Magnetic levitation device and pipe inspection system

Abstract

The embodiment of the application relates to the technical field of pipeline detection, and particularly relates to a magnetic suspension device and a pipeline detection system. The magnetic suspension device comprises a floater assembly and a base assembly. The floater assembly comprises a first magnet and a posture acquisition unit. The posture acquisition unit is arranged on the first magnet. The posture acquisition unit is used for acquiring posture data of the floater assembly and outputting the posture data. The base assembly comprises a permanent magnet array and a controllable magnetic field group. The permanent magnet array comprises a plurality of second magnets. The magnetization directions of the plurality of second magnets are different. The magnetic fields generated by the plurality of second magnets can be concentrated on one side facing the first magnet. The controllable magnetic field group has a magnetic field that is attracted to or repelled from the first magnet. The permanent magnet array bears the main static suspension force. The controllable magnetic field group only needs to provide dynamic fine adjustment force and does not need to continuously output current. Therefore, the overall energy consumption of the system and the coil operation heating are significantly reduced, the energy efficiency is improved, and the device is suitable for long-term industrial application.

Description

Technical Field

[0001] This application relates to the field of pipeline inspection technology, and in particular to a magnetic levitation device and a pipeline inspection system. Background Technology

[0002] Magnetic levitation technology is a cutting-edge interdisciplinary technology with significant application value in transportation, energy, and industry. Its levitation stability directly affects system performance and application effectiveness. In industrial settings, magnetic levitation systems are particularly suitable for non-contact levitation of equipment for internal pipeline inspection, effectively avoiding pipe wall damage and motion resistance caused by physical contact. Specifically, the system typically uses a base to provide a magnetic field, with a float suspended above it, carrying the inspection equipment to perform exploration and inspection tasks within the pipeline.

[0003] However, existing magnetic levitation technologies suitable for pipeline inspection still have the following major drawbacks: Firstly, regarding the magnetic field generating device, while the electromagnetic coil base commonly used in industry can achieve magnetic force adjustment, it requires a continuous large current during operation, leading to excessive power consumption, increased operating costs, and significant heat generation, affecting system stability and lifespan. Using static permanent magnets can reduce energy consumption and heat generation, but their magnetic field strength is not adjustable, making it difficult to adapt to the varying levitation force requirements of pipes of different diameters, thus limiting application flexibility. Furthermore, pipeline inspection equipment typically requires multiple sensors and actuators, placing high demands on load capacity. Traditional permanent magnet arrangements result in dispersed magnetic flux and low magnetic field utilization, often necessitating the use of numerous magnets for compensation, leading to a bulky system and increased costs.

[0004] Secondly, the float control performance is insufficient. The float in the existing device has poor anti-interference performance. Especially with the current demand for miniaturization, as the size of the float decreases, its sensitivity to disturbances also increases. Once subjected to a small disturbance, it will exhibit suspension oscillation or even instability, making it difficult to meet the strict stability requirements of high-precision pipeline inspection. Utility Model Content

[0005] The present invention introduces a series of simplified concepts, which will be further explained in detail in the detailed description section. This part of the present invention is not intended to limit the key features and essential technical features of the claimed technical solution, nor is it intended to determine the scope of protection of the claimed technical solution.

[0006] The present invention aims to solve at least one of the technical problems existing in the prior art or related technologies.

[0007] Therefore, the first aspect of this utility model provides a magnetic levitation device.

[0008] The second aspect of this utility model provides a pipeline inspection system.

[0009] In view of the above, a magnetic levitation device is provided according to a first aspect of the embodiments of this application, comprising: Float assembly and base assembly, The float assembly includes: First magnet; An attitude acquisition unit is disposed on the first magnet. The attitude acquisition unit is used to acquire the attitude data of the float assembly and output the attitude data. The base assembly includes: A permanent magnet array, comprising multiple second magnets, wherein the magnetization directions of the multiple second magnets are different, so that the magnetic field generated by the multiple second magnets is concentrated on one side facing the first magnet; A controllable magnetic field group, wherein the controllable magnetic field group has a magnetic field that attracts or repels the first magnet.

[0010] In one feasible implementation, multiple second magnets are arranged circumferentially, each second magnet having a fan-shaped outer contour, with adjacent second magnets fitting together.

[0011] In one feasible implementation, the permanent magnet array includes N magnetic pole cycles, each magnetic pole cycle includes M magnet segments, and the number of the second magnets is N*M blocks; Where 2≤N≤6, and N is an integer; M = 2 * k, 2 ≤ k ≤ 5, where k is an integer.

[0012] In one feasible implementation, the magnetization direction of the multiple second magnets in each magnetic pole cycle changes sequentially to conform to a sinusoidal law, and the magnetization direction of two adjacent magnetic pole cycles at the splicing point is continuously distributed according to a sinusoidal law.

[0013] In one feasible implementation, the attitude acquisition unit includes an acceleration detection element, an angular velocity detection element, and a signal transmission element. The acceleration detection element and the angular velocity detection element are both disposed on the first magnet, and the signal transmission element is electrically connected to both the acceleration detection element and the angular velocity detection element.

[0014] In one feasible implementation, the first magnet is connected to a mounting base plate, and the acceleration detection element, angular velocity detection element, and signal transmission element are all fixed to the mounting base plate.

[0015] In one feasible implementation, it further includes: The control unit is used to receive the attitude data and output adjustment commands to the controllable magnetic field group according to the attitude data, so as to adjust the attitude of the float assembly.

[0016] In one feasible implementation, the base assembly further includes a Hall sensor disposed on one side of the permanent magnet array. The Hall sensor is used to detect the magnetic induction intensity between the float assembly and the base assembly, and the Hall sensor is electrically connected to the control unit.

[0017] In one feasible implementation, the controllable magnetic field group includes at least four sets of electromagnetic coils, each set of electromagnetic coils being electrically connected to the control unit, and the control unit transmitting adjustment commands to the electromagnetic coils based on the magnetic induction intensity and / or the attitude data.

[0018] A pipeline inspection system is provided according to a second aspect of the embodiments of this application, comprising: The magnetic levitation device as described in any of the above technical solutions.

[0019] Compared with the prior art, the present invention has at least the following beneficial effects: The magnetic levitation device provided in this application includes a float assembly and a base assembly. The float assembly includes a first magnet and an attitude acquisition unit. The attitude acquisition unit is used to acquire the attitude data of the float assembly and output the attitude data. The base assembly includes a permanent magnet array and a controllable magnetic field group. The permanent magnet array includes multiple second magnets with different magnetization directions, so that the magnetic field generated by the multiple second magnets is concentrated on the side facing the first magnet. The controllable magnetic field group has a magnetic field that attracts or repels the first magnet. This application embodiment enhances the magnetic field strength of the target area by using a permanent magnet array without increasing the total number of magnets. The permanent magnet array bears the main static levitation force, and the controllable magnetic field group only needs to provide dynamic fine-tuning force without continuous current output. This significantly reduces the overall energy consumption of the system and the heat generated by the coil operation, improves energy efficiency, and is suitable for long-term industrial applications. The real-time attitude adjustment of the float assembly is realized through the controllable magnetic field group, ultimately achieving the effects of lightweight magnetic levitation device, high magnetic field utilization, strong anti-interference ability, and stable levitation of the float assembly, better meeting the needs of the industrial field for high-precision magnetic levitation technology.

[0020] The above description is merely an overview of the technical solution of this utility model. In order to better understand the technical means of this utility model and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this utility model more obvious and understandable, specific embodiments of this utility model are given below. Attached Figure Description

[0021] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of this application. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings: Figure 1 A schematic structural diagram of a magnetic levitation device according to an embodiment of this application; Figure 2 A schematic structural diagram of the float assembly of a magnetic levitation device according to an embodiment of this application; Figure 3 A side view of the float assembly of a magnetic levitation device according to an embodiment of this application; Figure 4 A schematic structural diagram of the base assembly of a magnetic levitation device according to an embodiment of this application; Figure 5 A schematic structural diagram of a permanent magnet array for a magnetic levitation device according to an embodiment of this application.

[0022] in, Figures 1 to 5 The correspondence between the reference numerals and component names in the attached drawings is as follows: 100 float assembly, 200 base assembly; 101 First magnet, 102 Mounting substrate, 103 Attitude acquisition unit, 104 Cover plate; 201 Upper base plate, 202 Lower base plate, 203 Support cylinder, 204 Permanent magnet array, 205 Controllable magnetic field group, 206 Hall sensor, 207 Control unit. Detailed Implementation

[0023] The following description provides numerous specific details to offer a more thorough understanding of the technical solutions provided by this invention. However, it will be apparent to those skilled in the art that the technical solutions provided by this invention can be implemented without one or more of these details.

[0024] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to the present invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms “comprising” and / or “including” are used in this specification, they indicate the presence of features, integrals, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components, and / or combinations thereof.

[0025] Exemplary embodiments according to the present invention will now be described in more detail with reference to the accompanying drawings. However, these exemplary embodiments may be implemented in many different forms and should not be construed as being limited to the embodiments set forth herein. It should be understood that these embodiments are provided so that the disclosure of the present invention is thorough and complete, and that the concept of these exemplary embodiments is fully conveyed to those skilled in the art.

[0026] like Figures 1 to 5 As shown, a magnetic levitation device is proposed according to a first aspect of the embodiments of this application, including a float assembly 100 and a base assembly 200. The float assembly 100 includes a first magnet 101 and an attitude acquisition unit 103. The attitude acquisition unit 103 is disposed on the first magnet 101 and is used to acquire attitude data of the float assembly 100 and output the attitude data. The base assembly 200 includes a permanent magnet array 204 and a controllable magnetic field group 205. The permanent magnet array 204 includes multiple second magnets with different magnetization directions, so that the magnetic field generated by the multiple second magnets is concentrated on one side facing the first magnet 101. The controllable magnetic field group 205 has a magnetic field that attracts or repels the first magnet 101. The permanent magnet array 204 bears the main static levitation force, and the controllable magnetic field group 205 only needs to provide dynamic fine-tuning force without continuous current output, thereby significantly reducing the overall energy consumption of the system and the heat generated by the coil operation, improving energy efficiency, and making it suitable for long-term industrial applications.

[0027] like Figure 2 and Figure 3 As shown, in this scheme, the first magnet 101 of the float assembly 100 is centrally bonded to the mounting substrate 102 by adhesive. The state feedback module 103 is built into the central groove on the upper surface of the mounting substrate 102. By using a permanent magnet array 204 instead of the traditional permanent magnet arrangement, the levitation force of the float assembly 100 mainly comes from the magnetic field force between the permanent magnet array 204 and the first magnet 101. The magnetic field self-shielding characteristics of the permanent magnet array 204 ensure the signal-to-noise ratio of the sensor signal and the stability of the control circuit, enabling the system to work stably in complex electromagnetic environments and making it more adaptable.

[0028] It is understandable that the magnetic force between the permanent magnet array 204 and the first magnet 101 can be either repulsive or attractive. Specifically, when the base assembly 200 is placed below the outside of the pipe, the permanent magnet array 204 and the first magnet 101 of the float assembly 100 have the same polarity, generating an upward repulsive force to balance the weight of the float assembly 100 and the detection equipment it carries. In another application mode, when the base assembly 200 is placed above the outside of the pipe, the relative polarities of the first magnet 101 and the permanent magnet array 204 can be adjusted to generate an attractive force between them. In this case, the float assembly 100 is suspended inside the pipe by the upward attractive force.

[0029] like Figure 4 As shown, in this technical solution, the base assembly 200 also includes an upper base plate 201 and a lower base plate 202 for overall equipment installation. The upper base plate 201 and the lower base plate 202 are connected by bolts. A permanent magnet array 204 is installed in the circular groove of the lower base plate 202. The base, consisting of the upper base plate 201 and the lower base plate 202 connected by high-strength bolts, forms a robust rigid frame that effectively resists external vibrations and ensures the mechanical reliability of the device during long-term operation. The array is secured and prevented from loosening by applying anaerobic adhesive to the gap between its bottom and the wall of the circular groove. The anaerobic adhesive can cure in the air-isolated metal gap, effectively filling the microscopic unevenness of the contact surface and preventing the permanent magnet array 204 from loosening or shifting due to long-term vibration. Any slight change in the position of the permanent magnet array 204 will cause a change in the magnetic field distribution, thereby affecting the levitation stability. Therefore, this double-fixing method is crucial for ensuring the consistency and durability of system performance.

[0030] Understandably, traditional magnetic levitation systems require a continuous large current to be supplied to the electromagnetic coils to overcome gravity, resulting in low energy efficiency and serious thermal management problems. In this embodiment, however, the permanent magnet array 204 provides a constant, power-free levitation force reference, stabilizing the float assembly 100 near its equilibrium point. The controllable magnetic field group 205 is only driven by the control unit 207 to output a brief, minute adjustment force when the float assembly 100 deviates from its equilibrium position due to external disturbances, such as fluid impact or vibration. This on-demand compensation mode results in extremely low power consumption, close to zero, in a stable levitation state. Only the attitude acquisition unit 103 and the control unit 207 maintain basic operation, making it particularly suitable for long-term unattended online monitoring scenarios inside pipelines.

[0031] like Figure 5 As shown, in one feasible implementation, multiple second magnets are arranged circumferentially, each second magnet having a fan-shaped outer contour, with adjacent second magnets fitting together.

[0032] Because air gaps of 0.05 mm or more between magnet segments (incomplete fit) significantly increase the magnetic reluctance of the magnetic circuit and reduce the magnetic field conduction efficiency (the permeability of air is much lower than that of magnets, making it a "high-resistance region" in the magnetic circuit), and rectangular structures inevitably produce gaps due to their structure. Therefore, a second magnet with multiple fan-shaped structures is used, connected end to end, to form a closed loop.

[0033] In this technical solution, multiple fan-shaped second magnets can seamlessly form a complete ring magnet, eliminating the air gap between magnets. This allows the magnetic field lines to be guided and converged more smoothly and continuously, ensuring the uniformity and symmetry of the magnetic field distribution on the ring path. This provides an isotropic stable potential well for the float assembly 100 in the radial direction (xy plane). No matter what angle the float assembly rotates to, the radial restoring force it experiences is consistent, which is beneficial for achieving stable rotation or translation without contact bearings.

[0034] In one feasible implementation, the permanent magnet array 204 includes N magnetic pole cycles, each magnetic pole cycle includes M segments of magnets, and the number of second magnets is N*M blocks. Where 2≤N≤6, and N is an integer; M = 2 * k, 2 ≤ k ≤ 5, where k is an integer.

[0035] According to the principle of Halbach array, a 2-segment array (magnetization direction 0°→180°) has almost no unilateral enhancement effect; a 4-segment array can achieve a basic unilateral magnetic field; the magnetic field strength of an 8-segment array is about 20% to 30% higher than that of a 4-segment array; and a 16-segment array is about 10% to 15% higher than that of an 8-segment array. After that, the enhancement effect will gradually weaken as the number of segments is increased, and the cost-effectiveness will decrease.

[0036] 4-segment: This is a specific form of the Halbach arrangement, which means that each magnetic pole cycle is divided into 4 permanent magnets, and the magnetization direction is rotated 90° in sequence to achieve one magnetic pole cycle, that is, the magnetization direction is 0°→90°→180°→270°.

[0037] 8 poles: This refers to the fact that there are 8 magnetic poles on the entire ring magnet, that is, 4 magnetic pole cycles, because each cycle contains two magnetic poles, N and S.

[0038] In this design, the ring magnet has a diameter of approximately 100mm. An 8-segment 4-pole array would require 16 magnets. However, the 45-degree magnetization requires high precision; an error of ±5° or more in the magnetization direction would lead to disordered magnetic field lines, increased magnetic leakage, and a potential 10%–20% reduction in the magnetic field strength on the enhanced side. Therefore, considering cost and production difficulty, a 4-segment 8-pole array (N=4, M=4) is used.

[0039] like Figure 5 As shown, in one feasible implementation, the magnetization direction of multiple second magnets in each magnetic pole cycle changes sequentially to conform to a sinusoidal law, and the magnetization direction of two adjacent magnetic pole cycles at the splicing point is continuously distributed according to a sinusoidal law.

[0040] It is understandable that the magnetization direction of an ideal Halbach array rotates continuously according to a sinusoidal law. The smaller the rotation step and the more segments, the closer the rotation of the magnetization direction is to a "continuous sinusoidal distribution". The magnetic field distribution is closer to an "ideal unilateral magnetic field", the more significant the enhancement effect, the better the magnetic field uniformity, and the higher the magnetic field peak on the enhanced side. However, the enhancement will gradually saturate.

[0041] In this technical solution, it is necessary to ensure that the magnetization direction of the first and last magnets is continuously distributed according to a sinusoidal law. If the magnetization direction is not continuous at the splicing point, a "magnetic gap" will be formed, weakening the magnetic field strength at the center of the ring.

[0042] In one feasible implementation, the attitude acquisition unit 103 includes an acceleration detection element, an angular velocity detection element, and a signal transmission element. The acceleration detection element and the angular velocity detection element are both disposed on the first magnet 101, and the signal transmission element is electrically connected to the acceleration detection element and the angular velocity detection element.

[0043] In this scheme, the acceleration detection element can be an accelerometer, and the angular velocity detection element can be a gyroscope. Both the accelerometer and angular velocity detection elements can continuously monitor the attitude changes of the float assembly. It is understood that the accelerometer (such as a triaxial accelerometer) can not only measure linear acceleration but also sense the gravitational acceleration component, thereby calculating the pitch and roll angles of the float assembly. The gyroscope directly measures the rotational angular velocity of the float assembly. Signal transmitting elements, such as a wireless radio frequency module, transmit this crucial data to the external control unit 207 in real time, forming a closed-loop control. In pipeline inspection applications, the float assembly may undergo attitude changes due to internal fluid disturbances or pipeline bending. The attitude acquisition unit 103 can capture these changes in real time, providing data for the dynamic stability control of the float assembly 100.

[0044] like Figure 2 As shown, in one feasible embodiment, the first magnet 101 is connected to the mounting base plate 102, and the acceleration detection element, the angular velocity detection element and the signal transmission element are all fixed to the mounting base plate 102.

[0045] In this solution, the various components of the attitude acquisition unit 103 are integrated and fixed on the mounting base plate 102, which ensures the rigidity and accuracy of the measurement and avoids measurement errors caused by mechanical flexibility or assembly gaps, thus providing reliable data support for high-precision suspension control.

[0046] In one feasible implementation, a control unit 207 is also included. The control unit 207 is used to receive attitude data and output adjustment commands to the controllable magnetic field group 205 according to the attitude data to adjust the attitude of the float assembly 100.

[0047] In this design, the control unit 207 is integrated and fixed to the bottom of the lower base plate 202, optimizing the spatial layout and making the system structure more compact. The permanent magnet array 204 is based on the vector superposition effect, with the magnetic fields of all magnets highly concentrated on the side facing the float assembly 100, thus providing the main levitation force; at the same time, their magnetic fields cancel each other out and are significantly weakened on the side facing the base, greatly reducing the interference of the magnetic field on the control unit 207.

[0048] In one feasible implementation, the base assembly 200 further includes a Hall sensor 206, which is arranged on one side of the permanent magnet array 204. The Hall sensor 206 is used to detect the magnetic induction intensity between the float assembly 100 and the base assembly 200. The Hall sensor 206 is electrically connected to the control unit 207.

[0049] In this design, the Hall sensor array 206 is fixedly mounted at the geometric center of the permanent magnet array 204 to detect changes in magnetic flux density along the x, y, and z axes in real time. Since there is a precise mapping between the magnetic field distribution and the position of the float assembly, this data can indirectly and accurately reflect the real-time positional shift of the float assembly. When the float assembly 100 deflects to the right, the magnetic flux on the right side of the Hall sensor 206 increases. The Hall sensor 206 then controls the current in the right electromagnetic coil of the regulating unit 207 to decrease, while increasing the current on the left, creating a restoring force to the left. Regardless of whether levitation is repulsive or gravitational, the self-shielding characteristic of the permanent magnet array 204 significantly reduces magnetic field leakage on the side away from the float assembly 100. This provides an electromagnetically clean zone for the Hall sensor 206 and regulating unit 207 installed adjacent to it, preventing interference and magnetization of electronic components by strong magnetic fields, ensuring the accuracy of the measurement signal and the long-term reliability of the control system.

[0050] In one feasible implementation, the controllable magnetic field group 205 includes at least four sets of electromagnetic coils, each set of electromagnetic coils being electrically connected to the control unit 207, which transmits adjustment commands to the electromagnetic coils based on magnetic induction intensity and / or attitude data.

[0051] In this design, a controllable magnetic field group 205, consisting of four independent electromagnetic coils, is uniformly distributed circumferentially inside the permanent magnet array 204. Before operation, a large current is applied to the controllable magnetic field group 205, generating a strong attractive force to actively attract and fix the float assembly 100 to the support cylinder 203, preventing it from bouncing off due to permanent magnet repulsion during installation. During operation, the current decreases steadily, and the float assembly slowly rises to the preset suspension position under the action of permanent magnet repulsion. The system then enters a continuous closed-loop stable control state. This device incorporates a safe start-stop logic through the controllable magnetic field group 205: upon startup, the controllable magnetic field group 205 first applies current to actively attract and fix the float assembly 100 to the support cylinder 203; subsequently, the current decreases steadily, allowing the float assembly to slowly transition to the suspension equilibrium position. This process completely eliminates the risk of the float assembly bouncing off due to sudden changes in permanent magnet repulsion, greatly improving the safety of the equipment and operation.

[0052] According to a second aspect of the embodiments of this application, a pipeline inspection system is provided, including: a magnetic levitation device as described in any of the above technical solutions.

[0053] The pipeline inspection system provided in this application includes a magnetic levitation device as described in any of the above technical solutions, and therefore possesses all the beneficial effects of the magnetic levitation device described in the above technical solutions.

[0054] The pipeline inspection system proposed in this application uses a float assembly 100 as a mobile inspection carrier. Various pipeline inspection sensors can be integrated onto its mounting base 102, such as a high-definition camera for visual inspection of the pipeline's inner wall, an ultrasonic probe for corrosion thickness measurement, and an acoustic sensor for leak detection. The base assembly 200 serves as a fixed base station, installed on the outside of the pipeline being inspected via clamps, brackets, or other means. Specifically, depending on the inspection needs and site limitations, when the base assembly 200 is installed below the pipeline, the repulsive force generated by the permanent magnet array 204 pushes the float assembly 100 carrying the inspection equipment away from the pipeline's inner wall, achieving non-contact, suspended inspection. This is particularly suitable for scanning pipelines with coatings or deposits on their inner walls. When the base assembly 200 is installed above the pipeline, the attractive force generated by the permanent magnet array 204 suspends the float assembly 100 within the pipeline. This method is especially useful when space below the pipeline is limited or there are obstacles. Regardless of the deployment method, the float assembly 100 can achieve stable levitation within the pipeline without contact or friction, and its attitude and position can be precisely controlled by the controllable magnetic field group 205, thereby guiding the detection equipment to perform a comprehensive and high-precision scan of the pipeline's inner wall, greatly improving the efficiency, accuracy, and safety of pipeline inspection.

[0055] In this utility model, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance; the term "multiple" refers to two or more unless otherwise explicitly defined. The terms "install," "connect," "join," and "fix" should be interpreted broadly. For example, "connect" can be a fixed connection, a detachable connection, or an integral connection; "join" can be a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0056] In the description of this utility model, it should be understood that the terms "upper", "lower", "left", "right", "front", "rear", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or unit referred to must have a specific orientation or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0057] In the description of this specification, the terms "one embodiment," "some embodiments," "specific embodiment," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0058] The above are merely preferred embodiments of this utility model and are not intended to limit the scope of this utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A magnetic levitation device, characterized in that, Includes float assembly and base assembly, The float assembly includes: First magnet; An attitude acquisition unit is disposed on the first magnet. The attitude acquisition unit is used to acquire the attitude data of the float assembly and output the attitude data. The base assembly includes: A permanent magnet array, comprising multiple second magnets, wherein the magnetization directions of the multiple second magnets are different, so that the magnetic field generated by the multiple second magnets is concentrated on one side facing the first magnet; A controllable magnetic field group, wherein the controllable magnetic field group has a magnetic field that attracts or repels the first magnet.

2. The magnetic levitation device according to claim 1, characterized in that, Multiple second magnets are arranged circumferentially, each second magnet having a fan-shaped outer contour, with adjacent second magnets fitting together.

3. The magnetic levitation device according to claim 2, characterized in that, The permanent magnet array includes N magnetic pole cycles, each magnetic pole cycle includes M magnet segments, and the number of the second magnets is N*M blocks; Where 2≤N≤6, and N is an integer; M = 2 * k, 2 ≤ k ≤ 5, where k is an integer.

4. The magnetic levitation device according to claim 3, characterized in that, The magnetization direction of the multiple second magnets in each magnetic pole cycle changes sequentially to conform to a sinusoidal law, and the magnetization direction of two adjacent magnetic pole cycles at the splicing point is continuously distributed according to a sinusoidal law.

5. The magnetic levitation device according to any one of claims 1 to 4, characterized in that, The attitude acquisition unit includes an acceleration detection element, an angular velocity detection element, and a signal transmission element. The acceleration detection element and the angular velocity detection element are both disposed on the first magnet, and the signal transmission element is electrically connected to both the acceleration detection element and the angular velocity detection element.

6. The magnetic levitation device according to claim 5, characterized in that, The first magnet is connected to a mounting base plate, and the acceleration detection element, angular velocity detection element and signal transmission element are all fixed to the mounting base plate.

7. The magnetic levitation device according to any one of claims 1 to 4, characterized in that, Also includes: The control unit is used to receive the attitude data and output adjustment commands to the controllable magnetic field group according to the attitude data, so as to adjust the attitude of the float assembly.

8. The magnetic levitation device according to claim 7, characterized in that, The base assembly also includes a Hall sensor, which is arranged on one side of the permanent magnet array. The Hall sensor is used to detect the magnetic induction intensity between the float assembly and the base assembly, and is electrically connected to the control unit.

9. The magnetic levitation device according to claim 8, characterized in that, The controllable magnetic field group includes at least four sets of electromagnetic coils, each set of electromagnetic coils being electrically connected to the control unit. The control unit transmits adjustment commands to the electromagnetic coils based on the magnetic induction intensity and / or the attitude data.

10. A pipeline inspection system, characterized in that, include: The magnetic levitation device as described in any one of claims 1 to 9.

Images