data loss when the communication fails, and meets the stringent requirements of complex working conditions in the pipeline on the integrity of the detection data.

[0077] It can be understood that the attitude information and the time stamp together constitute the space-time context of the data frame, so that after the central electronic package 11 fails to communicate, the stored data is no longer isolated sensor readings, but a complete information data block with a clear spatial position and attitude orientation. This ensures that single-point data still has independent analyzability and positionability when it is separated from the main system.

[0078] In the data fusion stage: the attitude information is the basis for data stitching and reconstructing fragmented data into a continuous and complete data set. The attitude information enables the data fusion module 13 to calibrate and splice the data of the central electronic package 11 and the backup data of each intelligent junction box 12 in spatial position based on the spatial motion trajectory.

[0079] In some embodiments, referring to Figure 3 , the environment perception module 121 includes an attitude sensing unit 1211 and a communication state monitoring unit 1212.

[0080] The attitude sensing unit 1211 is configured to detect the incremental distance data, running speed data and three-axis attitude data of the pipeline detection device, and generate attitude information.

[0081] The communication state monitoring unit 1212 is configured to collect the transmission state of the heartbeat communication package between the intelligent junction box 12 and the central electronic package 11, the signal integrity parameter and the communication port level signal, and generate communication link state data.

[0082] Specifically, to realize autonomous disaster recovery under complex working conditions, the intelligent terminal box 12 needs to master its own running state and communication situation. The environment perception module 121 includes a posture sensing unit 1211 and a communication state monitoring unit 1212. Among them, the posture sensing unit 1211 detects the mileage increment data, running speed data and three-axis attitude data of the detection equipment in the pipeline, and the generated attitude information provides the spatial context for the data frame; the communication state monitoring unit 1212 continuously collects the communication data between the intelligent terminal box 12 and the central electronic package 11, including the transmission state of the heartbeat communication package, the signal integrity parameter and the communication port level signal, and the generated communication link state data can provide the decision basis for the decision core module 122 to judge the communication failure, avoid misjudgment of communication failure due to a single parameter, ensure that autonomous disaster recovery mode is triggered only when real disconnection occurs, adapt to the unstable communication scene caused by high temperature and strong vibration in the pipeline, and ensure the integrity of the detection data and the effective execution of the disaster recovery response.

[0083] In some embodiments, the decision core module 122 is also configured to:

[0084] When it is detected through the communication link state data that a preset number N of heartbeat communication packages from the central electronic package 11 are continuously lost, and the abnormal state of the communication port level signal lasts for more than a preset time threshold T, a switching control signal is generated.

[0085] Specifically, in the pipeline magnetic flux leakage detection scene, there are complex working conditions such as transient electromagnetic interference and slight vibration in the pipeline, which can cause transient interruption of communication between the intelligent terminal box 12 and the central electronic package 11. If only a single abnormal signal is used to judge the communication failure, it is easy to trigger false switching and affect normal detection. Therefore, a double condition judgment mechanism is used to judge the communication failure. When the environment perception module 121 of the intelligent terminal box 12 continuously collects the communication link state data, the decision core module 122 analyzes the communication link state data, and when it is detected that a preset number N of heartbeat communication packages issued by the central electronic package 11 are continuously lost, and the abnormal state of the communication port level signal is monitored simultaneously for more than a preset time threshold T, it is determined that the communication failure occurs, and then a switching control signal is generated.

[0086] Among them, the value of N can be set according to the response speed of the detection system and the pipeline working condition, for example, the value of N is set to 5 to 10, and the value of T needs to adapt to the duration of the interference in the pipeline, for example, the value of T is set to 1 second to 3 seconds. The double judgment logic can effectively filter the false failure signal caused by transient interference, avoid mode false switching, ensure that the intelligent terminal box 12 only switches to the autonomous disaster recovery mode when the central electronic package 11 is really disconnected, prevent data loss, and maintain the continuous operation of the system detection function, adapt to the complex and changeable communication environment in the pipeline.

[0087] In some embodiments, referring to Figure 4The independent memory module 123 comprises a non-volatile storage unit 1232 and a timing unit 1231.

[0088] The non-volatile storage unit 1232 is an embedded multimedia card (eMMC) or a MicroSD card; the timing unit 1231 has a time accuracy of no less than a millisecond level, and the timestamp is timing information generated by the timing unit 1231.

[0089] The decision core module 122 is further configured to compress the data frame by using a lightweight lossless compression algorithm before storing the data frame.

[0090] The intelligent junction box 12 needs to store the data frame of the space-time context for a long time when the communication fails, and needs to ensure that the data storage efficiency and time accuracy are adapted to the subsequent data fusion requirements. Therefore, in some embodiments, the independent memory module 123 adopts a combination design of a non-volatile storage unit 1232 and a timing unit 1231. Specifically, the non-volatile storage unit 1232 is selected from an eMMC or a MicroSD card, both of which have the characteristics of large capacity and anti-vibration, and can adapt to the working conditions of severe vibration in the pipeline to avoid data loss due to unstable storage medium; the timing unit 1231 has a time accuracy of no less than a millisecond level, and can generate a timestamp with a millisecond level accuracy, so as to ensure that the data frame can accurately mark the collection time and provide a basis for subsequent time axis alignment with the central electronic package 11.

[0091] At the same time, considering that the pipeline detection data is large, if directly stored, it will occupy a large amount of storage space. Therefore, before storing the data frame, the decision core module 122 will process the data frame by using a lightweight lossless compression algorithm, so as to reduce the data volume, prolong the effective storage time of the independent memory module 123, and avoid missing detection data due to insufficient storage space, without losing the accuracy of sensor data, attitude information and timestamp.

[0092] In some embodiments, the signal path switching module 124 is configured to:

[0093] receive the switching control signal of the decision core module 122, and switch the independent memory module 123 from the bus connected with the central electronic package 11 to the bus connected with the decision core module 122.

[0094] When the intelligent terminal box 12 communicates normally with the central electronic package 11, the independent memory module 123 needs to keep connected with the central electronic package 11 through the shared bus to synchronously receive the configuration information of the central electronic package 11 or backup the part of data issued by the central electronic package 11. When the communication between the intelligent terminal box 12 and the central electronic package 11 fails due to the working conditions such as severe vibration and foreign matter extrusion in the pipeline, if the independent memory module 123 is still mounted on the original shared bus, not only the control instruction of the decision core module 122 cannot be received, but also the data transmission is abnormal due to bus conflict. Therefore, the signal path switching module 124 is configured to: after receiving the switching control signal issued by the decision core module 122, perform bus disconnection and switching operation, first disconnect the independent memory module 123 from the shared bus connected with the central electronic package 11 to avoid bus signal interference when the communication fails; and then re-mount the independent memory module 123 to the special bus directly connected with the decision core module 122 to establish the data path between the decision core module 122 and the independent memory module 123. After the communication fails, the decision core module 122 can transmit the data frame with space-time context to the independent memory module 123, and at the same time prevent the original bus abnormality from affecting the data storage, so as to ensure the stability and reliability of the data storage of the intelligent terminal box 12 in the self-contained disaster recovery mode.

[0095] In some embodiments, the signal path switching module 124 is further configured to:

[0096] A hardware trigger signal is generated by detecting the voltage of the VBUS pin of the USB interface.

[0097] Based on the hardware trigger signal, the independent memory module 123 is switched to the data path for communicating with the external device.

[0098] When it is detected that the USB device is unplugged, the data path for communicating with the external device is disconnected, and the data path between the independent memory module 123 and the decision core module 122 is restored.

[0099] After the pipeline magnetic leakage detection task is completed, when the staff needs to export the space-time context data frame stored in the independent memory module 123 of the intelligent terminal box 12, the signal path switching module 124 will execute the data export process.

[0100] When the worker connects the USB device to the USB interface of the intelligent junction box 12, the signal path switching module 124 detects the voltage change of the VBUS pin of the USB interface in real time and generates a hardware trigger signal; based on the hardware trigger signal, the signal path switching module 124 switches the data path of the independent memory module 123 from the original connection state with the decision core module 122 to the communication path with the external USB device. At this time, the intelligent junction box 12 directly presents as a standard mass storage device (Mass Storage Device) form, which can be a U disk. The worker can quickly obtain the backup data in the independent memory module 123 through a conventional file reading operation, realizing the data export function of plug and play.

[0101] After the data export is completed, the worker removes the USB device, and the signal path switching module 124 detects the removal of the USB device, and then disconnects the communication path with the external device, and restores the data path of the independent memory module 123 and the decision core module 122, so that the intelligent junction box 12 returns to the standby detection state, providing a path guarantee for data acquisition, storage in the next pipeline leakage detection task, and autonomous disaster recovery function in case of failure.

[0102] In some embodiments, the data fusion module 13 is also configured to:

[0103] Preprocess the sensor data stored in the central electronic package 11 and the data frames stored in the independent memory module 123, decompress the data frames and extract the sensor data, attitude information and time stamp in the data frames.

[0104] Align the time axis of the sensor data in the independent memory module 123 with the sensor data in the central electronic package 11 based on the time stamp, and complete the spatial position calibration combined with the attitude information.

[0105] Splice the aligned and calibrated sensor data through a data stitching algorithm, and remove abnormal data segments through redundancy check to generate a complete and continuous pipeline detection data set.

[0106] Specifically, when the central electronic package 11 returns to normal or the detection task is completed, the data fusion module 13 first preprocesses the sensor data stored in the central electronic package 11 and the space-time context data frames stored in the independent memory module 123. The data frames can be decompressed to extract the sensor data, attitude information and time stamp in the data frames, ensuring that the data of the central electronic package 11 and the data extracted locally by the intelligent junction box 12 are unified in format and complete in information.

[0107] Subsequently, based on the timestamps, the sensor data in the independent memory module 123 is time-aligned with the sensor data in the central electronic package 11 on the timeline, while combining the attitude information to complete the spatial position calibration, corresponding to the same physical position of the pipeline detection, avoiding the spatio-temporal deviation caused by different data sources.

[0108] Finally, the aligned and calibrated sensor data is stitched through a data stitching algorithm, and a redundant verification mechanism is simultaneously started to eliminate abnormal data segments caused by working condition interference, and finally a pipeline detection data set covering the entire detection path of the pipeline, continuous and accurate data is generated, providing reliable data support for subsequent pipeline defect positioning, corrosion degree evaluation and other analysis work, solving the problem of data breakage during the failure of the central electronic package 11.

[0109] Among them, the data stitching algorithm first analyzes the characteristics and relevance of the data, and through matching and interpolation technology, the sensor data segment of the central electronic package 11 that has completed alignment and calibration is connected with the sensor data segment of the independent memory module 123. In the splicing process, the data stitching algorithm dynamically adjusts the weight and fusion ratio of the data segment to ensure smooth transition of the data at the splicing site and avoid data mutation or information loss. At the same time, the data stitching algorithm also has strong abnormal processing capability, which can automatically identify and eliminate abnormal data segments caused by working condition interference.

[0110] In some embodiments, the decision core module 122 is also configured to:

[0111] When the intelligent junction box 12 communicates normally with the central electronic package 11, record the baseline parameters issued by the central electronic package 11, the baseline parameters include the period of the enable signal, the acquisition frequency of the sensor data and the data upload timing.

[0112] After generating the switching control signal, generate the acquisition timing based on the baseline parameters, acquire the sensor data and the attitude information.

[0113] Specifically, when the intelligent terminal box 12 communicates normally with the central electronic package 11, the decision core module 122 synchronously records the baseline parameters issued by the central electronic package 11, including the enable signal period, the sensor data acquisition frequency, and the data upload timing. The baseline parameters are the reference for matching the normal detection rhythm of the system. When the communication fails due to complex working conditions such as sudden change of pipe diameter and severe vibration in the pipeline, the decision core module 122 determines that it needs to switch to the autonomous working mode. Based on the previously recorded baseline parameters, the decision core module 122 can autonomously generate the acquisition timing. For example, when the intelligent terminal box 12 communicates normally with the central electronic package 11, the enable signal period triggers the sensor data acquisition, and the original acquisition frequency is used to obtain the magnetic flux leakage sensor signal and the attitude information of the environmental perception module 121. This ensures that the data autonomously acquired is consistent with the sensor data received and stored by the central electronic package 11 in terms of acquisition rhythm and data dimension, avoiding misalignment of data fusion caused by inconsistent acquisition timing. When the data fusion module 13 integrates the data of the central electronic package 11 and the local data of the intelligent terminal box 12, it can effectively realize the spatio-temporal alignment, guarantee the continuity and accuracy of the final pipeline detection data set, and thus meet the detection needs of the pipeline under various complex working conditions.

[0114] In some embodiments, referring to Figure 2 , the emergency energy module 14 is further included.

[0115] The emergency energy module 14 is configured to provide power for the decision core module 122 and the independent memory module 123 when the decision core module 122 determines that the main power supply fails.

[0116] In the pipeline magnetic flux leakage internal detection scenario, the intelligent terminal box 12 relies on the main power supply for power supply, but complex working conditions in the pipeline may cause the main power supply to fail. If the intelligent terminal box 12 stops working due to power failure at this time, it will cause the interruption of data acquisition and storage during the failure, and it is impossible to achieve the disaster recovery target. Therefore, the emergency energy module 14 is added. When the decision core module 122 determines that the main power supply fails, the decision core module 122 automatically switches to the emergency power supply provided by the emergency energy module 14 for the decision core module 122 and the independent memory module 123. In this way, after the main power supply fails, the decision core module 122 can still normally run the failure determination and data packaging logic, and the independent memory module 123 can completely store the data frames with spatio-temporal context, avoiding the interruption of data acquisition or the damage of stored data due to power failure, improving the system survivability and data disaster recovery capability of the intelligent terminal box 12 under extreme power failure working conditions, and finally guaranteeing the continuity and integrity of the pipeline detection data.

[0117] In some embodiments, the present application provides a pipeline magnetic flux leakage internal detection method with autonomous disaster recovery storage function, which is applied to the pipeline magnetic flux leakage internal detection system with autonomous disaster recovery storage function provided in the above embodiments, referring to Figure 5 , comprising:

[0118] S101, the central electronic package 11 sends an enabling signal to the plurality of smart junction boxes 12 for collecting sensor data.

[0119] S102, the environmental perception module 121 generates pose information and communication link state data for characterizing spatial references and motion context.

[0120] S103, based on the enabling signal, the sensor data is uploaded to the central electronic package 11 via the signal path switching module 124.

[0121] S104, the communication link state data from the environmental perception module 121 is monitored.

[0122] S105, based on the communication link state data, it is determined whether a communication failure occurs between the smart junction box 12 and the central electronic package 11.

[0123] S106, when it is determined that a communication failure occurs, a switching control signal is sent to the signal path switching module 124.

[0124] S107, in response to the switching control signal, the signal path switching module 124 establishes a data path between the decision core module 122 and the independent memory module 123.

[0125] S108, the sensor data and the pose information are received.

[0126] S109, the time stamp is obtained from the independent memory module 123.

[0127] S110, the sensor data, the pose information and the time stamp are encapsulated to form a data frame with space-time context, and the data frame is stored in the independent memory module 123.

[0128] S111, the sensor data stored in the central electronic package 11 and the data frame stored in the independent memory module 123 of at least one smart junction box 12 are fused by the data fusion module 13 to generate a pipeline detection data set.

[0129] From the above technical solutions, the application provides a pipeline magnetic flux leakage internal detection system and method with autonomous disaster recovery storage function. The pipeline magnetic flux leakage internal detection system with autonomous disaster recovery storage function comprises a central electronic package 11, a data fusion module 13 and a plurality of intelligent junction boxes 12. The central electronic package 11 is configured to send an enabling signal for collecting sensor data to the intelligent junction box 12. The intelligent junction box 12 comprises an environment perception module 121, a decision core module 122, an independent memory module 123 and a signal path switching module 124. The environment perception module 121 is configured to generate attitude information and communication link state data for representing spatial reference and motion context. The decision core module 122 is configured to receive the enabling signal, upload the sensor data to the central electronic package 11 via the signal path switching module 124, and monitor the communication link state data from the environment perception module 121. If it is determined that the intelligent junction box 12 and the central electronic package 11 have communication failure based on the communication link state data, a switching control signal is sent to the signal path switching module 124 to establish a data path with the independent memory module 123. The sensor data and the attitude information are received, and the time stamp is obtained from the independent memory module 123. The sensor data, the attitude information and the time stamp are encapsulated to form a data frame with space-time context. The data frame is stored in the independent memory module 123. The data fusion module 13 is configured to fuse the sensor data stored in the central electronic package 11 with the data frame stored in the independent memory module 123 of at least one intelligent junction box 12 to generate a pipeline detection data set. The system comprises the central electronic package 11, the data fusion module 13 and the intelligent junction box 12. The central electronic package 11 collects data normally, and the intelligent junction box 12 stores the data frame with space-time context autonomously when a fault occurs. The data is integrated by the data fusion module 13, so that the problem of broken detection data set after the pipeline magnetic flux leakage internal detector fails is solved.

Claims

1. A pipeline magnetic flux leakage detection system with autonomous disaster recovery and storage function, characterized in that, include: Central electronic package, data fusion module and multiple smart junction boxes; The central electronic package is configured to send an enable signal to the smart junction box for acquiring sensor data. The intelligent junction box includes an environmental perception module, a decision core module, an independent memory module, and a signal path switching module; The environment perception module is configured to generate attitude information and communication link status data to characterize the spatial reference and motion context; The decision core module is configured as follows: Upon receiving the enable signal, the sensor data is uploaded to the central electronic package via the signal path switching module; and the communication link status data from the environmental sensing module is monitored. If, based on the communication link status data, it is determined that a communication failure has occurred between the smart junction box and the central electronic package, a switching control signal is sent to the signal path switching module to establish a data path with the independent memory module. Receive the sensor data and the attitude information, and obtain the timestamp from the independent memory module; The sensor data, the attitude information, and the timestamp are encapsulated to form a data frame with spatiotemporal context; The data frame is stored in the independent memory module; The data fusion module is configured to fuse sensor data stored in the central electronic package with data frames stored in at least one independent memory module in the smart junction box to generate a pipeline inspection dataset.

2. The pipeline magnetic flux leakage detection system with autonomous disaster recovery and storage function according to claim 1, characterized in that, The environmental perception module includes an attitude sensing unit and a communication status monitoring unit; The attitude sensing unit is configured to detect the mileage increment data, running speed data and three-axis attitude data of the detection equipment in the pipeline, and generate the attitude information. The communication status monitoring unit is configured to: collect the heartbeat communication packet transmission status, signal integrity parameters, and communication port level signals between the smart junction box and the central electronic package, and generate the communication link status data.

3. The pipeline magnetic flux leakage detection system with autonomous disaster recovery and storage function according to claim 2, characterized in that, The decision-making core module is also configured as follows: When the communication link status data detects the continuous loss of a preset number N heartbeat communication packets from the central electronic packet, and the abnormal state of the communication port level signal continues to exceed a preset time threshold T, the switching control signal is generated.

4. The pipeline magnetic flux leakage detection system with autonomous disaster recovery and storage function according to claim 1, characterized in that, The independent memory module includes a non-volatile storage unit and a timing unit; The non-volatile storage unit is an eMMC or MicroSD card; the timing unit has a timing accuracy of not less than milliseconds, and the timestamp is the timing information generated by the timing unit; Before storing the data frame, the decision core module is also configured to use a lightweight lossless compression algorithm to compress the data frame.

5. The pipeline magnetic flux leakage detection system with autonomous disaster recovery and storage function according to claim 1, characterized in that, The signal path switching module is configured as follows: The system receives the switching control signal from the decision core module, disconnects the independent memory module from the bus connected to the central electronic package, and switches the independent memory module to the bus connected to the decision core module.

6. The pipeline magnetic flux leakage detection system with autonomous disaster recovery and storage function according to claim 1, characterized in that, The signal path switching module is also configured to: A hardware trigger signal is generated by detecting the voltage of the VBUS pin of the USB interface. Based on the hardware trigger signal, the independent memory module is switched to a data path for communication with external devices; When a USB device is detected to be unplugged, the data path for communication with the external device is disconnected, and the data path between the independent memory module and the decision core module is restored.

7. The pipeline magnetic flux leakage detection system with autonomous disaster recovery and storage function according to claim 1, characterized in that, The data fusion module is also configured to: The sensor data stored in the central electronic bag and the data frames stored in the independent memory module are preprocessed, the data frames are decompressed, and the sensor data, attitude information and timestamps in the data frames are extracted. Based on the timestamp, the time axis of the sensor data in the independent memory module is aligned with that of the sensor data in the central electronic bag, and spatial position calibration is completed by combining the attitude information. The data stitching algorithm is used to stitch together aligned and calibrated sensor data, and abnormal data segments are removed through redundancy check to generate a complete and continuous pipeline inspection dataset.

8. The pipeline magnetic flux leakage detection system with autonomous disaster recovery and storage function according to claim 1, characterized in that, The decision-making core module is also configured as follows: When the smart junction box and the central electronic package are communicating normally, the baseline parameters sent by the central electronic package are recorded. The baseline parameters include the period of the enable signal, the acquisition frequency of sensor data, and the data upload sequence. After the switching control signal is generated, the acquisition timing is generated based on the baseline parameters, and the sensor data and attitude information are acquired.

9. The pipeline magnetic flux leakage detection system with autonomous disaster recovery and storage function according to claim 1, characterized in that, It also includes an emergency energy module; The emergency energy module is used to provide power to the decision core module and the independent memory module when the decision core module determines that the main power supply has failed.

10. A pipeline magnetic flux leakage detection method with autonomous disaster recovery and storage function, applied to the pipeline magnetic flux leakage detection system with autonomous disaster recovery and storage function as described in any one of claims 1-9, characterized in that, include: The central electronic package sends enable signals to multiple smart junction boxes to acquire sensor data. The environment perception module generates attitude information and communication link status data to characterize the spatial reference and motion context. Based on the enable signal, the sensor data is uploaded to the central electronic package via the signal path switching module; Monitor communication link status data from the environmental sensing module; Based on the communication link status data, it is determined whether a communication failure has occurred between the smart junction box and the central electronic package; When a communication failure is detected, a switching control signal is sent to the signal path switching module; In response to the switching control signal, a data path is established between the decision core module and the independent memory module through the signal path switching module; Receive the sensor data and the attitude information; Obtain the timestamp from the independent memory module; The sensor data, the attitude information, and the timestamp are encapsulated to form a data frame with spatiotemporal context. The data frame is stored in the independent memory module; The data fusion module fuses the sensor data stored in the central electronic package with the data frames stored in at least one independent memory module in the smart junction box to generate a pipeline inspection dataset.

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