阅读说明：本技术 管道无损检测设备 (Pipeline nondestructive testing equipment ) 是由 高斌 姜世强 谌梁 田贵云 罗飞 张勇 杨雨沛 于 2021-08-13 设计创作，主要内容包括：本发明公开了一种管道无损检测设备,涉及无损检测技术领域,包括移动载体,其在管道中随管中流体而移动或通过行进机构而移动；探头检测组件,探头检测组件包括安装在移动载体上的检测部件,检测部件具有检测端,检测端内封装有检测探头；还包括数据处理单元、第一信号调理单元和第二信号调理单元,检测探头包括激励线圈、接收线圈和无源谐振线圈,无源谐振线圈位于激励线圈、接收线圈之间。本发明在检测时无需增加额外引入磁化处理设备,大大减小了系统体积,以此降低了本发明检测系统对管道内部清洁度要求,提高了检测系统的管道通过性,并大大降低了系统成本开销。(The invention discloses a nondestructive testing device for a pipeline, which relates to the technical field of nondestructive testing and comprises a movable carrier, a movable support and a movable support, wherein the movable carrier moves along with fluid in a pipeline or moves through a traveling mechanism in the pipeline; the probe detection assembly comprises a detection part arranged on the movable carrier, the detection part is provided with a detection end, and a detection probe is sealed in the detection end; the detection probe comprises an exciting coil, a receiving coil and a passive resonance coil, and the passive resonance coil is positioned between the exciting coil and the receiving coil. The invention does not need to add additional magnetization processing equipment during detection, greatly reduces the volume of the system, thereby reducing the requirement of the detection system on the cleanness inside the pipeline, improving the pipeline passing performance of the detection system and greatly reducing the cost and expense of the system.)

1. Pipeline nondestructive test equipment, its characterized in that includes:

a mobile carrier (1) moving in the conduit with the fluid in the pipe or by a travelling mechanism;

the probe detection assembly (2), the probe detection assembly (2) includes the detection part mounted on moving carrier (1), the detection part has detection end, the detection end is sealed with the detection probe (24);

the detection probe (24) comprises an exciting coil, a receiving coil and a passive resonance coil, and the passive resonance coil is positioned between the exciting coil and the receiving coil;

the data processing unit is further used for generating an excitation signal, the data processing unit, the first signal conditioning unit and the excitation coil are sequentially connected, and the receiving coil, the second signal conditioning unit and the data processing unit are sequentially connected.

2. The nondestructive testing apparatus for pipelines according to claim 1, wherein the moving carrier (1) comprises a cylindrical chamber (11) and a sealing cup (5); the sealing leather cup (5) and the probe detection assembly (2) are both arranged on the cylindrical cabin body (11), the sealing leather cup (5) is positioned in front of the probe detection assembly (2), and the orientation of the sealing end of the sealing leather cup (5) is consistent with that of the elastic detection end (23) of the probe detection assembly (2) and opposite to the moving direction of the moving carrier (1); furthermore, the data processing unit, the first signal conditioning unit and the second signal conditioning unit are all installed in the cylindrical cabin body (11), a battery assembly (12) is further arranged in the cylindrical cabin body (11), and the battery assembly (12) supplies power to the data processing unit; furthermore, the head of the movable carrier (1) is also provided with an anti-collision plate (4).

3. The pipeline nondestructive testing device according to claim 1, wherein the number of the probe detection assemblies (2) is at least two, each group of the probe detection assemblies (2) is sequentially arranged on the outer side of the movable carrier (1) along the axial lead of the movable carrier (1), the number of the detection parts in each group of the probe detection assemblies (2) is multiple, and the total detection range of the detection probes (24) on the multiple detection parts covers the circumferential pipe wall of the pipeline.

4. The nondestructive testing apparatus for pipes according to claim 1 or 3, wherein the testing end is an elastic testing end (23), and the elastic movement direction of the elastic testing end (23) is the radial direction of the pipe, so that each elastic testing end (23) can abut against the inner wall of the pipe during testing; furthermore, the elastic detection end (23) is made of an elastic material, and the detection probe (24) is wrapped in the elastic material; furthermore, one side of the elastic detection end (23) abutting against the inner wall of the pipeline is provided with a detection contact surface, and the detection contact surface is attached to the inner wall of the pipeline when the elastic detection end (23) abuts against the inner wall of the pipeline.

5. The nondestructive testing apparatus for pipes according to claim 4, wherein the testing member further has a connecting end (21), the connecting end (21) being mounted on the movable carrier (1), the elastic testing end (23) being radially movable about the connecting end (21) under the elastic action thereof; furthermore, the detection component is also provided with a transition connecting section (22), the transition connecting section (22) is positioned between the connecting end (21) and the elastic detection end (23), and the connecting end (21) is vertically connected with the movable carrier (1).

6. The nondestructive testing apparatus for pipeline according to claim 4, wherein the probe detection assembly (2) further comprises an annular connection portion (21 '), the plurality of detection components in the probe detection assembly (2) are distributed at intervals on the outer periphery of the annular connection portion (21 '), the elastic detection end (23 ') can move radially around the annular connection portion (21 ') under the elastic action thereof, and the annular connection portion (21 ') is sleeved on the movable carrier (1); furthermore, the detection part is also provided with a transition connecting section (22 '), and the transition connecting section (22 ') is positioned between the annular connecting part and the elastic detection end (23 ').

7. The pipeline nondestructive testing device of claim 1, wherein the first signal conditioning unit comprises a digital-to-analog conversion module and a first signal amplification module connected in sequence; the second signal conditioning unit comprises a second signal amplifying module and an analog-to-digital conversion module which are sequentially connected; furthermore, the system also comprises a management control unit and/or an upper computer which are connected with the data processing unit in a bidirectional mode.

8. The apparatus of claim 1, wherein the geometric centers of the exciting coil, the passive resonance coil and the receiving coil are on the same line; further, the exciting coil is a differential coil; furthermore, the exciting coil, the passive resonance coil and the receiving coil are PCB planar coils; further, the excitation coil comprises two symmetrically arranged rectangular excitation coils; furthermore, the passive resonance coil comprises a plurality of PCB resonance sub-coils which are connected in series and arranged in a layered manner; the receiving coil comprises a plurality of PCB receiving sub-coils which are connected in series and arranged in a layered manner; further, the passive resonance coil is connected with a resonance point adjusting capacitor in series.

9. The nondestructive testing apparatus for pipeline according to claim 1, characterized in that the mobile carrier (1) is further provided with a mileage detecting component (3) for acquiring mileage data; furthermore, the mileage detection assembly (3) comprises a support rod (32), a wheel support (33), a mileage wheel (34) and a mileage detector (38), wherein the support rod (32) can swing up and down on the movable carrier (1), the wheel support (33) can swing left and right on the support rod (32), the mileage wheel (34) is rotatably installed on the wheel support (33), the mileage detector (38) is arranged on the wheel support (33) and can obtain mileage data according to the number of rotation turns of the mileage wheel (34), and the output end of the mileage detector (38) is connected with the data processing unit.

10. The nondestructive testing device for the pipeline according to claim 9, characterized in that a sealing end cover (37) is arranged at one end of the wheel bracket (33) adjacent to the inductor, a embedding cavity is formed between the sealing end cover (37) and the wheel bracket (33), and the mileage detector (38) is arranged in the embedding cavity; furthermore, a spring (35) is connected between the support rod (32) and the movable carrier (1); furthermore, a mounting seat (31) is further installed on the movable carrier (1), and a support rod (32) is hinged to the mounting seat (31); furthermore, an open slot (36) is formed at the joint of the support rod (32) and the wheel bracket (33), and the wheel bracket (33) is hinged and installed in the open slot (36); furthermore, the open slot (36) is positioned on the end surface of the support rod (32), and the open slot (36) is rectangular; further, the mileage detecting assembly (3) is a plurality of mileage detecting assemblies (3), and the mileage detecting assemblies (3) are arranged at intervals along the circumferential direction of the moving carrier (1).

Technical Field

The invention relates to the technical field of nondestructive testing, in particular to a pipeline nondestructive testing device.

Background

The integrity of the pipeline is an important factor about the safety of oil and gas transportation, and the pipeline owner pays great attention to the integrity, and the integrity of the pipeline fails due to pipeline corrosion or damage modes such as punching, stealing oil and the like, so that great economic loss, environment and social influence are caused; therefore, the pipeline needs to be regularly detected to find out the failure conditions of corrosion, deformation, leakage and the like of the pipeline, so as to ensure the safe and reliable operation of the pipeline.

At present, methods such as magnetic flux leakage detection and ultrasonic detection are widely applied to pipeline defect detection, become an important pre-control means for guaranteeing safe transportation of pipelines, and have great significance for eliminating pipeline risk factors. The detection method can effectively evaluate the running state of the pipeline by virtue of better qualitative and quantitative defect analysis capability, indirectly reduces the occurrence rate of pipeline accidents, and avoids causing great loss of national economy and great casualties of personnel. However, the magnetic flux leakage detection instrument has heavy weight and has certain requirements on the flow, flow speed and pressure of a medium; the pipe cleaning is required for many times before detection, and the requirement on the cleanliness of the pipeline is high; the magnetic flux leakage detection instrument is composed of 3-4 sections, is long in length and is easily influenced in passing performance. The ultrasonic detection needs a coupling agent, and has the advantages of low detection speed, long detection time and certain near-field blind area. In order to overcome the problems of large equipment volume, poor passing performance, high requirement on the cleanness inside the pipeline, low detection efficiency and the like in the detection method, the eddy current detection applied to the detection of the conductive pipeline is provided.

The eddy current inspection is an effective method for quantitative nondestructive evaluation of surface/near-surface defects of a pipeline structure, has the advantages of high detection capability of superficial and near-surface shallow defects, non-contact, rapid detection and the like, becomes an important pre-control means for guaranteeing the safe transportation of the pipeline, and has great significance for eliminating pipeline risk factors.

The detection probe of the present invention generally comprises an excitation coil and an induction coil (detection coil), and an eddy current field is induced on the surface of a detected piece (test piece) by using a changing magnetic field generated by the excitation coil, wherein the size and the shape of the eddy current field are influenced by the excitation size, the parameters of the coil, the material of the test piece, and the like. When the detection probe passes through the defect, the original eddy current bypasses the defect, so that disturbance is generated on the eddy current, and the magnetic field generated by the eddy current is further influenced. The change of the magnetic field is detected by a detection coil or a magnetic sensor, and the qualitative and quantitative analysis can be carried out on the defects by extracting the characteristics of the phase, the amplitude and the like of the detection signal. The sensitivity and lift-off height of the eddy current detection probe are always hot points in the field of eddy current detection, and the coupling degree between the excitation coil and the detection coil is an important factor influencing the sensitivity and lift-off height of the detection probe, so how to improve the coupling degree between the excitation coil and the detection coil is a technical problem which needs to be solved urgently at present.

Disclosure of Invention

The invention aims to provide nondestructive pipeline detection equipment, which effectively solves the problem that the coupling degree between an excitation coil and a receiving coil of the existing eddy current detection probe is low, so that the sensitivity and the lift-off height of the detection probe are low.

In order to realize the purpose of the invention, the technical scheme is as follows: pipeline nondestructive testing equipment includes:

the movable carrier is mainly used for carrying and installing a probe detection assembly and the like, can be directly of a tubular structure, and can also be moved along with fluid in a pipe or moved through a traveling mechanism by configuring other structures on the movable carrier.

The probe detection assembly comprises a detection part arranged on the movable carrier, the detection part is provided with a detection end, the detection part is of an integral structure with the detection end, here, the detection end on the detection part can be one or a plurality of detection ends, namely, the number of the detection ends on the detection part is not limited; when the pipeline nondestructive testing equipment is positioned in the pipeline, the detection end is close to the inner wall of the pipeline, the detection probe is packaged in the detection end and is mainly used for detecting the defects of the inner wall of the pipeline, and the probe detection assembly can be only one detection part and can also be formed by a plurality of detection parts; similarly, the number of the probe detection assemblies may be one or more.

The pipeline nondestructive testing equipment also comprises a data processing unit, a first signal conditioning unit and a second signal conditioning unit, wherein the detection probe comprises an exciting coil, a receiving coil and a passive resonance coil, and the passive resonance coil is positioned between the exciting coil and the receiving coil;

the data processing unit is further used for generating an excitation signal, the data processing unit, the first signal conditioning unit and the excitation coil are sequentially connected, and the receiving coil, the second signal conditioning unit and the data processing unit are sequentially connected.

Furthermore, the movable carrier comprises a cylindrical cabin body and a sealing leather cup, wherein a movable carrier structure which can move along with fluid in a pipe in the pipe is mainly provided, at the moment, the cylindrical cabin body is used for bearing and installing a probe detection assembly and the sealing leather cup, the sealing leather cup is in a bowl shape after the pipeline nondestructive testing equipment enters the pipe, the sealing leather cup is made of flexible materials, when the edge of the sealing leather cup is in contact and attached with the inner wall of the pipe, sealing is formed between the edge of the sealing leather cup and the inner wall of the pipe, the sealing leather cup is used for dividing the interior of the pipe into a front cavity and a rear cavity, and the pipeline nondestructive testing equipment moves in the pipe through different liquid pressure values of the front cavity and the rear cavity of the sealing leather cup; the sealing leather cup and the probe detection component are both arranged on the cylindrical cabin body, after the sealing leather cup and the probe detection component are arranged, the center of the sealing leather cup and the center of the probe detection component are both arranged on the central axis of the cylindrical cabin body, after the pipeline nondestructive detection equipment enters the pipeline, the central axis of the cylindrical cabin body and the central axis of the pipeline are on the same straight line, the sealing leather cup is positioned in front of the probe detection component, because the edge of the sealing leather cup is attached to the inner wall of the pipeline, the sealing leather cup cleans the inner wall of the pipeline when the pipeline nondestructive detection equipment moves forward, and the direction of the sealing end of the sealing leather cup is consistent with the direction of the elastic detection end of the probe detection component and opposite to the moving direction of the moving carrier, namely, when the moving carrier moves forward, the sealing end and the elastic detection end of the sealing leather cup extend backward, when the moving carrier moves backward, the sealing end and the elastic detection end of the sealing leather cup extend forward, when the movable carrier moves forward, the sealing leather cup and the elastic detection end follow the inner wall of the pipeline to move forward.

Furthermore, the data processing unit, the first signal conditioning unit and the second signal conditioning unit are all installed in the cylindrical cabin body, a battery assembly is further arranged in the cylindrical cabin body, and the battery assembly supplies power for the data processing unit.

Furthermore, the head of the movable carrier is also provided with an anti-collision plate, the anti-collision plate coats the head of the movable carrier or is directly installed on the end face of the front end of the movable carrier, and on one hand, the anti-collision plate protects the head of the movable carrier, and on the other hand, the impact force of the movable carrier during impact in the advancing process can be reduced.

Furthermore, the number of the probe detection assemblies is at least two, each group of the probe detection assemblies is sequentially arranged on the outer side of the movable carrier along the axial lead of the movable carrier, and the arrangement of the probe detection assemblies on the outer side of the movable carrier means that the detection end of the elastic detection assembly is positioned on the outer side of the movable carrier after installation, and not that the whole structure of the probe detection assembly is positioned on the outer side of the movable carrier; the detection parts in each group of probe detection assemblies are multiple, the total detection range of the detection probes on the multiple detection parts covers the circumferential pipe wall of the pipeline, and the detection probes on the multiple detection parts are matched together, so that when the pipeline nondestructive detection equipment advances in the pipeline, the whole circumferential surface of the pipeline can be detected, and the pipeline nondestructive detection equipment does not need to rotate in the advancing process.

Furthermore, the sense terminal is the elasticity sense terminal, and the elasticity sense terminal is not only self flexible, and the elasticity direction of motion of elasticity sense terminal is the pipeline radial, makes the elasticity sense terminal can produce the deformation when being hindered or external force by the foreign object, places back in the pipeline when pipeline nondestructive test equipment to every elasticity sense terminal can offset with the inner wall of pipeline when detecting, makes the elasticity sense terminal outside and pipeline inner wall support together.

Furthermore, the elasticity sense terminal is made for elastic material, and the test probe parcel is in elastic material, and the test probe is encapsulated promptly when the elasticity sense terminal is produced the preparation, makes test probe need not install again after the production of elasticity sense terminal is accomplished, not only makes test probe's encapsulation effect, and makes the production efficiency of elasticity sense terminal improve greatly.

Furthermore, one side of the elastic detection end, which abuts against the inner wall of the pipeline, is provided with a detection contact surface, namely, the elastic detection end and the inner wall of the pipeline are in surface contact, and the detection contact surface is attached to the inner wall of the pipeline when the elastic detection end abuts against the inner wall of the pipeline due to the fact that the elastic detection end can deform.

Furthermore, the detection component is also provided with a connecting end, the connecting end and the elastic detection end can be made of different materials or the same material, the connecting end and the elastic detection end are of an integrated structure, the connecting end and the elastic detection end are fixed into an integrated structure or are of an integrated structure, the material of the connecting end is not specifically limited, the connecting end is installed on a movable carrier, the detection component is installed on the movable carrier, after the detection component is installed and fixed, the elastic detection end can move radially around the connecting end under the elastic action of the elastic detection end, and the elastic detection end can deform when being blocked by a foreign object or external force.

Further, the detection part still has the transitional coupling section, the transitional coupling section is located between link and the elasticity detection end, link, transitional coupling section, elasticity detection end structure as an organic whole, mainly mean between link and the transitional coupling section, fixed structure as an organic whole between transitional coupling section and the elasticity detection end or detection part self structure as an organic whole, and the link is connected with moving the carrier is perpendicular, preferentially mean the surface of link and moving the surface of carrier and perpendicular, of course, here link and moving the carrier also can be parallel connection, link surface and moving the carrier surface and being parallel promptly, at this moment, the link cohesion is fixed on moving the carrier.

Further, the probe detection assembly further comprises an annular connecting part, the annular connecting part and the elastic detection end can be made of different materials or the same material, a plurality of detection parts in the probe detection assembly are distributed on the outer periphery of the annular connecting part at intervals, the annular connecting part and the detection parts are fixed into an integral structure or are made into an integral structure, the material of the annular connecting part is not specifically limited, the annular connecting part can be directly sleeved and fixed on a movable carrier, the annular connecting part can also be sleeved and fixed on the movable carrier indirectly, the elastic detection end can move radially around the annular connecting part under the elastic action of the elastic detection end, and the elastic detection end can deform when being blocked by a foreign object or external force.

Furthermore, the detection component is also provided with a transitional connection section, the transitional connection section is positioned between the annular connection part and the elastic detection end, and the annular connection part, the transitional connection section and the elastic detection end are integrated and mainly fixed into an integrated structure between the annular connection part and the transitional connection section and between the transitional connection section and the elastic detection end or the probe detection assembly is an integrated structure.

Further, the first signal conditioning unit comprises a digital-to-analog conversion module and a first signal amplification module which are connected in sequence; the second signal conditioning unit comprises a second signal amplifying module and an analog-to-digital conversion module which are sequentially connected.

Furthermore, the system also comprises a management control unit and/or an upper computer which are connected with the data processing unit in a bidirectional mode.

Furthermore, the geometric centers of the exciting coil, the passive resonance coil and the receiving coil are on the same straight line.

Furthermore, the exciting coil is a differential coil, and the passive resonance coil and the receiving coil are absolute coils.

Further, the exciting coil, the passive resonance coil and the receiving coil are PCB planar coils or FPC planar coils.

Further, the excitation coil comprises two symmetrically arranged rectangular excitation coils.

Furthermore, the passive resonance coil comprises a plurality of PCB resonance sub-coils which are connected in series and arranged in a layered manner; the receiving coil comprises a plurality of PCB receiving sub-coils which are connected in series and arranged in a layered mode.

Further, the passive resonance coil is connected with a resonance point adjusting capacitor in series.

Furthermore, a mileage detection assembly used for acquiring mileage data is further arranged on the movable carrier, and the mileage detection assembly detects the advancing position of the movable carrier in the pipeline to obtain the position detected by the detection probe, so that the position of the pipeline defect is obtained.

Furthermore, the mileage detection component comprises a support rod, a wheel support, a mileage wheel and a mileage detector, wherein the support rod can swing up and down on the movable carrier, the wheel support can swing left and right on the support rod, the swinging direction of the main protruding wheel support and the swinging direction of the support rod are two different directions, namely the support rod can also be set to swing left and right, the wheel support is set to swing up and down, the mileage wheel is rotatably arranged on the wheel support, when the pipeline nondestructive detection equipment advances in the pipeline, the mileage wheel is tightly pressed on the inner wall of the pipeline, the mileage wheel rotates along with the advancing of the pipeline nondestructive detection equipment, the mileage detector is arranged on the wheel support and can obtain mileage data according to the number of rotating circles of the mileage wheel, the output end of the mileage detector is connected with the data processing unit, the advancing position of the movable carrier is calculated according to the circumference of the mileage wheel and the number of rotating circles of the mileage wheel, thereby obtaining the position of the detection probe and obtaining the defect position of the pipeline.

Furthermore, a sealing end cover is arranged at one end, close to the sensor, of the wheel support, the sealing end cover is in a cap shape, an embedding cavity is formed between the sealing end cover and the wheel support, a sealing cavity is preferably adopted in the embedding cavity, the embedding cavity is also a non-sealing cavity, and the mileage detector is arranged in the embedding cavity.

Furthermore, a spring is connected between the support rod and the movable carrier, a triangular structure is formed among the spring, the support rod and the movable carrier, and the spring is mainly suitable for the situation that the support rod swings up and down relative to the movable carrier and the wheel bracket swings left and right relative to the support rod through the elasticity of the spring; when the supporting rod swings left and right relative to the moving carrier and the wheel bracket swings up and down relative to the supporting rod, the spring is connected between the supporting rod and the wheel bracket.

Furthermore, still install the mount pad on the removal carrier, the bracing piece is articulated to be installed on the mount pad, makes the bracing piece pass through the mount pad and installs on the removal carrier, and the mount pad snap-on is on removing the carrier, avoids the bracing piece directly to be articulated with removing the carrier.

Furthermore, an open slot is formed in the joint of the supporting rod and the wheel support, the wheel support is hinged and installed in the open slot, the hinge point of the wheel support is located in the open slot, and the hinge point of the wheel support can be protected through the open slot.

Furthermore, the open slot is located on the end face of the supporting rod and is rectangular, and the open slot is not only rectangular, and the specific shape of the open slot can be designed according to the actual installation condition, and the open slot is only an optimal mode.

Furthermore, the number of the mileage detecting assemblies is multiple, the mileage detecting assemblies are arranged at intervals along the circumferential direction of the mobile carrier, the distance between two adjacent mileage detecting assemblies can be equal or unequal, and the distance between two adjacent mileage detecting assemblies is not limited here.

The beneficial effect of the invention is that,

(1) the data processing unit, the first signal conditioning unit, the second signal conditioning unit and the detection probe form eddy current detection, additional magnetization processing equipment does not need to be additionally introduced, the system volume is greatly reduced, and the detection probe has certain lifting-off detection capability, so that the requirement on the cleanness inside the pipeline is greatly reduced; meanwhile, based on the high integration of the detection probe, the invention not only improves the passing performance of the invention in the pipeline, but also greatly reduces the cost of the system. Furthermore, the passive resonance coil is introduced between the exciting coil and the receiving coil, so that the coupling between the exciting coil and the receiving coil can be enhanced, the energy transmission efficiency is obviously improved, the sensitivity of the detection probe is further improved, the probe can accurately detect the defects of the pipeline at a higher lifting height, and the defect detection capability of the probe is improved.

(2) Through integrating data processing unit, first signal conditioning unit, second signal conditioning unit, battery pack and management control unit etc. in the cylindric cabin body, make overall structure design compacter, the appearance is less, easily passes through the pipeline elbow of little camber to can carry out mileage detection, also can normally operate under high-pressure environment, the short circuit of can intaking.

(3) Through setting up the sense terminal into elasticity sense terminal to the elasticity direction of motion that makes elasticity sense terminal is the pipeline radial, makes elasticity sense terminal can remain throughout with pipeline inner wall looks butt, laminating when detecting, and then improves the accuracy of signal quality and detection.

(4) Through setting up probe determine module into at least two sets ofly to make the total detection range of a plurality of test probes cover the circumference pipe wall of pipeline, make the detection range can effectively cover a complete circumference inner wall of pipeline like this, realize 360 and the removal detection at no dead angle, avoided only setting up a set ofly and because the elasticity detection end need do radial motion and have the problem that the interval leads to can't cover complete circumference pipe wall.

(5) Through making the elasticity test end adopt elastic material to wrap up test probe in elastic material, realize the sealed of probe, make it have better water pressure resistance ability, and the elasticity test end passes through specific angle, can guarantee the good laminating of probe and pipe wall, and provide sufficient holding power, prevent the shake of test probe when detecting, it is more stable.

(6) The mileage detector is arranged and used for collecting mileage information of the mobile carrier carried by the invention, so that the pipeline defects are accurately positioned.

(7) The upper computer is used for analyzing the detection information fed back by the detection probe so as to judge whether the pipeline has defects and position the position of the pipeline with the defects; meanwhile, the upper computer can also transmit the data analysis result to the server, so that data storage and sharing are realized, and the defect information tracing management of different pipelines is realized.

(8) The geometric centers of the exciting coil, the passive resonance coil and the receiving coil are positioned in the same straight line, and the energy transmission efficiency can be improved to the maximum extent.

(9) The exciting coil is a differential coil, the passive resonance coil and the receiving coil are absolute coils, the differential can form uniform eddy current in the central area of the coil, and the middle eddy current area can generate obvious eddy current change when the defect is detected, so that the magnetic field is changed, and the defect part can be conveniently distinguished.

(10) The probe adopts a PCB (printed Circuit Board) planar coil or an FPC (Flexible printed Circuit) planar coil, and has the characteristics of small volume and high sensitivity to surface defects; meanwhile, the effective stripping amount is small, so that the sensitivity to defects is high, and the method has a wide application prospect in the field of eddy current detection; further, the PCB coils are easy to manufacture directly, and are easy to permanently fix on the moving assembly; in addition, when the FPC planar coil is adopted, the FPC planar coil has sufficient flexibility, and the coil is allowed to be consistent with the surface of the pipeline to be detected, so that the detection probe has a very wide application prospect in the aspect of detecting the geometric shape of a complex surface.

(11) The receiving sub-coils arranged in a multilayer structure can improve the detection sensitivity, reduce the optimal detection frequency and effectively reduce the requirement on excitation signals under the action of the resonance coil. Meanwhile, a multi-coil array created by a plurality of resonance sub-coils and receiving sub-coils is adopted, so that the detection range can be increased, and the detection time can be further reduced.

(12) The resonance point of the coil is adjusted by adjusting the capacitance value of the resonance point adjusting capacitor, so that the detection capability of the detection probe is improved, and the detection probe is suitable for wider test environments.

Drawings

FIG. 1 is a schematic perspective view of an in-pipe detection device provided in the present invention;

FIG. 2 is a schematic front view of the in-conduit inspection device provided in the present invention, also showing the projection or perspective of two sets of probe inspection assemblies onto the seal cup;

FIG. 3 is a schematic structural diagram illustrating an exemplary configuration of a probe detection assembly of the in-pipe detection apparatus provided in the present invention;

FIG. 4 is a side view of the sensing member of FIG. 3;

FIG. 5 is a schematic perspective cross-sectional view of the sensing member of FIG. 3;

FIG. 6 is a perspective view of another embodiment of the probe detection assembly of the in-pipe detection apparatus provided in the present invention;

FIG. 7 is a schematic cross-sectional view of the probe inspection assembly of FIG. 6;

FIG. 8 is a schematic diagram of the structure of the in-pipe detection device provided by the present invention;

FIG. 9 is a schematic cross-sectional view of an in-conduit detection device provided in the present invention;

FIG. 10 is a schematic structural view of a mileage wheel detecting device;

FIG. 11 is a schematic sectional view of the odometer wheel detecting device;

FIG. 12 is a schematic view of a detection system provided by the present invention;

FIG. 13 is a diagram of an excitation coil provided by the present invention;

fig. 14 is a diagram of a resonant coil provided by the present invention;

FIG. 15 is a diagram of a receive coil provided by the present invention;

FIG. 16 is a schematic diagram illustrating comparison of detection effects before and after introduction of a resonant coil according to the present invention;

FIG. 17 is a schematic diagram of the detection of a ferromagnetic flat test piece with different sizes and different types of artificial defects for a test piece according to the present invention;

FIG. 18 is a graph showing the results of 5mm lift-off for defects of different tilt angles according to the present invention;

FIG. 19 is a schematic diagram illustrating the overall detection of defects in an X80 steel pipe according to the present invention;

FIG. 20 is a schematic representation of a single sensor test for defects in an X80 steel pipe according to the present invention;

FIG. 21 is a schematic view of a odometer wheel detection provided by the present invention;

FIG. 22 is a schematic diagram illustrating an acceleration detection result of the mobile carrier according to the present invention;

fig. 23 is a schematic diagram of euler angle detection results of the mobile carrier provided by the present invention.

Reference numbers and corresponding part names in the drawings:

1-moving a carrier; 11-a cylindrical cabin; 12-a battery assembly; 2-probe detection assembly; 21-a connection end; 22-a transition connection section; 23-an elastic detection end; 24-a detection probe; 21' -a cyclic linker; 22' -a transition junction; 23' -an elastic detection end; 3-mileage detecting component 3; 31-a mounting seat; 32-a support bar; 33-wheel support; 34-mileage wheel; 35-a spring; 36-open slots; 37-sealing the end cap; 38-mileage detector; 4-a crash-proof plate; 5-sealing the leather cup; 6-withstand voltage connecting wire; 7-pressure-resistant connector; 8-bolt; 9-spacer ring.

Detailed Description

The present invention will be described in further detail below with reference to specific embodiments and with reference to the attached drawings.

As shown in FIG. 1, the nondestructive pipeline inspection equipment provided by the invention comprises a movable carrier 1 and a probe inspection assembly 2, wherein the probe inspection assembly 2 is fixedly or rotatably mounted on the movable carrier 1, the probe inspection assembly 2 detects the inner wall of the pipeline by the movement of the movable carrier 1 in the pipeline, and the inspection content of the probe inspection assembly 2 can be determined according to inspection probes 24 with different inspection functions which are mounted according to actual needs.

Normally, the axis of the moving carrier 1 is parallel to the axis of the pipeline, the moving carrier 1 can automatically advance in the pipeline or advance with the fluid through the carried advancing mechanism or other structures, when the moving carrier 1 moves in the pipeline through the action of the fluid carried by other structures, the action is the pushing action generated by the pressure difference acting on the front and back sides of the moving carrier 1 when the fluid flows, when the moving carrier 1 moves in the pipeline through the action of the fluid carried by the carrying advancing mechanism, the advancing mechanism specifically comprises a driving mechanism arranged in the moving carrier 1 and an advancing wheel arranged on the moving carrier 1, the advancing wheels are driven by the driving mechanism to rotate, specifically, the advancing wheels are respectively arranged at the two ends of the moving carrier 1, the probe detecting component 2 can be arranged on the moving carrier 1 between the advancing wheels, and the advancing mechanism can be externally arranged or arranged in the moving carrier 1, and the travel mechanism may employ existing techniques.

The probe detection assembly 2 comprises a detection part arranged on a movable carrier 1, the detection part is provided with a detection end, a detection probe 24 is packaged in the detection end, and the detection probe 24 corresponds to the inner wall of the pipeline in the advancing process of the movable carrier 1, so that the detection probe 24 detects the inner wall of the pipeline.

As shown in fig. 12, the nondestructive testing apparatus for a pipeline provided in this embodiment further includes a data processing unit, a first signal conditioning unit, a second signal conditioning unit, and the detection probe 24 includes a mutual-inductance excitation coil, a receiving coil, and a passive resonance coil, where the passive resonance coil is located between the excitation coil and the receiving coil; the data processing unit, the first signal conditioning unit and the exciting coil are sequentially connected, and the receiving coil, the second signal conditioning unit and the data processing unit are sequentially connected. The data processing unit is used for generating an excitation signal to the first signal conditioning unit, receiving detection information fed back by the second signal conditioning unit, and simultaneously calibrating the MPU, RTC (real time clock) and the like. As an option, the data processing unit in this example is specifically an FPGA, which has a strong data processing capability and a low cost.

In the embodiment, the data processing unit, the first signal conditioning unit, the second signal conditioning unit and the detection probe 24 form an eddy current detection system, additional magnetization processing equipment does not need to be additionally added, the system volume is greatly reduced, and the requirement on the cleanness inside the pipeline is greatly reduced because the detection probe has certain lifting-off detection capability; meanwhile, the pipeline nondestructive testing equipment provided by the invention is highly integrated based on the testing probe, so that the passing performance of the equipment in a pipeline is improved, and the cost of the system is greatly reduced; furthermore, the exciting coil generates a primary magnetic field under the action of an exciting signal, the exciting coil and the receiving coil are mutually inducted, and the energy of the exciting coil is wirelessly transmitted to the receiving coil.

In some other embodiments, as shown in fig. 1, 8 and 9, when the mobile carrier 1 is moved by the action of the fluid, the structure of the mobile carrier 1 may include a cylindrical chamber 11 and a sealing cup 5, and the probe detection assembly 2 is mounted on the cylindrical chamber 11, in this case, the cylindrical chamber 11 may be configured to have a cylindrical shape, and a containing cavity is formed inside the cylindrical chamber 11, so as to facilitate installation of related electronic devices, and make the overall structure more compact and reasonable. The structure of the sealing leather cup 5 is similar to a bowl shape, the outer diameter of the sealing leather cup 5 is generally 3-6% larger than the inner diameter of the pipeline, the orientation of the sealing end of the sealing leather cup 5 is consistent with that of the detection end of the probe detection assembly 2 and deviates from the moving direction of the movable carrier 1, a certain interference magnitude is formed between the sealing leather cup 5 and the inner wall of the pipeline, the sealing leather cup 5 is in sealing fit with the inner wall of the pipeline, and at the moment, the movable carrier 1 automatically moves forward in the pipeline through the pressure difference between the two sides of the sealing leather cup 5. Here, preferentially install sealing leather cup 5 in the place ahead of probe determine module 2, make and remove carrier 1 when advancing, because sealing leather cup 5's edge and the laminating of pipeline inner wall, remove carrier 1 when advancing, sealing leather cup 5 can clear up the pipeline inner wall simultaneously, makes test probe 24 more accurate in the detection to the pipeline inner wall. This sealed leather cup 5 can set up to a plurality ofly, and this moment, at least one sealed leather cup 5 be located probe detecting component 2 the place ahead can, through the cooperation of a plurality of sealed leather cups 5, can prevent that one of them sealed leather cup 5 warp after because of leaking gas and lead to the risk that equipment can't advance. Meanwhile, the data processing unit, the first signal conditioning unit and the second signal conditioning unit can be installed in the cylindrical cabin body 11, a battery assembly 12 is further arranged in the cylindrical cabin body 11, and the battery assembly 12 supplies power for the detection probe 24, the data processing unit, the first signal conditioning unit and the second signal conditioning unit.

The head of the mobile carrier 1 is also provided with an anti-collision plate 4, and the anti-collision plate 4 is made of rubber materials, so that the cylindrical cabin body 11 is prevented from being damaged due to direct collision to an elbow of a pipeline in the high-speed advancing process, and the data processing unit, the first signal conditioning unit, the second signal conditioning unit and the battery pack 12 in the cylindrical cabin body 11 are prevented from being damaged due to overlarge impact in the collision process.

When the sealing leather cups 5 and the probe detection assemblies 2 are two groups, one group of the sealing leather cups 5 and the probe detection assemblies 2 are fixedly arranged on the cylindrical cabin body 11 through flanges and bolts 8, the other group of the sealing leather cups 5 and the probe detection assemblies 2 are also fixedly arranged at the rear end of the cylindrical cabin body 11 through flanges and bolts 8, in order to provide a certain moving space for the probe detection assemblies 2 at the rear sides of the sealing leather cups 5, and a spacer ring 9 can be arranged between each probe detection assembly 2 and the adjacent sealing leather cup 5.

In some other embodiments, as shown in fig. 1 and fig. 2, there are at least two groups of probe detection assemblies 2, each group of probe detection assemblies 2 is sequentially arranged outside the moving carrier 1 along the axial lead of the moving carrier 1, the number of detection parts in each group of probe detection assemblies 2 is multiple, the detection parts of two adjacent groups of detection assemblies are arranged in a staggered manner, the total detection range of the detection probes 24 on the multiple detection parts covers the circumferential pipe wall of the pipeline, so that the multiple detection probes 24 cooperate together in the advancing process of the moving carrier 1, and the multiple detection probes 24 together complete the detection of the entire inner wall of the pipeline, thereby ensuring the detection comprehensiveness.

In some embodiments, the detection end is an elastic detection end 23, so that each detection part in the probe detection assembly 2 detects the inner wall of the pipeline through the elastic detection end 23, and the elastic movement direction of the elastic detection end 23 is the radial direction of the pipeline, so that each elastic detection end 23 can be abutted against the inner wall of the pipeline when detecting the inner wall of the pipeline, and can be kept in effective contact with the inner wall of the pipeline through the elasticity of the elastic detection end 23 when moving for detection, and provide a relatively stable supporting force, thereby improving the signal quality and the detection accuracy, and also realizing the sealing of the probe and enabling the probe to have relatively good water pressure resistance.

It should be noted here that the "contact" of the elastic detection end 23 with the inner wall of the pipe includes a surface contact and a line contact, and may be determined according to a detection mode or a detection object of the detection probe 24 mounted thereon.

In some other embodiments, the elastic detecting ends 23 are made of elastic material, and the detecting probes 24 are wrapped in the elastic material, so that the elastic detecting ends 23 have elasticity and can move radially, so that in a natural state or under a small stress, a gap exists between two adjacent elastic detecting ends 23 in the same probe detecting assembly 2, which results in that the whole circumference cannot be covered integrally, that is, the sum of the detecting ranges of the elastic detecting probes 24 in one group of probe detecting assemblies 2 cannot completely cover the circumferential pipe wall of the pipeline, therefore, by providing at least two groups of probe detecting assemblies 2, each group of probe detecting parts is sequentially arranged on the outer side of the moving carrier 1 along the axial lead of the moving carrier 1, and the elastic detecting ends 23 on two adjacent groups of probe detecting assemblies are arranged in an interlaced manner in the axial lead direction of the moving carrier 1, therefore, the total detection range of each elastic detection end 23 can cover the circumferential pipe wall of the pipeline through the matching of the two groups of detection components, so that the detection of 360 degrees and no dead angle on the inner wall of the pipe is realized, and the detection is more comprehensive and effective.

The staggered arrangement of the two or more groups of probe detection assemblies 2 is mainly to enable the detection range of each elastic detection end 23 to cover the whole circumference and have a certain repetition width; for example, in the case of surface contact, the contact surface of the contact, i.e., the detection coverage area of a single detection probe 24 is W, the number of elastic detection ends 23 is n, and the inner diameter of the pipe is D₁Then, the relationship:in calculating N₁And then, taking the even number and integer upwards to obtain the number n of the probes to be set, wherein the number of the probes arranged at the front end and the rear end is n/2.

Thus, the entire circumference can be covered by two sets of detecting components, and when three or more than three sets of N sets are provided, the above relation is required, that is, N is calculated₁And then, taking an integer upwards to obtain the number N of the probes to be set, wherein the number of the probes arranged in each group at the front and the back is N/N and the probes are staggered with each other.

In some embodiments, the elastic material used for the elastic detection end 23 is made of rubber material or polyurethane material with high elasticity and toughness, wherein the elastic material is preferably rubber material.

In some embodiments, as shown in fig. 3 and 4, the side of the elastic detection end 23 abutting against the inner wall of the pipe has a detection contact surface, and the detection contact surface abuts against the inner wall of the pipe when the elastic detection end 23 abuts against the inner wall of the pipe. The elastic detection end 23 is abutted and attached to the inner wall of the pipeline through the detection contact surface when in detection, and the size of the detection contact surface is basically consistent with the detection range of the detection probe 24, so that the detection can be better carried out; the fitting can be understood as that the detection contact surface is matched with the shape of the inner wall of the pipeline, namely can be matched with the inner wall of the pipeline after fitting.

It can be understood that, because the elastic detection end 23 has elasticity and needs to meet the requirement that the detection contact surface is attached to the pipe wall during detection, that is, when the elastic detection end 23 is in a natural state or an unstressed state, the detection contact surface or the elastic detection end 23 is not parallel to the axis of the mobile carrier 1 and has a certain included angle α, and the included angle is preferably within a range of 3 ° to 7 °, and the specific angle setting can be determined according to the adopted elastic material, the diameter of the detection end of the probe detection assembly 2 before detection is changed from a state of being larger than the diameter of the inner wall of the pipe to a state of being substantially equal to the diameter of the inner wall of the pipe during detection and is attached to the inner wall of the pipe simultaneously.

As shown in fig. 1 to 5, the probe detecting assembly 2 provided in this embodiment may be a split structure, that is, the probe detecting assembly 2 includes a plurality of detecting parts disposed around the axis of the moving carrier 1, in this case, the detecting parts are made of an elastic material as a whole, and the detecting parts include a connecting end 21 and an elastic detecting end 23, the detecting probe 24 is installed in the elastic detecting end 23, and the elastic detecting end 23 can move radially around the connecting end 21 under the elastic action of the elastic detecting end 23. Therefore, when the detection part is installed, the detection part is directly installed on the movable carrier 1 through the connecting end 21, the extending end of the elastic detection end 23 forms a free end relative to the connecting end 21, the free end can move radially around the connecting end 21 under the elastic action when being extruded by the pipe wall when being detected, the good fit between the probe and the pipe wall is further ensured, sufficient supporting force is provided, the detection probe 24 is prevented from shaking when being detected, and the detection probe is more stable.

Specifically, as shown in fig. 3, a connecting hole and a positioning hole are formed in the connecting end 21, the positioning hole is used for positioning the connecting hole on the movable carrier 1, and the connecting hole is fixed on the movable carrier 1 through a connecting structure such as a fastener after the positioning hole is positioned; of course, other existing mounting structures may be used and are not intended to be limiting.

In order to better construct the detection component and enable the constructed detection component to be attached to the inner wall of the pipeline, as shown in fig. 2 to 4, a transition connection section 22 is arranged between the connection end 21 and the elastic detection end 23, and the connection end 21 is vertically connected with the mobile carrier 1, so that the transition connection section 22 can play a role of transition connection, and therefore the elastic detection end 23 can be attached to the inner wall of the pipeline through small-angle elastic deformation within a range of 5 degrees.

When the probe detection assembly 2 is of a split structure, the probe detection assembly 2 can be directly formed by integrally molding a die, and the detection probe 24 is directly encapsulated in the probe detection assembly 2 in the molding process, wherein the detection probe 24 is a nondestructive detection probe 24. And, makeWherein R is₁Radius of the inner end of the elastic detection end 23, D₁Is the inner diameter of the pipe, R₂Is the radius of the outer end of the elastic detection end 23, R₂Slightly larger than R1, the probe inspection assembly 2 is mounted on the pipe with the inspection probe 24 in placeThe inner wall is deformed by compression so that the angle alpha is changed to be close to 0 degree, thus ensuring the jointing effect of the detection probe 24 and the pipe wall.

As shown in fig. 6 to 8, the probe detection assembly 2 provided in this embodiment may be an integral structure, and the probe detection assembly 2 may be formed in one step by a mold in a production process, at this time, the probe detection assembly 2 includes an annular connection portion 21 ' and a plurality of detection components, at this time, the detection components are elastic detection ends 23, the plurality of elastic detection ends 23 ' are distributed at intervals along a circumferential direction of the annular connection portion 21 ', the detection probes 24 are encapsulated in the detection components, and the elastic detection ends 23 ' may move radially around the annular connection portion 21 ' under an elastic action thereof; meanwhile, the probe detection assembly 2 can be made of an integral elastic material, and the formed probe detection assembly 2 is directly sleeved on the movable carrier 1 through the annular connecting part 21' when being installed, so that the probe detection assembly 2 is convenient to integrally install and is more convenient to install.

When the probe detection assembly 2 with an integral structure is installed, the annular connecting part 21 'is vertically connected with the movable carrier 1, and a transitional connecting section 22' can be arranged between the annular connecting part 21 'and the elastic detection end 23', as shown in fig. 7, at this time, the transitional connecting section 22 'can play a transitional connecting role, so that the elastic detection end 23' can be attached to the inner wall of the pipeline through elastic deformation within a small angle, such as 5 degrees.

When the probe detection assembly 2 of the integral structure is two, the elastic detection ends 23' on the two sets of probe detection assemblies 2 have a certain angle difference in the circumferential direction, so that the detection probe 24 can realize full circumferential coverage, for example: one group of probe detection assemblies 2 is provided with N elastic detection ends 23' which are uniformly distributed along the circumference, and the angle difference of the front and the rear groups of probe detection assemblies 2 isDesign the angle so thatWherein D₁Is the inner diameter of the pipe, R₁Radius of the inner end of the elastic detection end 23', R₂Radius of the inner end of the elastic detection end 23', R₂Ratio R₁Slightly larger, so that the elastic detection end 23 'is basically flush with the inner wall of the pipe after the elastic detection end 23' is pressed by the inner wall in the pipe wall.

In some other embodiments, the first signal conditioning unit includes a digital-to-analog conversion module and a first signal amplification module connected in sequence; the second signal conditioning unit comprises a second signal amplifying module and an analog-to-digital conversion module which are sequentially connected. More specifically, the digital-to-analog conversion module is an ADC chip; the first signal amplification module is specifically a power amplifier; the second signal conditioning unit comprises a power supply voltage stabilizing chip for providing 5V working voltage and a power supply voltage stabilizing chip for providing 3.3V working voltage; the operational amplifier is used for amplifying the signal; the standard voltage chip is used for providing 4.096V voltage, the 4.096V voltage is divided to obtain 2.048V voltage and then is provided to the operational amplifier, and the 2.048V voltage is output to the ADC chip (analog-to-digital conversion module) after differential amplification; the ADC acquisition chip is a 16-bit, 1MSPS, true differential input and digital-to-analog converter, and provides an SPI (serial peripheral interface) to output acquired detection data to the data processing unit; the digital signal processing circuit also comprises a 4-bit dual-power transceiver which supports bidirectional level conversion, and signals converted by the ADC and a clock provided by the data processing unit pass through the chip, so that the circuit obtains stronger interference capability. As an option, the signal conditioning unit further includes a filtering module, and the filtering module is connected to the signal amplifying module and is configured to filter out the clutter signals.

In some other embodiments, the pipeline nondestructive testing device further comprises a management control unit and an upper computer, wherein the management control unit and the upper computer are connected with the data processing unit in a bidirectional mode, and the management control unit is simultaneously connected with the upper computer which is connected with the server. Specifically, the management control unit is used for detecting probe 24 self-checking, IMU self-checking, configuration management, data file management and the like, wherein the sensor self-checking is to perform start-stop control and real-time data viewing; the configuration management is used for detecting parameter configuration, RTC timing and equipment local storage parameter configuration; the data file management is mainly responsible for data file reading and conversion. Furthermore, the upper computer is provided with data acquisition management software, the data processing unit transmits detection information (data) fed back by the second signal conditioning unit to the control management unit for storage, the control management unit further transmits the feedback information to the upper computer through the data management software, or the control management unit further transmits the feedback information to the data management software of the upper computer through the wireless communication module, the detection information is analyzed through the data management software integrated in the upper computer, whether the pipeline has defects or not is judged, the position of the pipeline with the defects is located, and the upper computer simultaneously transmits the data analysis result to the server to realize the storage and sharing of the data.

In some other embodiments, the geometric centers of the exciting coil, the passive resonance coil and the receiving coil are in the same straight line, that is, the exciting coil, the passive resonance coil and the receiving coil are coaxially arranged, so that the energy transmission efficiency can be improved to the maximum extent.

In some other embodiments, the exciting coil, the passive resonant coil and the receiving coil are rectangular coils formed by spirally winding copper wires, and the defects of different shapes can be more easily distinguished by the rectangular structure than by the circular structure.

In some other embodiments, the exciting coil is a differential coil, the passive resonance coil and the receiving coil are absolute coils, the differential coil can form uniform eddy current in the central area of the coil, and the middle eddy current area can generate obvious eddy current change when the defect is detected, so that the magnetic field is changed, and the defect part can be conveniently distinguished.

In some other embodiments, the exciting coil, the passive resonance coil and the receiving coil are PCB planar coils or FPC planar coils, and have the characteristics of small volume and high sensitivity to surface defects; meanwhile, the effective stripping amount is small, so that the sensitivity to defects is high, and the method has a wide application prospect in the field of eddy current detection. Further, the PCB planar coil is easy to manufacture directly and is easy to permanently fix to the moving assembly. In addition, the FPC planar coil has sufficient flexibility, and the coil is allowed to be consistent with the surface of a pipeline to be detected, so that the detection probe 24 has a very wide application prospect in the aspect of detecting the geometric shape of a complex surface.

In some other embodiments, the excitation coil comprises two symmetrically arranged rectangular excitation coils to generate more uniform eddy currents under the excitation signal.

In some other embodiments, as shown in fig. 13, the inventive excitation coil is a single-layer PCB rectangular differential coil with a length of a1 and a width of b1, the wire diameter of the middle differential region is d11, the wire diameter of the remaining wires is d12, the wire spacing is d13, and d11> d 12. In the embodiment, the wire diameter range of the differential area is 0.500-0.510mm, the other wire diameter ranges from 0.250-0.260mm, the wire spacing range is 0.250-0.260mm, the length range of the whole exciting coil is 56.630-56.640mm, and the width range is 30.520-30.530 mm. More specifically, the excitation coil is provided with an input1 for an external excitation signal and an output1 for an output interface.

In some other embodiments, the passive resonant coil comprises a plurality of PCB resonant sub-coils connected in series in a layered arrangement. As a preferred embodiment, the inspection probe 24 includes four layers of passive resonator coils, as shown in fig. 14, the passive resonator coil has a length of a2 and a width of b2, the diameter of the copper wire is d31, and the wire spacing is d 41. More specifically, via holes are formed among different passive resonant sub-coils, and the passive resonant sub-coils among different layers are connected in series through copper wires. In the embodiment, the wire diameter of the PCB rectangular resonance sub-coil of each layer is 0.0880-0.0890mm, the wire spacing range is 0.0880-0.0890mm, the length range is 29.440-29.450mm, and the width range is 29.440-29.450 mm.

In some other embodiments, the receiver coil comprises a plurality of PCB receiver sub-coils connected in series, arranged in layers. As a preferred embodiment, the inspection probe 24 includes four layers of receiver coils, as shown in FIG. 15, the receiver coils have a length of a3 and a width of b3, the diameter of the copper wire is d51, and the wire spacing is d 61. Through holes are formed among the different layers of receiver sub-coils, and the receiver sub-coils among different layers are connected in series through copper wires. In the embodiment, the wire diameter range of the PCB rectangular receiver sub-coil of each layer is 0.0880-0.0890mm, the wire spacing range is 0.0880-0.0890mm, the length range is 10.430-10.440mm, and the width range is 24.750-24.760 mm; more specifically, an input2 is provided at the first layer, and an output2 is provided at the fourth layer, and the backend data processing unit is connected through the two interfaces.

As a preferred embodiment, the detection probe 24 of the invention comprises an exciting coil, four layers of resonance sub-coils and four layers of receiving sub-coils, the whole probe is small in volume and convenient to install; the receiving coil arranged in the multilayer structure can improve the inductance value of the coil and the like under the action of the resonance coil, so that the change of the magnetic flux of the pipeline to be detected can be better induced, the detection sensitivity can be improved, the optimal detection frequency can be reduced, and the requirement on an excitation signal can be effectively reduced. Further, a multi-coil array created by a plurality of resonance sub-coils and receiving sub-coils is adopted, so that the detection range can be increased, and the detection time can be further reduced.

In some other embodiments, the bending positions of the exciting coil, the passive resonance coil and the receiving coil are all subjected to 45-degree chamfering processing for reducing electromagnetic interference and signal emission, and when an external signal is a high frequency, signal noise can be reduced.

In some other embodiments, passive resonance coil series connection has the electric capacity, is connected with the electric capacity through coil left side wire, and when passive resonance coil included a plurality of resonance subcoils, a resonance subcoil series connection has a resonance point to adjust electric capacity, has specifically set up two via holes in the resonance subcoil outside and is used for placing the electric capacity, adjusts the coil resonance point through this electric capacity value, and then promotes test probe 24's interference killing feature to be applicable to more extensive test environment.

To further illustrate the inventive concept of the present invention, the detection principle will now be explained:

the pipeline nondestructive detection device is arranged on a mobile carrier 1 and is arranged in a conductive pipeline to be detected, the device starts to work when being electrified, a data processing unit FPGA generates a sine wave excitation signal through a first digital-to-analog conversion module DAC (digital-to-analog conversion) by a dds method, the sine wave excitation signal is amplified to 6V through a power amplifier and is applied to an excitation coil, the excitation coil generates a primary magnetic field under the driving of the excitation signal, a passive resonance coil enhances the coupling of the excitation coil, a receiving coil and the pipeline to be detected, when a detected piece (the pipeline to be detected) is in the primary magnetic field, the primary magnetic field generates eddy current on the surface of the detected piece, the flow direction of the eddy current at a defect is changed, as the eddy current is changed, a secondary magnetic field generated by the eddy current is changed, the amplitude and the phase of the receiving coil are further detected to be changed by detecting the change of the magnetic flux of the receiving coil, and therefore, the induced voltage generated by the received primary magnetic field is detected, The induced voltage (feedback detection signal) generated by the secondary magnetic field is amplified by the operational amplifier and is converted into a digital signal which can be identified by the data processing unit FPGA by the ADC and then is transmitted to the data processing unit, the data processing unit transmits the feedback detection signal to the upper computer, the upper computer extracts the amplitude value and the phase value of the detection signal to acquire the amplitude value and the phase change of the detection signal, and the relevant defect information of the tested piece and the corresponding position of the pipeline with the defect are accurately detected by combining the coding signal fed back by the coder.

In order to further explain the technical effects of the present application, a specific detection effect diagram of the detection sensor of the present application, which incorporates a resonant coil, is given. Fig. 16 is a comparison diagram of Detection before and after introducing the passive resonant coil, where fig. 16(a) and (c) are mutually referred to, fig. 16(e) and (g) are mutually referred to, fig. 16(b) and (d) are mutually referred to, fig. 16(f) and (h) are mutually referred to, and fig. 16(a) - (d) are schematic diagrams of Detection after introducing the passive resonant coil, fig. 16(e) - (h) are schematic diagrams of Detection after not introducing the passive resonant coil, and horizontal coordinates in the diagrams all indicate the Detection direction (Detection) and unit is cm; the ordinate in the figure represents the Amplitude value (Amplitude) in V. As is apparent from fig. 16, in the case of equal lift-off. The amplitude change of the detection sensor introduced with the passive resonance coil is larger than that of the detection sensor not introduced with the passive resonance coil, and the highest achievable lift-off value is higher than that of the detection sensor without the passive resonance coil, so that the detection sensor has more excellent detection performance.

Further, the length, width and thickness of the artificial defect sample are respectively 450mm, 300mm and 10 mm. FIG. 17 shows various surface defects other than the circular defect in the sample having a thickness of 10mm, a length of 20mm and a width of 2mm, and defects having widths of 3mm and 4mm as shown in FIG. 18, in which three defects have a depth (depth) of 5mm and inclined angles of 30, 45 and 60, respectively. The diameter is 5mm, 7mm, 3 kinds of different degree of depth 4mm circular defects of 10mm respectively, 3 kinds of different degree of depth 4mm, 6mm and 8mm rectangle defects, 3 kinds of degree of depth 2mm rectangle defects have 2mm, 3mm and 4mm different widths.

FIGS. 18(a) -18 (d) are graphs showing the results of detection of ferromagnetic slab defects with different types of defects of different sizes by using the detection sensor of the present invention at a lift-off of 5mm and a moving speed of 10mm/s, where FIG. 18(a) is a graph showing the results of detection of defects at different tilt angles at a lift-off of 5 mm; FIG. 18(b) is a graph showing the results of detection of circular defects of different sizes in a 5mm lift-off condition; FIG. 18(c) is a graph of the detection results for defects of different depth sizes at 5mm lift-off; FIG. 18(d) is a graph of the detection results for defects of different dimensional widths at 5mm lift-off; the abscissas of fig. 18 each represent a Detection direction (Detection) in units of cm; the ordinate in the figure represents the Amplitude value (Amplitude) in V; when the detection sensor passes through a defect-free position, the amplitude of the detection signal is unchanged, when the detection sensor passes through a defect position, the amplitude of the detection signal is changed, wherein the amplitude and time of the change are related to the size of the defect, in the experiment, when the area or depth of the defect is increased, the amplitude of the signal change is increased, and the signal change time is longer.

FIG. 19 is a graph of the overall inspection of X80 steel pipe defects using the sensor of the present invention, with the abscissa representing the time(s) for the inspection sensor to move at 0.5m/s and the ordinate representing the defect amplitude (mv); FIG. 20 is a graph of the detection result of a single sensor for detecting defects of an X80 steel pipe using the sensor of the present invention, wherein the abscissa represents the time(s) for the detection sensor to move at 0.5m/s, and the ordinate represents the detection amplitude (mv), and it can be seen from the change of the amplitude in the graph that the sensor of the present invention has a good detection result for the defects of the pipe.

Fig. 22 is a schematic view of acceleration detection results of the pig; fig. 23 is a schematic representation of the euler angle detection result of the pig; the abscissa in fig. 21 to 23 represents the time(s) during which the detecting probe 24 is moved at 0.5m/s, and the ordinate represents the detected amplitude (mv).

In some other embodiments, as shown in fig. 9 to 11, a mileage detecting assembly 3 for acquiring mileage data is further disposed on the movable carrier 1, the mileage detecting assembly 3 includes a support rod 32, a wheel support 33, a mileage wheel 34 and a mileage detector 38, the support rod 32 can swing up and down on the movable carrier 1, the wheel support 33 can swing left and right on the support rod 32, the mileage wheel 34 is rotatably mounted on the wheel support 33, so that the mileage detecting assembly 3 can swing in four directions on the movable carrier 1, when the present invention advances in a pipeline, the wheel surface of the mileage wheel 34 is pressed against the inner wall of the pipeline, and the mileage wheel 34 rotates while the present invention advances through friction between the wheel surface of the mileage wheel 34 and the inner wall of the pipeline. The mileage detector 38 is disposed on the wheel support 33 and can obtain mileage data according to the number of revolutions of the mileage wheel 34, and an output end of the mileage detector 38 is connected to the data processing unit, specifically, the mileage detector 38 is specifically an encoder, the encoder is used for acquiring mileage information of the mobile carrier 1 and feeding the mileage information back to the data processing unit, wherein fig. 21 is a schematic diagram of mileage wheel detection; fig. 22 is a schematic diagram of acceleration detection results of the pig.

In some other embodiments, a sealing end cover 37 is arranged at one end of the wheel support 33 adjacent to the sensor, an embedding cavity is formed between the sealing end cover 37 and the wheel support 33, the mileage detector 38 is arranged in the embedding cavity, when the mileage wheel 34 rotates, the mileage detector 38 generates a pulse signal, the pulse signal is transmitted to the data processing unit, and the pulse signal is processed by the data processing unit and then recorded by the management control unit, so that the running mileage of the device is calculated.

In some other embodiments, a spring 35 is further connected between the support rod 32 and the moving carrier 1, the spring 35 is a tension spring, and under the action of the spring 35, the support rod 32 moves radially under the action of the spring 35, so that the wheel surface of the mileage wheel 34 is pressed against the inner wall of the pipeline, and the resistance between the wheel surface of the mileage wheel 34 and the inner wall of the pipeline is effectively increased, so that the mileage wheel 34 can be ensured to rotate when the device advances, and the detection of the mileage detector 38 is more accurate.

In some other embodiments, the mounting seat 31 is further installed on the moving carrier 1, the mounting seat 31 is fixed on the outer wall of the moving carrier 1, and the supporting rod 32 is hinged to the mounting seat 31, so that the supporting rod 32 and the moving carrier 1 have no direct connection relationship, and the supporting rod 32 is effectively prevented from being directly acted on the moving carrier 1 when being subjected to an external force, so that the moving carrier 1 can be effectively protected.

In some other embodiments, as shown in fig. 11, an open slot 36 is formed at a connection position of the support rod 32 and the wheel bracket 33, a swing connecting shaft is arranged in the open slot 36, an axial direction of the swing connecting shaft is perpendicular to an axial direction of a hinge shaft when the support rod 32 is hinged, and the wheel bracket 33 is hinged in the open slot 36 through the swing connecting shaft, so that the wheel bracket 33 can swing in the open slot 36, and the structure of the mileage detecting assembly 3 is simpler.

In some other embodiments, the open slot 36 is located on the end surface of the support rod 32, and the open slot 36 is rectangular, so that the swing amplitude of the wheel bracket 33 relative to the support rod 32 is limited while the wheel bracket 33 can swing relative to the support rod 32, so that the jamming of the device during passing through a pipe elbow can be avoided, and the accuracy of the mileage wheel 34 in metering can be improved due to the small-range swing.

In some other embodiments, the number of the mileage detecting assemblies 3 is plural, and the plural mileage detecting assemblies 3 are arranged at intervals along the circumferential direction of the mobile carrier 1, so that the problem that the mileage wheel 34 slips and the mileage cannot be accurately recorded is effectively avoided, and the plural mileage detecting assemblies can be calibrated with each other, thereby solving the problem that the mileage wheel 34 slips and the mileage cannot be accurately recorded.

When the device is used, the support rod 32 can swing outwards under the action of the spring 35, so that the wheel support 33 can swing synchronously, the mileage wheel 34 arranged on the wheel support 33 is pressed on the inner wall of a pipeline, when the pipeline nondestructive testing equipment rotates in the advancing process, the wheel support 33 swings relative to the support rod 32, the mileage wheel 34 on the wheel support 33 can swing along with the wheel support 34 to a certain extent, the mileage wheel 34 is effectively prevented from being subjected to torsional force when the pipeline nondestructive testing equipment rotates, the mileage wheel 34 is always pressed on the inner wall of the pipeline, the mileage wheel 34 is effectively prevented from slipping, and the detection precision of the mileage detector is greatly improved.

In order to make the pressure resistance and the water resistance of the invention better, the connections of each electric component in the cylindrical cabin 11, the mileage detector 38 and the detection probe 24 are all connected through the pressure-resistant connecting wire 6 with the pressure-resistant connector 7, the communication between the detection probe 24, the mileage detector 38 and the like and the internal circuit hardware is realized through the pressure-resistant connecting wire 6, and the invention can normally work under the high water pressure environment without water inlet short circuit; moreover, the front and rear end caps of the cylindrical cabin 11 are respectively fitted with a sealing ring to realize the integral sealing of the cylinder, so as to protect the battery pack 12 and the circuit components.

When the pipeline is used, the pipeline is fed into the pipeline, the edge of the sealing leather cup 5 is attached to the inner wall of the pipeline, the cylindrical cabin body 11 is positioned at the center of the pipeline through the sealing leather cup 5, and the interior of the pipeline is divided into two parts through the leather cup; meanwhile, because the probe detection assembly 2 has elasticity, the probe detection assembly 2 deforms to a certain extent when the device is conveyed into a pipeline, the elastic detection end 23 on the probe detection assembly 2 is attached to the inner wall of the pipeline, and the support rod 32 moves radially under the action of the spring 35 through the elasticity of the spring 35, so that the wheel surface of the mileage wheel 34 is pressed on the inner wall of the pipeline.

The fluid is fed into the pipeline, so that a pressure difference is formed between two sides of the sealing leather cup 5, the detection probe 24 in the elastic detection end 23 starts to detect the inner wall of the pipeline while the detection probe advances, the mileage detector 38 collects mileage information through the rotation of the mileage wheel 34, the FPGA (field programmable gate array) of the detection probe 24 generates a sine wave excitation signal through a first digital-to-analog conversion module DAC (digital-to-analog conversion) by a method of dds, the sine wave excitation signal is amplified to 6V through a power amplifier and applied to an excitation coil, the excitation coil generates a primary magnetic field under the drive of the excitation signal, the passive resonance coil enhances the coupling of the excitation coil, a receiving coil and the pipeline to be detected, when the piece to be detected (the pipeline to be detected) is in the primary magnetic field, the primary magnetic field generates eddy current on the surface of the piece to be detected, the flow direction of the eddy current is changed at the defect, because the eddy current is changed, the secondary magnetic field generated by the eddy current changes, and the amplitude and the phase of the receiving coil are detected by detecting the change of the magnetic flux of the receiving coil, so that the induction voltage generated by the received primary magnetic field and the induction voltage (feedback detection signal) generated by the secondary magnetic field are amplified by an operational amplifier and converted into digital signals which can be identified by a data processing unit FPGA by an ADC (analog-to-digital converter), and then the digital signals are transmitted to a data processing unit, the data processing unit transmits the feedback detection signal to an upper computer, the upper computer extracts the amplitude value and the phase value of the detection signal to acquire the amplitude and the phase change of the detection signal, and the coding signal fed back by an encoder is combined to accurately detect the related defect information of the tested piece and the position of the corresponding pipeline with the defect.

The detection device in the pipeline provided by the invention has the following advantages:

1. the probe detection assembly has good integral packaging effect, and can ensure the sealing performance of the probe in a high-pressure environment (3-20Mpa) in the pipeline;

2. the probe detection assembly has high resilience, the joint effect of the detection probe and the pipe wall is good, and fatigue fracture is avoided;

3. the probe detection assembly is formed by a die, the detection probe is accurately positioned in the probe detection assembly, and the manufacturing consistency of the detection probe is good;

4. the probe detection assembly is packaged into a single part without other connecting or supporting parts; parts falling off when the probe detection assembly runs in the pipeline are reduced;

5. by adopting the detection probe with the passive resonance coil, the detection sensitivity is high, and a higher lift-off value is allowed; meanwhile, the detection probe, the movable carrier and the mileage detection assembly are integrated into one section, so that the passing performance of the equipment in the pipeline is improved.

6. The detection probe is packaged when the probe detection assembly is produced, and the distance between the detection probe and the outer surface of the elastic detection end can be controlled through a mold due to the fact that the probe detection assembly is formed through injection molding of the mold, so that the detection probe can reach the optimal requirement for the lift-off value of the distance between the detection probe and the surface to be detected, and the detection probe signal can be optimized.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.