A pipeline internal detection system, method, storage medium and electronic device

Abstract

The application provides a pipeline internal detection system, method, storage medium and electronic equipment, relates to the technical field of pipeline detection, and can inhibit the fluctuation of detection signal strength and signal-to-noise ratio caused by lift-off distance change. The pipeline internal detection system is used for moving along the axial direction of a to-be-detected pipeline and detecting the inner wall of the to-be-detected pipeline. The pipeline internal detection system comprises a variable-diameter unit, a detection unit and a variable-diameter control unit. The variable-diameter unit is used for changing the radial dimension according to a variable-diameter instruction. The detection unit is arranged in the circumferential direction of the variable-diameter unit and comprises at least two detection modules. The detection modules are used for detecting the inner wall of the to-be-detected pipeline. In the case that the radial dimension of the variable-diameter unit changes, the detection modules move along the radial direction of the variable-diameter unit with the variable-diameter unit. The detection modules comprise alternating electromagnetic ultrasonic detection states and pulse eddy current detection states. The variable-diameter control unit is used for generating the variable-diameter instruction according to the lift-off distance.

Description

Technical Field

[0001] This application relates to the field of pipeline inspection technology, and in particular to a pipeline internal inspection system, method, storage medium and electronic device. Background Technology

[0002] Pipelines play a vital role in transporting energy, offering low-cost and reliable transportation. However, due to natural factors such as corrosion and human factors such as improper installation, pipelines may develop defects like cracks and corrosion, potentially threatening safety and economic interests. Therefore, to ensure the safety and reliability of pipelines, internal inspection is necessary.

[0003] However, in actual inspections, the internal conditions of pipelines are usually quite complex. The quality of the detection signals obtained by traditional detection methods is usually poor, with low signal strength and signal-to-noise ratio. This increases the difficulty of analyzing the detection signals, reduces the accuracy of the detection results, and makes it difficult to identify internal pipeline defects in a timely and accurate manner, thereby affecting the reliability and safety of pipeline transportation. Summary of the Invention

[0004] This application provides a pipeline internal detection system, method, storage medium, and electronic device, which can suppress fluctuations in the intensity and signal-to-noise ratio of the detection signal caused by changes in lift-off distance, while simultaneously decoupling different types of detection signals, further improving the reliability and accuracy of the detection signals, thereby improving the reliability and accuracy of the detection results, increasing detection efficiency, and reducing detection difficulty.

[0005] A first aspect of this application provides a pipe internal inspection system for moving axially along a pipe to be inspected and for detecting the inner wall of the pipe. The pipe internal inspection system includes: A variable diameter unit is used to change the radial dimension according to a variable diameter command. A detection unit is disposed circumferentially on the variable diameter unit. The detection unit includes at least two detection modules. The detection modules are used to detect the inner wall of the pipe to be tested. When the radial dimension of the variable diameter unit changes, the detection modules move radially along the variable diameter unit. The detection modules include alternating electromagnetic ultrasonic detection state and pulsed eddy current detection state. A ranging unit is used to detect the lift-off distance between the surface of the detection unit and the inner wall of the pipe to be measured; A diameter change control unit is used to generate the diameter change command based on the lift-off distance.

[0006] In some embodiments, the detection module includes a first coil and a second coil, wherein the first coil is used to receive a detection signal and the second coil is used to output an induced signal of the detection signal; The detection module is used to switch between the electromagnetic ultrasonic detection state and the pulsed eddy current detection state based on the detection signal received by the first coil.

[0007] In some embodiments, the detection module further includes a hollow permanent magnet used to form a static bias magnetic field; When the detection module is in the electromagnetic ultrasonic detection state, the first coil is used to receive an electromagnetic ultrasonic excitation signal to generate ultrasonic waves. The ultrasonic waves propagate in the pipe under test and cause the inner wall of the pipe under test to vibrate. The vibration of the inner wall of the pipe under test causes the static bias magnetic field in the hollow permanent magnet to change. The second coil is used to output an induced electrical signal according to the change of the static bias magnetic field. When the detection module is in the pulsed eddy current detection state, the first coil is used to receive the pulsed eddy current excitation signal to form a transient magnetic field, and the second coil is used to output a pulsed eddy current attenuation signal according to the transient magnetic field.

[0008] In some embodiments, the pipeline internal inspection system further includes: A detection control unit is used to control the detection state of the detection unit. When the induced electrical signal output by the second coil is greater than a preset threshold, the detection control unit is used to control the detection unit to maintain the electromagnetic ultrasonic detection state. When the induced electrical signal output by the second coil is less than the preset threshold, the detection control unit is used to control the detection unit to switch from the electromagnetic ultrasonic detection state to the pulsed eddy current detection state.

[0009] In some embodiments, the variable diameter unit includes a rotary drive and a slotted disk, wherein the rotary drive is used to drive the slotted disk to rotate, and the slotted disk includes multiple arc-shaped track grooves; The detection module includes a guide member that cooperates with the arc-shaped track groove so that the guide member moves along the arc-shaped track groove when the groove plate rotates, wherein the detection module moves synchronously with the guide member in the radial and circumferential directions along the variable diameter unit.

[0010] In some embodiments, the radial displacement distance of the detection module is linearly related to the rotation angle of the rotary drive.

[0011] A second aspect of this application provides a method for internal pipeline inspection, applied to any of the internal pipeline inspection systems described in the first aspect above, the method comprising: The internal pipe detection system is controlled to move axially along the pipe under test and to detect the inner wall of the pipe under test. Detection of the inner wall of the pipe under test includes: The lifting distance between the surface of the detection unit and the inner wall of the pipe under test is detected by the ranging unit; The diameter change control unit generates a diameter change command based on the lift-off distance; The radial dimension is changed by the variable diameter unit according to the variable diameter command; The inner wall of the pipe under test is detected by the detection unit, wherein the detection unit is arranged circumferentially on the variable diameter unit, the detection unit includes at least two detection modules, the detection modules are used to move radially along the variable diameter unit when the radial dimension of the variable diameter unit changes, and the detection modules include electromagnetic ultrasonic detection mode and pulsed eddy current detection mode.

[0012] In some embodiments, the step of probing the inner wall of the pipe under test using the detection unit includes: The detection unit is controlled to detect the inner wall of the pipe under test in the electromagnetic ultrasonic detection state, generating an induced electrical signal; When the induced electrical signal is greater than a preset threshold, the detection unit is controlled to maintain the electromagnetic ultrasonic detection state; when the induced electrical signal is less than the preset threshold, the detection unit is controlled to switch from the electromagnetic ultrasonic detection state to the pulse eddy current detection state to detect the inner wall of the pipe under test.

[0013] A third aspect of this application provides a storage medium storing a computer program that, when executed by a processor, implements the steps of any of the pipe internal detection methods described in the second aspect above.

[0014] A fourth aspect of this application provides an electronic device, including at least a memory and a processor, wherein the memory stores a computer program, and the processor, when executing the computer program in the memory, implements the steps of any of the pipe internal detection methods described in the second aspect above.

[0015] This application provides a pipeline internal detection system, method, storage medium, and electronic device for detecting the inner wall of the pipeline while moving axially along it. A ranging unit measures the lift-off distance between the detection unit and the pipeline inner wall in real time. A diameter-changing control unit generates a diameter-changing command based on this distance, and the diameter-changing unit changes its radial dimension accordingly, causing the detection module to move radially. This allows the pipeline internal detection system to adjust its shape in real time according to the shape of the pipeline's interior during axial movement detection, maintaining a consistent lift-off distance between the detection module and the pipeline inner wall under different axial displacement distances. Since the signal strength and signal-to-noise ratio of signals acquired by electromagnetic ultrasonic detection and pulsed eddy current detection are significantly affected by the lift-off distance, maintaining a consistent lift-off distance between the detection module and the pipeline inner wall during axial movement detection can suppress fluctuations in the intensity and signal-to-noise ratio of the detection signal caused by changes in the lift-off distance, further improving the stability and reliability of the detection signal. Meanwhile, since the detection module includes two alternating detection states—electromagnetic ultrasonic detection and pulsed eddy current detection—the integration level of the detection module can be further improved, enhancing the diversity and comprehensiveness of the detection results. Different detection methods can be achieved by switching the detection state of the module. Furthermore, because the two detection states alternate, interference caused by simultaneous operation of both detection states can be avoided, thus improving the reliability of the detection signal, reducing the difficulty of signal analysis and processing, and increasing the efficiency of detection signal analysis. This ultimately improves the reliability and accuracy of the detection results, increases detection efficiency, and reduces detection difficulty. Attached Figure Description

[0016] To more clearly illustrate the technical solution of this application, the drawings used in the embodiments will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 A schematic structural diagram of an internal pipeline inspection system provided in this application embodiment; Figure 2 A schematic structural diagram of another pipeline internal inspection system provided in this application embodiment; Figure 3 This is a schematic diagram of the detection status of an internal pipeline inspection system provided in an embodiment of this application; Figure 4 A control principle diagram of the detection and control unit of a pipeline internal detection system provided in this application embodiment; Figure 5A schematic structural diagram of a variable diameter unit for an internal pipeline inspection system provided in this application embodiment; Figure 6 A schematic flowchart illustrating a pipeline internal inspection method provided in the embodiments of the application; Figure 7 A schematic structural diagram of a storage medium provided for an embodiment of this application; Figure 8 This is a schematic structural diagram of an electronic device provided in an embodiment of this application. Detailed Implementation

[0018] To better understand the technical solutions provided in the embodiments of this specification, the technical solutions of the embodiments of this specification will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the embodiments of this specification and the specific features in the embodiments are detailed descriptions of the technical solutions of the embodiments of this specification, rather than limitations on the technical solutions of this specification. In the absence of conflict, the embodiments of this specification and the technical features in the embodiments can be combined with each other.

[0019] In this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, without necessarily requiring or implying any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element. The term "two or more" includes two or more cases.

[0020] For example, Figure 1 This is a schematic structural diagram of an internal pipeline inspection system provided in an embodiment of this application. Figure 1As shown, in a first aspect of this application, a pipe internal detection system is provided for moving axially along the pipe to be tested and detecting the inner wall of the pipe. The pipe internal detection system includes: a diameter changing unit 100, a detection unit 200, a ranging unit 300, and a diameter changing control unit 400. The diameter changing unit 100 is used to change its radial dimension according to a diameter changing command; the detection unit 200 is disposed circumferentially around the diameter changing unit and includes at least two detection modules. The detection modules are used to detect the inner wall of the pipe to be tested. When the radial dimension of the diameter changing unit 100 changes, the detection modules move radially along the diameter changing unit 100. The detection modules include alternating electromagnetic ultrasonic detection states and pulsed eddy current detection states; the ranging unit 300 is used to detect the lift-off distance between the surface of the detection unit 200 and the inner wall of the pipe to be tested; and the diameter changing control unit 400 is used to generate a diameter changing command based on the lift-off distance.

[0021] For example, Figure 2 This is a schematic structural diagram of another pipeline internal inspection system provided in an embodiment of this application. Figure 2 As shown, the variable diameter unit 100 includes a variable diameter expansion and contraction box 101, a ranging unit can be disposed within an external ultrasonic ranging matrix slot 301, and a variable diameter control unit can be disposed within an excitation box 401, which contains an integrated excitation receiving system. The detection unit 200 includes six symmetrically arranged detection modules 201 of the same shape, the shape of which matches the outer edge shape of the variable diameter unit 100.

[0022] For example, Figure 3 This is a schematic diagram illustrating the detection status of an internal pipeline inspection system provided in an embodiment of this application. Figure 3 As shown, the x-axis and y-axis are the radial axes of the variable diameter unit 100, and the z-axis is the axial axis of the variable diameter unit 100. It can be understood that when the internal pipe inspection system performs inspection inside the pipe to be tested, the internal pipe inspection system moves along the z-axis and rotates around the z-axis simultaneously.

[0023] For example, the ranging unit may include an external ultrasonic ranging module, which is disposed within an external ultrasonic ranging matrix slot, and the external ultrasonic matrix module can be matched with the detection module. When the internal pipe detection system moves axially along the pipe under test, the external ultrasonic matrix module can obtain the set of lift-off distances between the surface of the detection unit and the inner wall of the pipe under test. Taking a ranging unit comprising six identical external ultrasonic matrix modules as an example, the set of lift-off distances is:

[0024] Where d1 to d6 represent the lift-off distances acquired by each external ultrasound matrix module. To ensure the safe operation of the probe array in irregular pipe diameters and to prevent local protrusions from causing the entire system to jam during movement, it is necessary to determine the shortest safe distance for the system to extract the current distance. :

[0025] Let the optimal lift-off distance for electromagnetic detection be... The current radial compensation error of the system is... for:

[0026] Based on radial compensation error Determine the radius of the target variable diameter unit in the next step. for:

[0027] in, This represents the actual calculated radius of the current variable diameter unit.

[0028] For example, before the variable diameter unit performs the next cycle of diameter change, the physical boundary constraint verification of the target variable diameter unit radius for the next cycle can be performed based on the base radius of the variable diameter unit at full retraction and the maximum diameter change extrapolation stroke. Taking a base radius of 75mm at full retraction and a maximum diameter change extrapolation stroke of 25mm as an example, the radius of the target variable diameter unit for the next cycle can be verified by... Amplitude limiting is applied:

[0029] The pipeline internal detection system provided in this application is used to detect the inner wall of the pipeline while moving axially along it. A ranging unit measures the lift-off distance between the detection unit and the inner wall of the pipeline in real time. A diameter-changing control unit generates a diameter-changing command based on this distance, and the diameter-changing unit changes its own radial dimension accordingly, causing the detection module to move radially. This allows the pipeline internal detection system to adjust its shape in real time according to the shape of the pipeline's interior during axial movement detection, maintaining a consistent lift-off distance between the detection module and the inner wall of the pipeline under different axial displacement distances. Since the signal strength and signal-to-noise ratio of signals acquired by electromagnetic ultrasonic detection and pulsed eddy current detection are significantly affected by the lift-off distance, maintaining a consistent lift-off distance between the detection module and the inner wall of the pipeline during axial movement detection can suppress fluctuations in the intensity and signal-to-noise ratio of the detection signal caused by changes in the lift-off distance, further improving the stability and reliability of the detection signal. Meanwhile, since the detection module includes two alternating detection states—electromagnetic ultrasonic detection and pulsed eddy current detection—the integration level of the detection module can be further improved, enhancing the diversity and comprehensiveness of the detection signals. Different detection methods can be achieved by switching the detection state of the module. Furthermore, because the two detection states alternate, interference caused by simultaneous operation of both detection states can be avoided, thus further improving the reliability of the detection signals, reducing the difficulty of signal analysis and processing, and increasing the efficiency of detection signal analysis. This ultimately improves the reliability and accuracy of the detection results, increases detection efficiency, and reduces detection difficulty.

[0030] For example, such as Figure 2 As shown, in some feasible implementations, the detection module 201 includes a first coil and a second coil. The first coil is used to receive the detection signal, and the second coil is used to output the induced signal of the detection signal. The detection module 201 is used to switch between electromagnetic ultrasonic detection state and pulsed eddy current detection state according to the detection signal received by the first coil.

[0031] like Figure 2 As shown, the detection module 201 includes an insulated first coil support structure 2011 and a second coil support structure 2012. The first coil is arranged around the first coil support structure 2011, and the second coil is arranged around the second coil support structure 2012.

[0032] The pipeline internal detection system provided in this application includes a detection module comprising a first coil and a second coil. The first coil is used to receive a detection signal, and the second coil is used to output an induced signal from the detection signal. The detection module switches between electromagnetic ultrasonic detection and pulsed eddy current detection states based on the detection signal received by the first coil. This allows the same detection module to receive the detection signal and output the induced signal using the same set of coils, eliminating the need for separate coils for electromagnetic ultrasonic detection and pulsed eddy current detection. This further reduces the number of coils inside the detection module, shrinks its size, and improves its integration. Furthermore, since the detection module can switch between the two detection states simply by changing the detection signal received by the first coil without altering the physical connection of the coil group, the structure of the detection module and the arrangement of signal lines are simplified, reducing the complexity of the system structure. Moreover, because the two detection states are achieved by switching the detection signal, the separation of the two detection states in the time domain is further ensured, preventing the simultaneous generation and coupling of the two detection signals. This further reduces the difficulty of signal decoupling and analysis, and improves the reliability of the detection signal.

[0033] For example, such as Figure 2 As shown, in some feasible embodiments, the detection module further includes a hollow permanent magnet 2013, which is used to form a static bias magnetic field. When the detection module 201 is in electromagnetic ultrasonic detection mode, the first coil is used to receive an electromagnetic ultrasonic excitation signal to generate ultrasonic waves. The ultrasonic waves propagate within the pipe under test, causing vibration of the inner wall of the pipe. This vibration causes a change in the static bias magnetic field within the hollow permanent magnet 2013. The second coil is used to output an induced electrical signal based on the change in the static bias magnetic field. When the detection module 201 is in pulsed eddy current detection mode, the first coil is used to receive a pulsed eddy current excitation signal to form a transient magnetic field. The second coil is used to output a pulsed eddy current attenuation signal based on the transient magnetic field.

[0034] For example, when the detection module is in electromagnetic ultrasonic detection mode, the hollow permanent magnet provides a radial static bias magnetic field. The first coil is connected to an electromagnetic ultrasonic excitation signal to generate a dynamic magnetic field. The electromagnetic ultrasonic excitation signal is a high-frequency alternating current signal, which induces high-frequency eddy currents on the inner wall of the pipe under test. The electromagnetic ultrasonic excitation signal is a high-frequency alternating current signal. Dynamic magnetic field. With high-frequency eddy currents Formation of alternating Lorentz force f L :

[0035] Alternating Lorentz force fL Ultrasonic waves are excited, causing vibrations in the particles on the inner wall of the pipe under test. A second coil generates an induced electrical signal based on the inverse Lorentz force mechanism. This induced electrical signal includes a high-frequency induced electromotive force. .

[0036] For example, when the detection module is in pulsed eddy current detection mode, the first coil is connected to a pulsed eddy current excitation signal, wherein the pulsed eddy current excitation signal is a single-peak step excitation signal. According to Maxwell's equations, the transient magnetic field diffuses into the interior of the tube wall conductor. At the instant of power de-energization, induced eddy currents generate a secondary magnetic field. The second coil picks up the attenuated signal of the secondary magnetic field and outputs a pulsed eddy current attenuated signal, wherein the attenuated signal satisfies a multi-exponential attenuation model:

[0037] C is the amplitude coefficient. It refers to the physical time it takes for the signal to attenuate, starting from the moment the power is cut off. The eddy current diffusion time constant contains information about wall thickness and defects.

[0038] The pipeline internal inspection system provided in this application includes a hollow permanent magnet in the detection module to form a static bias magnetic field. In electromagnetic ultrasonic detection mode, the first coil receives an electromagnetic ultrasonic excitation signal to generate ultrasonic waves, and the second coil outputs an electromagnetic ultrasonic induction signal. In pulsed eddy current detection mode, the first coil receives a pulsed eddy current excitation signal to form a transient magnetic field, and the second coil outputs a pulsed eddy current attenuation signal. This allows the same hardware structure to produce corresponding physical effects in both detection modes and output characteristic signals representing pipeline wall thickness and surface defects respectively. The static bias magnetic field provided by the hollow permanent magnet provides the necessary magnetic field environment for the excitation and reception of electromagnetic ultrasound, while not affecting the formation of the transient magnetic field during pulsed eddy current detection. The two detection modes do not interfere with each other, thus ensuring the integrity of their respective detection functions while sharing the coil and magnet.

[0039] The pipeline internal detection system provided in this application includes a hollow permanent magnet in the detection module to form a static bias magnetic field. In electromagnetic ultrasonic detection mode, a first coil is connected to an electromagnetic ultrasonic excitation signal to generate ultrasonic waves, and a second coil outputs an induced electrical signal, which is generated by the change in the static bias magnetic field caused by the vibration of the inner wall of the pipeline under test. In pulsed eddy current detection mode, a pulsed eddy current excitation signal is connected to the first coil to form a transient magnetic field, and a pulsed eddy current attenuation signal is output by the second coil, which is generated by the change in the transient magnetic field. This allows electromagnetic ultrasonic detection and pulsed eddy current detection to share the same hollow permanent magnet and the same set of coils. The hollow permanent magnet provides the static bias magnetic field during electromagnetic ultrasonic detection, and participates in the establishment and attenuation of the transient magnetic field as part of the magnetic circuit during pulsed eddy current detection. Therefore, the number of components in the detection module can be further reduced, improving the structural compactness and integration of the detection module. Simultaneously, since electromagnetic ultrasonic detection generates ultrasonic waves directly inside the pipeline under test through electromagnetic coupling, without the need for a coupling medium, it can further avoid contamination of the pipeline's internal environment by the coupling agent, and makes the system applicable to high-temperature pipeline detection scenarios, expanding the system's applicability.

[0040] Figure 4 This is a control principle diagram of the detection and control unit of a pipeline internal detection system provided in an embodiment of this application. Figure 1 and Figure 4 As shown, in some feasible embodiments, the pipeline internal detection system further includes: a detection control unit 500, used to control the detection state of the detection unit, wherein, when the induced electrical signal output by the second coil is greater than a preset threshold, the detection control unit 500 is used to control the detection unit 200 to maintain the electromagnetic ultrasonic detection state, and when the induced electrical signal output by the second coil is less than the preset threshold, the detection control unit 500 is used to control the detection unit 200 to switch from the electromagnetic ultrasonic detection state to the pulse eddy current detection state.

[0041] For example, to reduce the computational load on the microcontroller, extremely fast feature extraction can be performed directly in the time domain. This is achieved after acquiring a discrete sequence of induced electrical signal echoes. At this time, a bipolar AC signal can be converted into a unipolar signal by calculating the absolute value of the discrete signal:

[0042] Indicates the index of discrete sampling points. The signal is a bipolar AC signal, and the echo envelope is extracted using a simple moving average filter. To avoid complex multiplication and addition operations. Let the sliding window length be... :

[0043] Based on the pipe wall thickness and the ultrasonic transverse / longitudinal wave velocity, the system pre-sets a fixed time gate, which is the sampling interval where the first bottom wave should appear. The maximum value of the envelope within this time interval is taken as the bottom wave peak value. :

[0044] Extracted bottom wave peak value With the preset static physical threshold Compare. If If the signal is triggered, it indicates that the bottom wave has been severely attenuated due to pipe wall thinning, corrosion, or cracks, thus activating the flag and indicating an abnormal state. If an abnormal state is detected, the detection control unit switches the detection unit from electromagnetic ultrasonic detection to pulsed eddy current detection. Otherwise, the detection unit maintains electromagnetic ultrasonic detection until an abnormality is detected, at which point the state switch occurs.

[0045] The pipeline internal inspection system provided in this application embodiment also includes a detection control unit for controlling the detection state of the detection unit. When the induced electrical signal output by the second coil is greater than a preset threshold, the detection control unit controls the detection unit to be in electromagnetic ultrasonic detection mode; when the induced electrical signal is less than the preset threshold, the detection control unit controls the detection unit to be in pulsed eddy current detection mode. This allows the system to use only electromagnetic ultrasonic detection when the pipeline wall thickness is normal and there are no serious defects, avoiding unnecessary pulsed eddy current detection energy consumption and extending the system's working time inside the pipeline. Simultaneously, pulsed eddy current detection is only activated for further confirmation when the electromagnetic ultrasonic induction signal is abnormal, such as when the pipe wall is thinned or defects are present, which reduces the amount of data processing and lowers the burden of data storage and analysis. This threshold decision mechanism switches the detection state as needed based on the detection results, thereby enabling the detection of the system's energy efficiency and data utilization efficiency.

[0046] In some feasible implementations, the variable diameter unit includes a rotary drive and a slotted disk, wherein the rotary drive is used to drive the slotted disk to rotate, and the slotted disk includes multiple arc-shaped track grooves; the detection module includes a guide, which cooperates with the arc-shaped track grooves to move along the arc-shaped track grooves when the slotted disk rotates, wherein the detection module moves synchronously with the guide along the radial and circumferential directions of the variable diameter unit.

[0047] Figure 5 This is a schematic structural diagram of a variable diameter unit in a pipeline internal inspection system provided in an embodiment of this application. Figure 5As shown, the variable diameter unit includes a servo motor and a slotted plate 110. The slotted plate 110 includes multiple arc-shaped track grooves 1101. The servo motor and the slotted plate 110 are connected through a servo motor gear hole 1102. The servo motor acts as a rotational drive component, driving the slotted plate 110 to rotate through the servo motor gear hole 1102. The guide member 1103 is used to slide within the arc-shaped track grooves 1101.

[0048] For example, the number of arc-shaped track slots can be equal to the number of ranging modules in the detection module and ranging unit.

[0049] The pipeline internal inspection system provided in this application includes a diameter-changing unit comprising a rotary drive and a grooved disk with an arc-shaped track groove, and a detection module comprising a guide that slides with the arc-shaped track groove. When the rotary drive drives the grooved disk to rotate, the guide moves along the arc-shaped track groove, causing the detection module to move synchronously radially and circumferentially. This allows the rotational motion of the rotary drive to be synchronously converted into radial displacement of multiple detection modules through the interaction between the arc-shaped track groove on the grooved disk and the guide, thus ensuring that each detection module expands and contracts synchronously during the diameter-changing process, maintaining a uniform radius change for the entire detection unit. Simultaneously, because the detection module generates circumferential displacement along with radial movement, the coverage area of ​​the detection module on the inner wall of the pipeline is more uniform, avoiding detection blind spots and ensuring that it is always aligned with the center of the pipeline, reducing detection angle errors caused by changes in probe posture.

[0050] In some feasible implementations, the radial displacement distance of the detection module is linearly related to the rotation angle of the rotary drive.

[0051] For example, the trajectory of the arc-shaped track groove can be an Archimedean constant-velocity spiral. In the polar coordinate system of this groove, the radius vector at any point within the groove... With polar angle (Servo rotation angle) satisfies a very simple linear mapping equation:

[0052] in, When the variable diameter unit is at its base radius in full contraction, the initial radial direction of the guide member at the center of the disk is K. S The helix constant (unit: mm / degree) represents the number of millimeters the variable diameter unit expands or contracts radially for every 1 degree the servo motor rotates.

[0053] For example, taking a base radius of 70mm when the variable diameter unit is fully contracted as an example, the total displacement ΔR that the variable diameter unit needs to extend is:

[0054] By reversing the equation, the absolute rotation angle required by the central servo motor can be directly obtained. :

[0055] Calculate the target's absolute rotation angle The linear mapping is the PWM duty cycle of the timer output. :

[0056] in, The reference pulse width is the base radius of the servo motor when it is fully retracted. This is the angle-to-pulse-width conversion coefficient. After each ultrasonic ranging update, based on the aforementioned PWM duty cycle... Refreshing the PWM register allows for a smooth and synchronous push of each probe module to its optimal lift-off position.

[0057] The pipeline internal detection system provided in this application embodiment has a linear correlation between the radial displacement distance of the detection module and the rotation angle of the rotary drive component. This allows the diameter change control unit to directly calculate the target rotation angle required by the rotary drive component based on the lift-off distance detected by the ranging unit, using a simple linear relationship, and then generate the corresponding diameter change command. Therefore, the control algorithm of the diameter change control unit can be simplified, the computational load reduced, and the response speed of diameter change adjustment improved. Simultaneously, because there is a definite linear correspondence between the radial displacement distance and the rotation angle, the diameter change control unit can precisely control the radial extension and retraction of the detection module, enabling the detection module to accurately reach the radial position corresponding to the preset optimal lift-off distance. This further improves the accuracy and stability of diameter change control, ensures the consistency of the lift-off distance between the detection module and the inner wall of the pipeline, and further suppresses detection signal fluctuations caused by lift-off distance deviations.

[0058] Figure 6 This is a schematic flowchart illustrating a method for internal pipeline inspection provided in the application embodiments. Figure 6 As shown, a second aspect of this application provides a method for inspecting the interior of a pipeline, applied to any of the pipeline interior inspection systems described in the first aspect above. The pipeline interior inspection method includes: The internal pipeline inspection system is controlled to move axially along the pipeline under test and to probe the inner wall of the pipeline. The probe of the inner wall of the pipeline under test includes: Step S11: Detect the lift-off distance between the surface of the detection unit and the inner wall of the pipe to be measured by the ranging unit.

[0059] Step S12: Generate a diameter change command based on the lift-off distance through the diameter change control unit.

[0060] Step S13: Change the radial dimension according to the diameter change command through the diameter change unit.

[0061] Step S14: The inner wall of the pipe to be tested is detected by the detection unit. The detection unit is set in the circumference of the diameter-changing unit. The detection unit includes at least two detection modules. The detection modules are used to move radially along the diameter-changing unit when the radial dimension of the diameter-changing unit changes. The detection modules include electromagnetic ultrasonic detection mode and pulsed eddy current detection mode.

[0062] The pipeline internal detection method provided in this application is used to detect the inner wall of the pipeline while moving axially along it. A ranging unit measures the lift-off distance between the detection unit and the inner wall of the pipeline in real time. A diameter-changing control unit generates a diameter-changing command based on this distance, and the diameter-changing unit changes its own radial dimension accordingly, causing the detection module to move radially. This allows the pipeline internal detection system to adjust its shape in real time according to the shape of the pipeline's interior during axial movement detection, maintaining a consistent lift-off distance between the detection module and the inner wall of the pipeline under different axial displacement distances. Since the signal strength and signal-to-noise ratio of signals acquired by electromagnetic ultrasonic detection and pulsed eddy current detection are significantly affected by the lift-off distance, maintaining a consistent lift-off distance between the detection module and the inner wall of the pipeline during axial movement detection can suppress fluctuations in the intensity and signal-to-noise ratio of the detection signal caused by changes in the lift-off distance, further improving the stability and reliability of the detection signal. Meanwhile, since the detection module includes two alternating detection states—electromagnetic ultrasonic detection and pulsed eddy current detection—the integration level of the detection module can be further improved, enhancing the diversity and comprehensiveness of the detection signals. Different detection methods can be achieved by switching the detection state of the module. Furthermore, because the two detection states alternate, interference caused by simultaneous operation of both detection states can be avoided, thus further improving the reliability of the detection signals, reducing the difficulty of signal analysis and processing, and increasing the efficiency of detection signal analysis. This ultimately improves the reliability and accuracy of the detection results, increases detection efficiency, and reduces detection difficulty.

[0063] In some feasible implementations, the detection unit detects the inner wall of the pipe under test, including: controlling the detection unit to detect the inner wall of the pipe under test in electromagnetic ultrasonic detection mode and generating an induced electrical signal; when the induced electrical signal is greater than a preset threshold, controlling the detection unit to maintain the electromagnetic ultrasonic detection mode; when the induced electrical signal is less than the preset threshold, controlling the detection unit to switch from the electromagnetic ultrasonic detection mode to the pulsed eddy current detection mode to detect the inner wall of the pipe under test.

[0064] The pipeline internal inspection method provided in this application involves a detection control unit that switches the detection unit to electromagnetic ultrasonic detection mode when the induced electrical signal output by the second coil exceeds a preset threshold, and to pulsed eddy current detection mode when the induced electrical signal is below the preset threshold. This allows the system to use only electromagnetic ultrasonic detection when the pipeline wall thickness is normal and there are no serious defects, avoiding unnecessary energy consumption from pulsed eddy current detection and extending the system's operating time inside the pipeline. Furthermore, by only activating pulsed eddy current detection for further confirmation when the electromagnetic ultrasonic induction signal is abnormal, such as when the pipe wall is thinned or defects are present, the amount of data processing can be reduced, thus lowering the burden of data storage and analysis. This threshold decision mechanism switches the detection mode as needed based on the detection results, thereby improving the system's energy efficiency and data utilization efficiency.

[0065] For example, during the axial movement along the pipe under test, the variable diameter unit adjusts its radial dimension in real time according to the lift-off distance, allowing the detection module to move simultaneously along both the axial and radial directions, thus forming a spiral scanning trajectory on the inner wall of the pipe. Because the scanning trajectory is a spiral, adjacent scanning areas overlap, resulting in multiple acquisitions of the same location by multiple detection modules, generating redundant data. Simultaneously, the lift-off distance between the detection unit surface and the inner wall of the pipe under test may fluctuate slightly during dynamic adjustment, leading to inconsistent signal quality across different acquisitions. To extract effective features that accurately reflect pipe defects from the raw data, redundancy removal and feature extraction can be performed on the multiple sets of signals acquired by the spiral scanning.

[0066] For example, the one-dimensional time-series signal acquired by the detection module over time can be mapped to the three-dimensional unfolded cylindrical coordinate system of the inner wall of the pipe. In the middle. Let the axial travel speed of the pipeline internal detection system be... angular velocity of rotation is The base radius of the variable diameter unit when it is fully contracted The current telescopic extension length extended by the servo motor is The real-time pipe diameter feedback radius is:

[0067] For the real-time pipe diameter feedback radius, the first One probe in The central physical coordinates of time , for:

[0068]

[0069] Therefore, each sampling point can be converted into a point on the cylindrical surface unfolded diagram of the pipe's inner wall. To eliminate redundancy, the cylindrical pipe wall is unfolded and discretized into a two-dimensional spatial mesh. Let the axial mesh resolution be... Circumferential angular resolution is Each probe in The discrete signal sequence acquired at each time step is denoted as . The grid index of the signal's projection on the pipe wall is... :

[0070]

[0071] When the effective axial physical width of the detection unit and the variable diameter unit Spatial overlap occurs when the pitch is greater than the equivalent pitch of the detection unit and the variable diameter unit. The overlap condition satisfies:

[0072] During processing, create a three-dimensional array of cells or a tensor that will be mapped to the same spatial grid. All signal sequences are aggregated. Assume they fall into the same grid. The set of signal sequences is ,in This represents the number of overlaps in the grid. To suppress random noise and extract the signal that best reflects the physical essence, a weighted average fusion algorithm is used to extract the unique representative signal of the grid. :

[0073] in, These are weighting coefficients based on liftoff distance. A smaller liftoff, i.e., at the current liftoff distance... The closer to the tube wall, the better the signal quality and the greater the weight. This can be achieved through:

[0074] Determine the weighting coefficients , This refers to the actual lift-off distance during this data collection. is the attenuation constant.

[0075] For example, after obtaining the redundancy-free gridded spatial signal After that, it is possible to analyze the gridded spatial signal. To perform discrete wavelet transform denoising, let the low-pass filter coefficients of the wavelet basis be... The high-pass filter coefficients are For the redundancy-removed gridded spatial signal conduct Layer wavelet decomposition. Among them, the first... layer( Approximate coefficients (low-frequency components) And detail factor (high-frequency components) The recursive formula is:

[0076]

[0077] in, This is the sequence of low-pass filter coefficients for the wavelet basis used in the discrete wavelet transform. The sequence of high-pass filter coefficients for the selected wavelet basis. The discrete sliding index for the convolution operation represents the previous layer (the first layer). The numbering of discrete sampling points on the approximate coefficient sequence of the layer. For the current decomposition layer (the first layer) Discrete translation index of layer), with initial conditions as follows:

[0078] To remove high-frequency white noise while preserving the abrupt change characteristics of the ultrasonic echo, the detail coefficients of each layer were adjusted. A soft thresholding function is used. Let the estimated noise standard deviation be:

[0079] The signal length is The global universal threshold is set as follows:

[0080] Detail factor after soft threshold shrinkage for:

[0081] Using the reserved first Layer approximation coefficient and the detail coefficients of each layer after processing A smooth, denoised signal is reconstructed using discrete wavelet inverse transform. :

[0082] The final reconstructed signal is:

[0083] Based on the reconstructed pure signal Feature values ​​reflecting the pipe wall state are extracted for the two modes and reassigned to the spatial grid matrix for final MATLAB pseudo-color imaging.

[0084] For example, features can be extracted from the inner wall of the pipe under test using MATLAB pseudo-color imaging. Specifically, when the detection module is in electromagnetic ultrasonic detection mode, a fixed bottom wave time window is extracted. Maximum peak value within:

[0085] The electromagnetic ultrasound discrete signal sequence after wavelet denoising reconstruction is shown. For the sampling time There are data points, and the sampling period is . The sampling time corresponding to the peak value is:

[0086] For example, features can be extracted from the inner wall of the pipe under test based on MATLAB pseudo-color imaging. Specifically, when the detection module is in pulsed eddy current detection mode, the pulsed eddy current signal exhibits an exponential decay pattern in the later stages. A late decay time window is selected. (corresponding sampling points) Extract its decay time constant. For the reconstructed eddy current signal Taking the natural logarithm of both sides, we perform a linear fit using the least squares method:

[0087] For the sampling time Data points, actual physical time equal to With sampling period The product of these terms, and the attenuation eigenvalues ​​obtained by solving for the inverse of the slope of the fitted straight line:

[0088] Through the above-mentioned spatial grid mapping, weighted fusion, wavelet denoising and feature extraction steps, this application can remove redundant information and suppress noise interference from the large amount of raw data generated by spiral scanning, and extract physical features directly related to pipeline defects, thereby improving the utilization efficiency of detection data and the accuracy of defect identification.

[0089] Figure 7 This is a schematic structural diagram of a storage medium provided in an embodiment of this application. Figure 7 As shown, in a third aspect of the present application, a storage medium is provided, which stores a computer program 00. When the computer program 00 is executed by a processor, it implements the pipe internal detection method of any one of the first aspects described above.

[0090] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0091] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is used as an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above.

[0092] The specific implementation process of the above method steps can be found in any of the above embodiments of the processing method for unstructured data based on the financial industry, and will not be repeated here.

[0093] Another embodiment of this application provides an electronic device, which can be a server. The electronic device includes a processor, a memory, a network interface, and a database connected via a system bus. The processor provides computing and control capabilities. The memory includes non-volatile and / or volatile storage media and internal memory. The non-volatile storage media stores an operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The network interface is used to communicate with external clients via a network connection. When the program is executed by the processor, it implements server-side functions or steps of a method for processing unstructured data in the financial industry.

[0094] Figure 8 This is a schematic structural diagram of an electronic device provided in an embodiment of this application. Figure 8 As shown, in a fourth aspect of this application, an electronic device is provided, comprising at least a memory 01 and a processor 02. The memory 01 stores a computer program 00, and the processor 02, when executing the computer program 00 in the memory 01, implements the steps of any of the pipe internal detection methods described in the first aspect. Specific implementation processes of the above method steps can be found in the embodiments of any of the above pipe internal detection methods, and will not be repeated here.

[0095] The above embodiments are merely exemplary embodiments of this application and are not intended to limit this application. Those skilled in the art can make various modifications or equivalent substitutions to this application within the scope and nature of this application, and such modifications or equivalent substitutions should also be considered to fall within the scope of protection of this application.

[0096] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit it. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

[0097] Although preferred embodiments have been described in this specification, those skilled in the art can make other changes and modifications to these embodiments once they learn the basic inventive concepts.

[0098] Obviously, those skilled in the art can make various modifications and variations to this specification without departing from its spirit and scope.

Claims

1. A pipeline internal inspection system, characterized in that, The pipe internal detection system is used to move axially along the pipe to be tested and to probe the inner wall of the pipe. The system includes: A variable diameter unit is used to change the radial dimension according to a variable diameter command. A detection unit is disposed circumferentially on the variable diameter unit. The detection unit includes at least two detection modules. The detection modules are used to detect the inner wall of the pipe to be tested. When the radial dimension of the variable diameter unit changes, the detection modules move radially along the variable diameter unit. The detection modules include alternating electromagnetic ultrasonic detection state and pulsed eddy current detection state. A ranging unit is used to detect the lift-off distance between the surface of the detection unit and the inner wall of the pipe to be measured; A diameter change control unit is used to generate the diameter change command based on the lift-off distance; The detection control unit is used to control the detection state of the detection unit. When it is determined that there is an abnormal state in the ultrasonic echo signal, the detection control unit controls the detection unit to switch from electromagnetic ultrasonic detection state to pulsed eddy current detection state. Otherwise, it controls the detection unit to maintain the electromagnetic ultrasonic detection state for detection. The abnormal state is determined by comparing the peak value of the ultrasonic echo signal with a preset static physical threshold.

2. The pipeline internal inspection system according to claim 1, characterized in that, The detection module includes a first coil and a second coil. The first coil is used to receive the detection signal, and the second coil is used to output the induced signal of the detection signal. The detection module is used to switch between the electromagnetic ultrasonic detection state and the pulsed eddy current detection state based on the detection signal received by the first coil.

3. The pipeline internal inspection system according to claim 2, characterized in that, The detection module also includes a hollow permanent magnet, which is used to form a static bias magnetic field; When the detection module is in the electromagnetic ultrasonic detection state, the first coil is used to receive an electromagnetic ultrasonic excitation signal to generate ultrasonic waves. The ultrasonic waves propagate in the pipe under test and cause the inner wall of the pipe under test to vibrate. The vibration of the inner wall of the pipe under test causes the static bias magnetic field in the hollow permanent magnet to change. The second coil is used to output an induced electrical signal according to the change of the static bias magnetic field. When the detection module is in the pulsed eddy current detection state, the first coil is used to receive the pulsed eddy current excitation signal to form a transient magnetic field, and the second coil is used to output a pulsed eddy current attenuation signal according to the transient magnetic field.

4. The pipeline internal inspection system according to claim 3, characterized in that, Also includes: A detection control unit is used to control the detection state of the detection unit. When the induced electrical signal output by the second coil is greater than a preset threshold, the detection control unit is used to control the detection unit to maintain the electromagnetic ultrasonic detection state. When the induced electrical signal output by the second coil is less than the preset threshold, the detection control unit is used to control the detection unit to switch from the electromagnetic ultrasonic detection state to the pulsed eddy current detection state.

5. The pipeline internal inspection system according to claim 1, characterized in that, The variable diameter unit includes a rotary drive and a slotted disk, wherein the rotary drive is used to drive the slotted disk to rotate, and the slotted disk includes multiple arc-shaped track grooves; The detection module includes a guide member that cooperates with the arc-shaped track groove so that the guide member moves along the arc-shaped track groove when the groove plate rotates, wherein the detection module moves synchronously with the guide member in the radial and circumferential directions along the variable diameter unit.

6. The pipeline internal inspection system according to claim 5, characterized in that, The radial displacement distance of the detection module is linearly related to the rotation angle of the rotary drive component.

7. A method for internal inspection of a pipeline, characterized in that, The pipeline internal inspection system applied to any one of claims 1 to 6, the pipeline internal inspection method comprising: The internal pipe detection system is controlled to move axially along the pipe under test and to detect the inner wall of the pipe under test. Detection of the inner wall of the pipe under test includes: The lifting distance between the surface of the detection unit and the inner wall of the pipe under test is detected by the ranging unit; The diameter change control unit generates a diameter change command based on the lift-off distance; The radial dimension is changed by the variable diameter unit according to the variable diameter command; The inner wall of the pipe under test is detected by the detection unit, wherein the detection unit is arranged in the circumferential direction of the variable diameter unit, the detection unit includes at least two detection modules, the detection modules are used to move radially along the variable diameter unit when the radial dimension of the variable diameter unit changes, and the detection modules include electromagnetic ultrasonic detection mode and pulse eddy current detection mode. The detection state of the detection unit is controlled by the detection control unit. If an abnormal state is determined in the ultrasonic echo signal, the detection control unit controls the detection unit to switch from electromagnetic ultrasonic detection state to pulsed eddy current detection state. Otherwise, the detection unit is controlled to maintain the electromagnetic ultrasonic detection state for detection. The abnormal state is determined by comparing the peak value of the ultrasonic echo signal with a preset static physical threshold.

8. The pipeline internal inspection method according to claim 7, characterized in that, The step of probing the inner wall of the pipe under test using the detection unit includes: The detection unit is controlled to detect the inner wall of the pipe under test in the electromagnetic ultrasonic detection state, generating an induced electrical signal; When the induced electrical signal is greater than a preset threshold, the detection unit is controlled to maintain the electromagnetic ultrasonic detection state; when the induced electrical signal is less than the preset threshold, the detection unit is controlled to switch from the electromagnetic ultrasonic detection state to the pulse eddy current detection state to detect the inner wall of the pipe under test.

9. A storage medium, characterized in that, The storage medium stores a computer program, which, when executed by a processor, implements the steps of the pipeline internal detection method according to any one of claims 7 to 8.

10. An electronic device, characterized in that, It includes at least a memory and a processor, wherein the memory stores a computer program, and the processor, when executing the computer program in the memory, implements the steps of the pipeline internal detection method according to any one of claims 7 to 8.

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