Intra-pipeline detection device based on distributed uniform magnetic field sensing

Abstract

An intra-pipeline detection device based on distributed uniform magnetic field sensing, which belongs to the technical field of pipeline magnetization inspection. The intra-pipeline detection device based on distributed uniform magnetic field sensing comprises: a moving carrier (1) and probe detection assemblies (2), wherein the moving carrier (1) moves in a pipeline; and the plurality of probe detection assemblies (2) are arranged on the outer side of the moving carrier (1), and the plurality of probe detection assemblies (2) are sequentially arranged along the axis of the moving carrier (1). Each probe detection assembly (2) comprises a plurality of elastic detection ends (23), wherein the plurality of elastic detection ends (23) are distributed around the axis of the moving carrier (1); and each elastic detection end (23) is provided with an excitation structure, a detection component and a wear-resistant structure. During detection, the elastic detection ends (23) abut against the inner wall of the pipeline, wherein the excitation structures magnetize the pipeline, and the detection components detect pipeline defects within a magnetized region. The device performs pipeline inspection by using uniform magnetic field coupled sensing detection technology, and can not only detect internal defects of a magnetized region of a pipeline, but also detect external defects of the magnetized region.

Description

A pipe in-situ detection device based on distributed magnetic uniform sensing Technical Field

[0001] This invention belongs to the field of pipeline magnetization detection technology, specifically relating to a pipeline internal detection device based on distributed magnetic uniform sensing. Background Technology

[0002] Pipelines are widely used to transport oil, gas, chemicals, water, and other industrial media. If defects or damage in pipelines are not detected in time, they may cause major accidents such as leaks, fires, or even explosions, endangering personal safety and the environment. Regular inspections can detect problems such as corrosion, cracks, and welding defects in pipelines in advance, preventing catastrophic accidents.

[0003] Currently, magnetic flux leakage detection technology is often used to inspect pipelines. The conventional magnetization method is a whole-body magnetization method, which involves using a central cylinder (lined with iron), front and rear sets of steel brushes, and the magnetic component being inspected (pipe wall) to form a long magnetic circuit, magnetizing the entire pipe section between the front and rear sets of steel brushes. The effective range of the magnetic probe's instantaneous detection is the entire pipe section between the steel brushes, detecting defects in the entire magnetized pipe section.

[0004] However, conventional magnetic flux leakage detection technology uses the central cylinder (lined iron) as the yoke part in the magnetic circuit, which results in the central cylinder having a strong magnetism. The power supply unit (battery) and electronic hardware and other components that are susceptible to strong magnetic interference cannot be placed inside the central cylinder. This leads to low equipment integration, complex structure, increased manufacturing difficulty and maintenance costs, and difficulty in passing through narrow areas of pipes such as bends and valves. Summary of the Invention

[0005] To address the aforementioned problems in the prior art, this invention provides a pipeline in-situ detection device based on distributed magnetic uniform sensing.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0007] The present invention provides a pipeline inspection device based on distributed magnetic uniform sensing, comprising: a moving carrier and a probe detection component;

[0008] The mobile carrier moves within the pipeline;

[0009] Multiple probe detection components are provided on the outer side of the mobile carrier, and the multiple probe detection components are arranged sequentially along the axis of the mobile carrier.

[0010] The probe detection assembly includes multiple elastic detection ends, which are distributed and arranged around the axis of the moving carrier.

[0011] The elastic detection end is equipped with an excitation structure, a detection component, and a wear-resistant structure;

[0012] During testing, the elastic detection end abuts against the inner wall of the pipe, the pipe is magnetized by the excitation structure, and the detection component detects pipe defects within the magnetized area.

[0013] The beneficial effects of this invention are reflected in:

[0014] This invention provides a pipeline inspection device based on distributed magnetic uniform sensing. It uses magnetic uniform field coupling sensing technology to inspect pipelines. It can detect both internal and external defects in the magnetized area of ​​the pipeline. It does not require a central cylinder as a magnetic circuit, which facilitates device layout, improves equipment integration, and has a simple structure. It reduces the manufacturing difficulty and maintenance cost of the equipment and is beneficial for passing through narrow areas of pipelines such as bends and valves. Attached Figure Description

[0015] Figure 1 is a three-dimensional structural schematic diagram of a pipeline detection device based on distributed magnetic uniform sensing provided by the present invention;

[0016] Figure 2 is a front view schematic diagram of a pipeline detection device based on distributed magnetic uniform sensing provided by the present invention;

[0017] Figure 3 is an isometric view of a single detection probe assembly provided by the present invention;

[0018] Figure 4 is a side view of a single detection probe assembly provided by the present invention;

[0019] Figure 5 is a partial view of the mounting and fixing position of a single detection probe assembly provided by the present invention;

[0020] Figure 6 is a schematic diagram of the unfolded and laid-out two-ring probe detection assembly provided by the present invention;

[0021] Figure 7 is a schematic diagram of the installation of a small-sized wear-resistant body provided by the present invention;

[0022] Figure 8 is a front view of a small-sized wear-resistant body provided by the present invention;

[0023] Figure 9 is a schematic diagram of the installation of a large-size wear-resistant body provided by the present invention.

[0024] Explanation of reference numerals in the attached figures:

[0025] 1-Mobile carrier, 2-Probe detection assembly, 21-Connecting end, 211-Fixed mounting plate, 22-Transition connecting end, 23-Elastic detection end, 231-Fixed pad, 2311-Fixed inclined surface, 2312-Strip countersunk hole, 232-Fixed cover plate, 2321-Recessed countersunk platform, 2322-Limiting ridge 1, 2323-Limiting ridge 2, 233-Small-sized wear-resistant body, 2331-Wear-resistant spherical surface. 2332-Conical wear-resistant body, 2333-Limiting cylinder, 234-Large wear-resistant body, 2341-Wear-resistant arc surface, 2342-Central concave body, 2343-Strip boss, 235-Magnetic sensor, 236-Magneticized area, 24-Transition fillet, 25-Cable, 26-Deformation groove, 3-Mileage detection component, 4-Sealing cup, 5-Pressure-resistant connector, 6-Pressure ring, 61-Step protrusion. Detailed Implementation

[0026] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0027] The specific embodiments provided by this invention are as follows:

[0028] As shown in Figures 1 to 9, the first embodiment of the present invention proposes a pipeline inspection device based on distributed magnetic uniform sensing, comprising: a mobile carrier 1 and a probe detection assembly 2; the mobile carrier 1 moves in the pipeline; a plurality of probe detection assemblies 2 are arranged on the outer side of the mobile carrier 1, and the plurality of probe detection assemblies 2 are arranged sequentially along the axis of the mobile carrier 1; the probe detection assembly 2 includes a plurality of elastic detection ends 23, and the plurality of elastic detection ends 23 are distributed and arranged around the axis of the mobile carrier 1; the elastic detection ends 23 are provided with an excitation structure, a detection component, and a wear-resistant structure;

[0029] During testing, the elastic detection end 23 abuts against the inner wall of the pipe, the pipe is magnetized by the excitation structure, and the pipe defects in the magnetized area are detected by the detection component.

[0030] Optionally, the probe detection assembly 2 can be arranged in multiple rings, with the front and rear rings staggered. Each probe detection assembly 2 detects defects within its respective magnetized region 236. Arranging several probe detection assemblies 2 in a staggered manner can form full coverage of the detection range.

[0031] Because this invention employs a distributed interval magnetization method, the magnetic circuit is shorter, resulting in lower magnetism for a single probe detection component 2 under the same magnetization intensity requirement for the detected magnetic pipe. Furthermore, when establishing the magnetic circuit, the device in this application does not use the moving carrier 1 as part of the magnetic circuit, and the elastic detection end 23 of the single probe detection component 2 is far from the moving carrier 1, making the moving carrier 1 completely non-magnetic. Consequently, the moving carrier 1 in this patent structure can normally house the power supply unit (battery) and electronic hardware, which are susceptible to strong magnetic interference. This facilitates device layout, improves equipment integration, simplifies the structure, reduces the manufacturing difficulty and maintenance cost of the equipment, and is beneficial for passing through narrow areas of pipes such as bends and valves.

[0032] Furthermore, the pipe inspection device provided by this invention features reduced size, lighter weight, and higher resolution. Taking an 8-inch pipe detector as an example, the total length of the device with this invention's structure can be as low as 390mm, while the conventional magnetic flux leakage detector structure, using a multi-section layout design, has an overall length of approximately 2500mm (less than one-sixth). This reduces the requirements for inspection conditions, meeting the requirements of 1.5D elbows, ball valves, and other similar conditions (traditional magnetic flux leakage detectors often consist of multiple sections with large lengths, failing to meet the requirements of 1.5D elbows, ball valves, etc.). The total weight of the device with this invention's structure can be as low as 18.2Kg, while the conventional magnetic flux leakage detector structure (see Figure 2) weighs approximately 100Kg (less than one-fifth). This significant weight reduction reduces friction between the detector and the inspected component, thereby reducing the wear resistance requirements of the inspection sections. The structure of this invention can accommodate 320 main channels, while conventional magnetic flux leakage devices have approximately 200 main channels (an increase of approximately 68% compared to conventional magnetic flux leakage detection equipment), improving inspection resolution and facilitating defect imaging, thus providing a clearer view of the morphological characteristics of the detected defects.

[0033] In one possible implementation, the probe detection assembly 2 further includes a connecting end 21. The probe detection assembly 2 is connected to the mobile carrier 1 via the connecting end 21. The connecting end 21 is provided with a fixing bracket 211. When the probe detection assembly 2 is installed and fixed on the mobile carrier 1 using the pressure ring 6, the stepped protrusion 61 of the pressure ring 6 engages with the fixing bracket 211.

[0034] In this invention, because the elastic detection end 23 is encapsulated with an excitation structure, there is an adsorption force between the individual probe detection component 2 and the detected magnetic pipe. The elastic detection end 23 also exhibits an outward pulling force, making it easy for the individual probe detection component 2 to be pulled out of the fixed installation position area, causing it to fall. Therefore, a new anti-fall fixing bracket 211 structure is added to prevent the individual probe detection component 2 from being pulled off and falling from the installation position.

[0035] In one possible implementation, the elastic detection end 23 has transition fillets 24 on both sides of the contact surface between it and the inner wall of the pipe.

[0036] In this invention, the actual movement of the internal detection device within the pipe is a composite motion consisting of axial linear motion and circumferential rotational motion. The circumferential rotational motion causes vibration in a single probe detection component 2. Adding transition fillets 24 on both sides of the single probe detection component 2 provides a smooth transition, reducing probe vibration and improving data quality.

[0037] In one possible implementation, since the elastic detection end 23 is filled with an excitation structure, there is an adsorption force between the single probe detection assembly 2 and the magnetic pipe being detected. Therefore, the transition connection end 22 in the single probe detection assembly 2 does not need to provide a large outward tension, thus reducing the size of the probe's outward angle α.

[0038] In this invention, the outward angle of the elastic detection end 23 is reduced, the outward tension provided by the transition connection end 22 is reduced, the pressure between the elastic detection end 23 and the magnetic pipe being tested is reduced, thereby reducing the friction between the elastic detection end 23 and the magnetic pipe being tested and reducing the wear resistance requirements of the elastic detection end 23.

[0039] In one possible implementation, the probe detection assembly 2 further includes a transition connection end 22. The connection end 21 is connected to the elastic detection end 23 via the transition connection end 22. A deformation groove 26 is provided between the transition connection end 22 and the elastic detection end 23.

[0040] In this invention, the addition of the deformation groove 26 structure allows the single probe detection component 2 to bend at a preset position when it deforms radially, so that the transition connection end 22 no longer bends and deforms, and independently plays a supporting role, meeting the preset deformation requirements, and allowing the elastic detection end 23 to better fit the inner wall of the magnetic pipe being detected.

[0041] In one possible implementation, the cable 25 exit position of the single probe detection assembly 2 is moved from the transition connection end 22 to the elastic detection end 23 portion.

[0042] In this invention, the cable 25 of the single probe detection component 2 is moved to the elastic detection end 23 area, and the cable does not pass through the bending part of the deformation groove 26, thus avoiding cable pulling caused by probe deformation during use and preventing solder joint detachment. At the same time, the integrity of the elastic material of the single probe detection component 2 at the deformation groove 26 is ensured, improving the tensile strength at the deformation point.

[0043] In one possible implementation, the elastic detection end 23 includes a fixed cover plate 232 that contacts the inner wall of the pipe and a magnetic sensor 235. The wear-resistant structure includes a plurality of small-sized wear-resistant bodies 233 and a plurality of large-sized wear-resistant bodies 234. The fixed cover plate 232 is provided with a plurality of small-sized wear-resistant bodies 233. The area between the fixed cover plate 232 and the magnetic sensor 235 is provided with a plurality of large-sized wear-resistant bodies 234.

[0044] It should be noted that the adsorption force between the fixed cover plate 232 and the contact part of the magnetic pipe being tested is the greatest. This part is the area where the adsorption pressure is concentrated and is most prone to wear and breakage. Therefore, multiple small-sized wear-resistant bodies 233 are arranged in this area.

[0045] Furthermore, in the area between the fixed cover plate 232 and the magnetic sensor 235, a few large-sized wear-resistant bodies 234 are arranged in this area. The large-sized wear-resistant bodies 234 have the functions of wear resistance, protection of the detection unit, and support between the single probe detection component 2 and the magnetic pipe being detected.

[0046] In this invention, when the detector performs detection inside the pipe, its actual movement within the pipe is a composite motion consisting of axial linear motion and circumferential rotational motion. The inner wall of the pipe contains sharp, hard protrusions that jut out radially. Because the top of the wear-resistant body has a spherical structure, these sharp, protruding hard protrusions moving from all directions can smoothly transition over the wear-resistant column without impacting it and causing it to break. Simultaneously, the wear-resistant body is higher than the outer arc surface of the elastic detection end 23, ensuring that when a single probe detection assembly 2 is properly fitted inside the pipe, the contact points between the elastic detection end 23 and the inner wall of the pipe are the protruding wear-resistant bodies 233 and 234. Normal wear on these protruding wear-resistant bodies 233 and 234 prevents wear on the potting material. The portion of the spherical surface protruding from the top of the wear-resistant body is smaller than the radius of the sphere, ensuring that most of the wear-resistant bodies 233 and 234 are encapsulated within the potting material, creating a "small opening, large belly" encapsulation effect and preventing the wear-resistant bodies 233 and 234 from falling off.

[0047] In one possible implementation, a fixing cover plate 232 is placed on the excitation structure (magnetization source). The fixing cover plate 232 is completely fitted to the excitation structure, and there are limiting protrusions 2322 and 2323 around the fixing cover plate 232 to completely fix the fixing cover plate 232 on the excitation structure and prevent it from moving around.

[0048] Optionally, the fixing cover 232 is made of a high magnetic permeability material, which can be directly and strongly adsorbed onto the excitation structure, thus preventing the fixing cover 232 from falling radially. Because the fixing cover 232 is made of a high magnetic permeability material, the thickness of the elastic potting material between the excitation structure and the magnetic pipe being tested is reduced, thereby enhancing the magnetization effect of the magnetic circuit.

[0049] In one possible implementation, the fixed cover plate 232 is provided with a plurality of recessed countersunk platforms 2321. Small-sized wear-resistant bodies 233 are fixedly placed in the recessed countersunk platforms 2321 one by one.

[0050] Optionally, the layout of the recessed platform 2321 and the small-sized wear-resistant body 233 can vary depending on the requirements, such as linear, spiral, discrete, etc.

[0051] In this invention, the recessed platform 2321 serves to fix the small-sized wear-resistant body 233 around the plane, preventing the small-sized wear-resistant body 233 from being displaced during operation.

[0052] In one possible implementation, the small-sized wear-resistant body 233 adopts a conical mushroom-shaped gyratory body structure.

[0053] It should be noted that the conical mushroom-shaped gyratory structure is wider at the bottom and narrower at the top. This structure ensures that after the manufacturing of a single probe detection component 2, the lower part of the small-sized wear-resistant body 233 is completely encased in the injection material. The injection material has a "small opening and large belly" encasing effect on the small-sized wear-resistant body 233, making it impossible for the small-sized wear-resistant body 233 to be pulled out.

[0054] Furthermore, the bottom of the small wear-resistant body 233 has a protruding limiting cylinder 2333, which is used to cooperate with the recessed platform 2321 of the fixed cover plate 232 to ensure the limiting effect on the small wear-resistant body 233 around the perimeter.

[0055] Furthermore, the small-sized wear-resistant body 233 has a wear-resistant spherical surface 2331 on top. The top is a spherical structure, and the small-sized wear-resistant body 233 protrudes above the upper surface of the potting material, but the protruding part is smaller than the radius of the spherical surface.

[0056] In one possible implementation, the elastic detection end 23 further includes a fixing pad 231. The fixing pad 231 has symmetrically arranged fixing inclined surfaces 2311, and the fixing inclined surfaces 2311 have strip-shaped countersunk holes 2312. The large-size wear-resistant body 234 has strip-shaped bosses 2343. The large-size wear-resistant body 234 is positioned within the fixing pad 231 by the cooperation of the strip-shaped bosses 2343 and the strip-shaped countersunk holes 2312.

[0057] Optionally, the cross-sectional shape of the strip countersunk hole 2312 can be a non-rotational body, and does not necessarily have to be a long strip.

[0058] It should be noted that the large-sized wear-resistant body 234 needs to be arranged in an arc on the outer arc surface of the elastic detection end 23 of the single probe detection component 2. Therefore, it is necessary to add symmetrically arranged fixed inclined surfaces 2311 on the fixed pad 231 according to the arc layout position. The size of the inclined surfaces depends on the layout position. The cooperation between the strip-shaped boss 2343 and the strip-shaped countersunk hole 2312 ensures the surrounding restraint of the large-sized wear-resistant body 234 and prevents the large-sized wear-resistant body 234 from rotating or shifting around its perimeter.

[0059] In one possible implementation, the large-size wear-resistant body 234 adopts a multi-layered mushroom-head spiral structure. The large-size wear-resistant body 234 has a central concave structure 2432, making the middle of the large-size wear-resistant body 234 smaller and both ends larger. The lower mushroom head of the large-size wear-resistant body 234 is completely enclosed in the filling material. The filling material has a "small opening, large belly" enveloping effect on the large-size wear-resistant body 234, preventing it from being pulled out. The upper mushroom head of the large-size wear-resistant body 234 contacts the inner wall of the pipe.

[0060] Optionally, the large-size wear-resistant body 234 has an "upper mushroom head" structure on top, with the top being a wear-resistant arc surface 2341. The wear-resistant arc surface 2341 of the "upper mushroom head" structure of the large-size wear-resistant body 234 is higher than the upper surface of the potting material, but the higher part is smaller than the radius of the sphere.

[0061] Furthermore, the small-sized wear-resistant body 233 and the large-sized wear-resistant body 234 are combined in terms of size, number of layouts, layout position, and structural method. In terms of function, this combination method separates the wear-resistant and support functions to avoid failure under complex working conditions.

[0062] In one possible implementation, with the goals of improving magnetic induction, improving wear resistance, reducing friction and reducing manufacturing costs, the size and position of the small wear-resistant body 233 and the large wear-resistant body 234 are determined by the fireworks algorithm.

[0063] Specifically, small-sized wear-resistant elements are typically arranged around the magnetization source, primarily responsible for wear resistance and support. Their shape design needs to consider the balance between wear resistance and friction. The parameters to be determined for small-sized wear-resistant elements mainly include: material, radius of the wear-resistant sphere, exposed height, number, and location.

[0064] Large-sized wear-resistant bodies are responsible for providing greater support and wear resistance, while their structural design also affects magnetic induction performance and overall wear characteristics. The main parameters to be determined for large-sized wear-resistant bodies include: material, upper wear-resistant spherical radius, exposed height, overall height, central concave depth, width and length of strip-shaped bosses, number, and location.

[0065] Specifically, simulation models of distributed magnetic uniform sensing devices for pipeline inspection can be constructed using software such as COMSOL and ANSYS. The simulation model determines the magnetic induction, wear resistance, and friction under various parameter combinations. The contact characteristics between the wear-resistant material and the pipeline wall need to be defined, including the contact area, contact friction, clamping force, and coefficient of friction. Nonlinear contact or surface-to-surface contact needs to be selected to simulate the interaction between the wear-resistant material and the pipeline wall. Simultaneously, the magnetic field boundary conditions between the wear-resistant material and the pipeline need to be defined, including the source of the external magnetic field and its magnetization intensity.

[0066] Furthermore, necessary constraints are imposed on the wear-resistant body, such as fixing the center of the probe, so that the wear-resistant body can only move or be displaced in a specific direction. The movement of the probe in the pipeline is simulated, and the motion trajectory and velocity of the probe are defined to analyze its friction and wear resistance under different conditions.

[0067] Furthermore, a normal load is applied between the wear-resistant material and the inner wall of the pipe to simulate the pressure under actual working conditions. A sliding friction load is set to simulate the friction between the wear-resistant material and the pipe wall as the probe moves inside the pipe.

[0068] Furthermore, high-precision mesh generation is employed, especially in contact areas and regions with drastic magnetic field changes. The mesh needs to be refined in the contact area between the wear-resistant material and the pipe wall, as well as in critical parts of the probe, to obtain accurate stress, wear, and magnetic field distributions.

[0069] Alternatively, the magnetic induction can be specifically evaluated using the strength and stability of the magnetic induction signal received by the magnetic sensor:

[0070] ;

[0071] Where E represents the magnetic induction parameter, I represents the magnetic induction signal intensity, and S represents the magnetic induction signal stability. The weighting coefficient represents the intensity of the magnetic induction signal.

[0072] Alternatively, the stability of the magnetic induction signal can be evaluated using the variance and standard deviation of the magnetic induction signal intensity.

[0073] It should be noted that improving the magnetic induction parameter can enhance the accuracy of pipeline fault detection.

[0074] Alternatively, abrasion resistance can be specifically evaluated by measuring wear amount:

[0075] ;

[0076] Where W represents wear amount, K represents wear coefficient, P represents contact pressure, V represents relative sliding speed, and H represents material hardness.

[0077] It should be noted that reducing wear can extend the service life of wear-resistant materials, improve the reliability of testing devices, and reduce maintenance costs.

[0078] Optionally, the friction force is specifically:

[0079] ;

[0080] Where F represents frictional force, N represents contact pressure (normal force), and μ is the material friction coefficient.

[0081] Alternatively, the cost can be estimated using material costs:

[0082] ;

[0083] Where B represents the material cost, b1 represents the unit material cost of the small-sized wear-resistant body, V1 represents the total volume of the small-sized wear-resistant body, b2 represents the unit material cost of the large-sized wear-resistant body, and V2 represents the total volume of the large-sized wear-resistant body.

[0084] It should be understood that magnetic induction parameters, wear resistance, friction, and material cost are interdependent evaluation indicators. For example, materials with high wear resistance and low friction often have higher costs. Furthermore, to improve wear resistance, materials with high hardness and high wear resistance, such as ceramics, cemented carbides, or high-strength composites, are typically selected. However, these materials often have low magnetic permeability, meaning they have poor magnetic field conductivity. The intensity of the magnetic induction signal depends on the magnetic field received by the sensor, and low magnetic permeability materials weaken the magnetic field's penetration ability, leading to a decrease in the intensity of the magnetic induction signal or signal instability.

[0085] Therefore, the aforementioned magnetic induction parameters, wear resistance, friction, and material cost are contradictory evaluation indicators that need to be considered comprehensively. To address this, a comprehensive fitness function is designed:

[0086]

[0087] Where f represents the fitness function, θ represents the combination of size parameters, which includes the material, wear-resistant spherical radius, exposed height, quantity, and position of the small-sized wear-resistant body, and the material, upper wear-resistant spherical radius, exposed height, overall height, central concave depth, width and length of the strip boss, quantity, and position of the large-sized wear-resistant body. λ1 represents the weighting coefficient of the magnetic induction parameter, λ2 represents the weighting coefficient of the wear amount, λ3 represents the weighting coefficient of the friction force, and λ4 represents the weighting coefficient of the material cost.

[0088] Initialize individual fireworks. Each individual fireworks consists of multiple dimensional components. Each individual fireworks represents a feasible combination of size parameters, and each component represents a size parameter.

[0089] Detonate each individual firework:

[0090] ;

[0091] Among them, A i Let x represent the explosion radius of the i-th individual firework. i Let f represent the i-th firework individual, N represent the total number of firework individuals, min represent the minimum value, ε represent the hyperparameter for avoiding division by zero, and C represent the maximum value. A S represents the explosion radius adjustment factor. i C represents the number of sparks from the explosion of the i-th individual firework, max represents taking the maximum value, and C S This represents the adjustment factor for the number of explosion sparks.

[0092] In this invention, individuals with better fitness have smaller explosion radii, indicating that they search in a more refined local area; individuals with poorer fitness have larger explosion radii, allowing them to explore new solutions over a wider range.

[0093] Furthermore, individuals with poor fitness generate more sparks, indicating that they have more opportunities for exploration; individuals with good fitness generate fewer sparks to reduce ineffective search behavior.

[0094] The number of explosion sparks generated by the explosion operation is limited:

[0095] ;

[0096] in, S represents the number of explosion sparks of the i-th individual firework after the restriction process. max S represents the maximum number of explosion sparks. min This represents the minimum number of sparks in an explosion.

[0097] Those skilled in the art can set the maximum and minimum number of explosion sparks according to actual conditions; this invention does not impose any limitations.

[0098] In this invention, limiting the range of spark count helps to balance global exploration and local search. When the spark count is moderate, it allows for both extensive global search and fine-grained search in local regions, thereby increasing the probability of finding the global optimum.

[0099] Randomly select a subset of fireworks individuals, generate a random number, and determine if this random number is less than the mutation probability. If so, perform a Gaussian mutation operation.

[0100] ;

[0101] in, Let x represent the j-th dimension component in the i-th firework individual after Gaussian mutation. ij Let represent the j-th dimension component in the i-th individual firework, and let e represent a random number that follows a Gaussian distribution with a mean of 1 and a variance of 1.

[0102] In this invention, the Gaussian mutation operation increases population diversity by introducing random numbers to randomly perturb the dimensional components of individuals. Through mutation, individuals in each generation do not converge prematurely, thus preventing the entire population from rapidly converging to a local optimum.

[0103] Optionally, the mutation probability is specifically:

[0104] ;

[0105] Among them, P m P represents the probability of mutation. m ,max P represents the maximum mutation probability. m ,min Let f represent the minimum mutation probability, and let f represent the fitness value of the current individual. avg f represents the average fitness value of the population. max This represents the maximum fitness value among individuals.

[0106] In this invention, individuals with good fitness have a lower mutation probability, meaning these individuals are close to the optimal solution, and reducing mutation can prevent them from deviating from their current good solution. Individuals with poor fitness have the highest mutation probability, indicating that these individuals need stronger randomness to explore new solutions.

[0107] Perform mapping operations on each individual firework:

[0108] ;

[0109] in, L represents the j-th dimension component in the i-th individual firework after the mapping operation. j U represents the lower bound value of the j-th dimension. j This represents the upper limit value of the j-th dimension, and % represents the modulo operation.

[0110] In this invention, during the search process, some dimensional components may exceed the given upper and lower limits (for example, design variables such as size and position have physical limitations). Through mapping operations, the components of the solution can be constrained back to the feasible solution space, ensuring that the rationality and effectiveness of the algorithm will not be affected by solutions that exceed the design space.

[0111] The selection operation is performed on each individual firework, and the probability of each individual firework being selected is:

[0112] ;

[0113] Where P represents the selection probability, D represents the sum of distances between the current individual and all other individuals except itself, d represents the Euclidean distance between two individuals, and x u This represents the u-th individual firework.

[0114] In this invention, determining the selection probability by distance encourages the preferential selection of individuals with greater distance (i.e., higher diversity) within the population. Individuals with greater distance represent significant differences from other individuals, helping the population to explore more potential solution spaces.

[0115] Determine if the current iteration count has reached the maximum iteration count. If yes, output the firework representing the individual with the highest fitness. Otherwise, return to continue iterating.

[0116] In this invention, the size and position of small and large wear-resistant bodies are optimized by using a fireworks algorithm, which helps to balance magnetic induction, wear resistance, friction and manufacturing cost, thereby improving the overall performance of pipeline inspection equipment.

[0117] The beneficial effects of this invention are reflected in:

[0118] This invention provides a pipeline inspection device based on distributed magnetic uniform sensing. It uses magnetic uniform field coupling sensing technology to inspect pipelines. It can detect both internal and external defects in the magnetized area of ​​the pipeline. It does not require a central cylinder as a magnetic circuit, which facilitates device layout, improves equipment integration, and has a simple structure. It reduces the manufacturing difficulty and maintenance cost of the equipment and is beneficial for passing through narrow areas of pipelines such as bends and valves.

[0119] In the description of the embodiments of the present invention, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "center", "top", "bottom", "top", "bottom", "inner", "outer", "inner side", "outer side", etc. indicate the orientation or positional relationship.

[0120] In the description of the embodiments of the present invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "assembly" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in the present invention based on the specific circumstances.

[0121] In the description of embodiments of the present invention, specific features, structures, materials or characteristics may be combined in any suitable manner in one or more embodiments or examples.

[0122] In the description of the embodiments of the present invention, it should be understood that "-" and "~" represent a range of two numerical values, and this range includes the endpoints. For example, "AB" represents a range greater than or equal to A and less than or equal to B. "A~B" represents a range greater than or equal to A and less than or equal to B.

[0123] In the description of embodiments of the present invention, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this document generally indicates that the preceding and following related objects have an "or" relationship.

[0124] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A pipeline inspection device based on distributed magnetic uniform sensing, comprising: include: Mobile carrier and probe detection components; The mobile carrier moves within the pipeline; Multiple probe detection components are provided on the outer side of the mobile carrier, and the multiple probe detection components are arranged sequentially along the axis of the mobile carrier. The probe detection assembly includes multiple elastic detection ends, which are distributed and arranged around the axis of the moving carrier. The elastic detection end is equipped with an excitation structure, a detection component, and a wear-resistant structure; During the inspection, the elastic detection end abuts against the inner wall of the pipe, the pipe is magnetized by the excitation structure, and the pipe defects in the magnetized area are detected by the detection component. The elastic detection end includes a fixed cover plate that contacts the inner wall of the pipe and a magnetic sensor; The wear-resistant structure includes: multiple small-sized wear-resistant bodies and large-sized wear-resistant bodies; The fixed cover plate is provided with a plurality of the small-sized wear-resistant bodies; The area between the fixed cover plate and the magnetic sensor is provided with a plurality of the large-sized wear-resistant bodies; The fixed cover plate is provided with multiple recessed platforms; the small-sized wear-resistant bodies are fixedly placed in the recessed platforms one by one; The elastic detection end also includes a fixing pad; The fixing pad is symmetrically provided with fixing inclined surfaces, and the fixing inclined surfaces are provided with strip-shaped countersunk holes; The large-sized wear-resistant body is provided with strip-shaped protrusions; The large-sized wear-resistant body is placed in the fixed pad by the cooperation of the strip-shaped boss and the strip-shaped countersunk hole; The large-size wear-resistant body adopts a multi-layer mushroom-head spiral structure; the large-size wear-resistant body is provided with a concave structure in the middle, so that the large-size wear-resistant body is small in the middle and large at both ends; the lower mushroom head of the large-size wear-resistant body is completely wrapped in the filling material; the upper mushroom head of the large-size wear-resistant body is in contact with the inner wall of the pipe; With the goals of improving magnetic induction, improving wear resistance, reducing friction, and reducing manufacturing costs, the size and position of the small-sized wear-resistant body and the large-sized wear-resistant body are determined by the fireworks algorithm. The fitness function of the fireworks algorithm is specifically as follows: ； Where f represents the fitness function, θ represents the combination of size parameters, including the material, radius of the wear-resistant spherical surface, exposed height, quantity, and position of the small-sized wear-resistant body, and the material, radius of the upper wear-resistant spherical surface, exposed height, overall height, central concave depth, width and length of the strip boss, quantity, and position of the large-sized wear-resistant body, E represents the magnetic induction parameter, W represents the wear amount, F represents the friction force, B represents the material cost, λ1 represents the weighting coefficient of the magnetic induction parameter, λ2 represents the weighting coefficient of the wear amount, λ3 represents the weighting coefficient of the friction force, and λ4 represents the weighting coefficient of the material cost; ； wherein I represents the magnetic induction signal intensity, S represents the magnetic induction signal stability, Weighting coefficients representing the intensity of the magnetic induction signal; ； Where K represents the wear coefficient, P represents the contact pressure, V represents the relative sliding speed, and H represents the material hardness; ； Where N represents the contact pressure and μ represents the material friction coefficient; ； Where b1 represents the unit material cost of the small-sized wear-resistant body, V1 represents the total volume of the small-sized wear-resistant body, b2 represents the unit material cost of the large-sized wear-resistant body, and V2 represents the total volume of the large-sized wear-resistant body. The specific method for determining the size and position of the small-sized wear-resistant body and the large-sized wear-resistant body using the fireworks algorithm includes: Initialize individual fireworks. Each individual fireworks consists of multiple dimensional components. Each individual fireworks represents a feasible combination of size parameters, and each component represents a size parameter. Detonate each individual firework: ； wherein A i represents the explosion radius of the i-th firework individual, x i represents the i-th firework individual, f represents the fitness function, N represents the total number of firework individuals, min represents the minimum value, ε represents a hyperparameter to avoid division by zero, C A represents the explosion radius adjustment coefficient, S i represents the number of explosion sparks of the i-th firework individual, max represents the maximum value, C S represents the explosion spark number adjustment coefficient; The number of explosion sparks generated by the explosion operation is limited: ； wherein, S represents the number of explosion sparks of the i-th firework individual after the restriction processing max S represents the maximum number of explosion sparks min S represents the minimum number of explosion sparks Randomly select a subset of fireworks individuals, generate a random number, and determine if this random number is less than the mutation probability. If so, perform a Gaussian mutation operation. ； wherein x represents the jth dimension component in the ith firework individual after Gaussian variation ij x represents the jth dimension component in the ith firework individual, e represents a random number satisfying a Gaussian distribution with a mean of 1 and a variance of 1; Optionally, the mutation probability is specifically: ； where P m represents the mutation probability, P m ,max represents the maximum mutation probability, P m ,min represents the minimum mutation probability, f represents the fitness value of the current individual, f avg represents the average fitness value of the population, f max represents the maximum fitness value in the individual; Perform mapping operations on each individual firework: ； wherein L represents the jth dimension component in the ith firework individual after the mapping operation j U represents the jth dimension lower limit value j L represents the jth dimension upper limit value mod The selection operation is performed on each individual firework, and the probability of each individual firework being selected is: ； wherein P represents a selection probability, D represents the sum of distances between the current individual and other individuals except itself, d represents the Euclidean distance between two individuals, x u represents the u-th firework individual; Determine if the current iteration count has reached the maximum iteration count; if so, output the firework individual with the highest fitness; otherwise, return to continue iterating.

2. The distributed magnetic homodyne based in-pipe inspection apparatus of claim 1, wherein, The probe detection assembly also includes a connection end; The probe detection assembly is connected to the mobile carrier via the connection end; The connecting end is equipped with a fixed card holder; When the probe detection assembly is installed and fixed on the mobile carrier using a pressure ring, the stepped protrusion of the pressure ring engages with the fixing plate.

3. The distributed magnetic homodyne sensor based in-pipe inspection apparatus of claim 1, wherein, The elastic detection end has rounded corners on both sides of the contact surface with the inner wall of the pipe.

4. The distributed magnetic homodyne sensor based in-pipe inspection apparatus of claim 2, wherein, The probe detection assembly also includes a transition connection end; The connecting end is connected to the elastic detection end through the transition connecting end; A deformation groove is provided between the transition connection end and the elastic detection end.

5. The distributed magnetic homodyne sensor based in-pipe inspection apparatus of claim 1, wherein, The small-sized wear-resistant body adopts a conical mushroom-head type gyratory structure.

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