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Non-destructive Testing Device for Pipeline

20220412500 · 2022-12-29

    Inventors

    Cpc classification

    International classification

    Abstract

    The invention discloses an NDT device for pipeline, belonging to the field of NDT, including a mobile carrier, which moves with fluid in pipeline or is moved by an actuator; a probe testing assembly, which includes a testing component installed on the mobile carrier and having a testing element in which testing probe is encapsulated; a data processing unit, a first signal conditioning unit and a second signal conditioning unit, wherein the testing probe includes an excitation coil, a receiving coil and a passive resonance coil between the excitation coil and the receiving coil. For the invention, no more magnetizing treatment device is needed for testing, so that the system volume is greatly reduced, thereby reducing the requirement of the testing system of the invention on the internal cleanliness of a pipeline, improving flexibility of equipment in the pipeline of the testing system, and greatly reducing the system cost.

    Claims

    1. An NDT device for pipeline, comprising: a mobile carrier (1), which moves with fluid in pipeline or is moved by an actuator; a probe testing assembly (2), which includes a testing component installed on the mobile carrier (1) and having a testing element in which testing probe (24) is encapsulated; a data processing unit, a first signal conditioning unit and a second signal conditioning unit, wherein the testing probe (24) comprises an excitation coil, a receiving coil and a passive resonance coil between the excitation coil and the receiving coil; the data processing unit is used to generate an excitation signal; the data processing unit, the first signal conditioning unit and the excitation coil are connected in sequence; and the receiving coil, the second signal conditioning unit, and the data processing unit are connected in sequence.

    2. The NDT device for pipeline according to claim 1, wherein said mobile carrier (1) comprises a cylindrical capsule (11) and a sealing rubber cup (5); the sealing rubber cup (5) and the probe testing assembly (2) are both installed on the said cylindrical capsule (11), with sealing rubber cup (5) located on the front side of the probe testing assembly (2), and the sealing end of the sealing rubber cup (5) in the same orientation as the elastic testing element (23) of the probe testing assembly (2) but in the opposite direction to the movement of the mobile carrier (1).

    3. The NDT device for pipeline according to claim 2, wherein all of said data processing unit, first signal conditioning unit and second signal conditioning unit are installed inside the cylindrical capsule (11), and battery module (12) that is used to supply power for the data processing unit is also installed inside the cylindrical capsule (11).

    4. The NDT device for pipeline according to claim 1, wherein bumper board (4) is also arranged at the head of said mobile carrier (1).

    5. The NDT device for pipeline according to claim 1, wherein there are at least two sets of said probe testing assemblies (2), each of which is arranged in sequence on the outer side of the mobile carrier (1) and along the axis of the mobile carrier (1), and provided with multiple testing components inside; the pipe walls in the circumferential direction can be covered by the total range of testing contributed by testing probes (24) on said multiple testing components.

    6. The NDT device for pipeline according to claim 1, wherein said testing element is of an elastic testing element (23), with the radial direction of pipeline as its elastic movement direction, so that each of the elastic testing elements (23) can be propped against the inner pipe wall during the testing.

    7. The NDT device for pipeline according to claim 6, wherein said elastic testing element (23) is made of elastic materials that are used to encapsulate the testing probe (24).

    8. The NDT device for pipeline according to claim 5, wherein a contact surface for testing is formed at one side of the elastic testing element (23) that is propped against the inner pipe wall, and once the elastic testing element (23) is propped against the inner pipe wall, said contact surface for testing can be attached to the inner pipe wall.

    9. The NDT device for pipeline according to claim 5, wherein said testing component is also provided with a connector (21) that is installed on the mobile carrier (1), and the elastic testing element (23) can move in the radial direction around said connector (21) under the elastic effect.

    10. The NDT device for pipeline according to claim 9, wherein said testing component is also provided with a transition section (22) that is located between the connector (21) and the elastic testing element (23), and the connector (21) is in a vertical connection with the mobile carrier (1).

    11. The NDT device for pipeline according to claim 5, wherein said probe testing assembly (2) also comprises an annular connector (21′), and multiple testing components in the probe testing assembly (2) are spaced on the periphery of said annular connector (21′); the elastic testing element (23′) can move in the radial direction around the annular connector (21′) under the elastic effect, and the annular connector (21′) is sleeved on the mobile carrier (1).

    12. The NDT device for pipeline according to claim 11, wherein said testing component is also provided with a transition section (22′) that is located between the annular connector and the elastic testing element (23′).

    13. The NDT device for pipeline according to claim 1, wherein the first signal conditioning unit comprises a digital-to-analog conversion module and a first signal amplification module which are connected in sequence; and the second signal conditioning unit comprises a second signal amplification module and an analog-to-digital conversion module which are connected in sequence.

    14. The NDT device for pipeline according to claim 1, further comprising a management control unit and/or a host computer in a two-way connection with the data processing unit.

    15. The NDT device for pipeline according to claim 1, wherein the geometrical centers of said excitation coil, passive resonance coil and receiving coil are collinear.

    16. The NDT device for pipeline according to claim 1, wherein said excitation coil is of a differential coil.

    17. The NDT device for pipeline according to claim 1, wherein said excitation coil, passive resonance coil and receiving coil are of PCB planar coils.

    18. The NDT device for pipeline according to claim 1, wherein said excitation coil is provided with two rectangular field coils subject to a symmetrical layout.

    19. The NDT device for pipeline according to claim 1, wherein said passive resonance coil is provided with multiple secondary resonance coils on PCB that are subject to serial connection and stratified layout; and said receiving coil is provided with multiple secondary receiving coils on PCB that are subject to serial connection and stratified layout.

    20. The NDT device for pipeline according to claim 1, wherein a resonance point regulating capacitor is connected in series with said passive resonance coil.

    21. The NDT device for pipeline according to claim 1, wherein said mobile carrier (1) is also provided with a mileage testing assembly (3) that is used to acquire mileage data.

    22. The NDT device for pipeline according to claim 21, wherein said mileage testing assembly (3) is provided with a supporting rod (32), a wheel support (33), an odometer wheel (34) and a mileage detector (38); the supporting rod (32) is installed on the mobile carrier (1) and can swing up and down; the wheel support (33) is installed on the supporting rod (32) and can swing left and right; the odometer wheel (34) is installed rotatably on the wheel support (33); the mileage detector (38) is installed on the wheel support (33) to acquire mileage data by the number of revolutions of the odometer wheel (34), and the output end of the mileage detector (38) is linked to the data processing unit.

    23. The NDT device for pipeline according to claim 22, wherein a sealing end cap (37) is arranged at one end of the wheel support (33) close to the sensor, a cavity is formed between the sealing end cap (37) and the wheel support (33), and the mileage detector (38) is placed inside said cavity.

    24. The NDT device for pipeline according to claim 22, wherein a spring (35) is also provided and connected between said supporting rod (32) and the mobile carrier (1).

    25. The NDT device for pipeline according to claim 22, wherein said mobile carrier (1) is also provided with a mounting seat (31) and said supporting rod (32) is connected by the hinge on the mounting seat (31).

    26. The NDT device for pipeline according to claim 22, wherein an open slot (36) is formed at the connection between said supporting rod (32) and the wheel support (33), and the wheel support (33) is installed by hinge into the open slot (36).

    27. The NDT device for pipeline according to claim 26, wherein said open slot (36) is rectangular and formed on the end face of the supporting rod (32).

    28. The NDT device for pipeline according to claim 22, wherein there are multiple mileage testing assemblies (3) that are spaced at the circumferential direction of the mobile carrier (1).

    Description

    DESCRIPTION OF THE DRAWINGS

    [0052] FIG. 1 is a three-dimensional structural diagram of the in-pipeline testing device provided by the invention;

    [0053] FIG. 2 is a front view diagram of the in-pipeline testing device provided by the invention, which also shows the projection or perspective of two groups of probe testing assemblies on the sealing rubber cup;

    [0054] FIG. 3 is a structural diagram of an embodiment structure of a probe testing assembly for the in-pipeline testing device provided by the invention;

    [0055] FIG. 4 is a side view of the testing component shown in FIG. 3;

    [0056] FIG. 5 is a three-dimensional cross-section diagram of the testing component shown in FIG. 3;

    [0057] FIG. 6 is a three-dimensional diagram of another embodiment structure of a probe testing assembly for the in-pipeline testing device provided by the invention;

    [0058] FIG. 7 is a sectional structural diagram of the probe testing assembly shown in FIG. 6;

    [0059] FIG. 8 is a structural diagram of the in-pipeline testing device provided by the invention;

    [0060] FIG. 9 is a sectional structural diagram of the in-pipeline testing device provided by the invention;

    [0061] FIG. 10 is a structural diagram of the odometer wheel testing device;

    [0062] FIG. 11 is a sectional structural diagram of the odometer wheel testing device;

    [0063] FIG. 12 is a schematic diagram of the testing system provided by the invention;

    [0064] FIG. 13 is a diagram of an excitation coil provided by the invention;

    [0065] FIG. 14 is a diagram of a resonance coil provided by the invention;

    [0066] FIG. 15 is a diagram of a receiving coil provided by the invention;

    [0067] FIG. 16 is a schematic diagram showing the comparison of the testing effects before and after the introduction of a resonance coil provided by the invention;

    [0068] FIG. 17 is a testing diagram for the tested ferromagnetic plate specimens with different sizes and different types of artificial defects for the tested specimen provided by the invention;

    [0069] FIG. 18 is a diagram showing the testing result of the defect with different inclination angles at lift-off of 5 mm provided by the invention;

    [0070] FIG. 19 is a diagram showing overall testing of X80 steel pipeline defects provided by the invention;

    [0071] FIG. 20 is a schematic diagram showing the testing of X80 steel pipeline defects by a single testing probe provided by the invention;

    [0072] FIG. 21 is a schematic diagram showing the testing of the odometer wheel provided by the invention;

    [0073] FIG. 22 is a schematic diagram showing the acceleration testing result of a mobile carrier provided by the invention;

    [0074] FIG. 23 is a schematic diagram showing the Euler angle testing result of a mobile carrier provided by the invention.

    [0075] Marks and names of corresponding parts and components as shown on the drawings: [0076] 1—mobile carrier; 11—cylindrical capsule; 12—battery module; 2—probe testing assembly; 21—connector; 22—transition section; 23—elastic testing element; 24—testing probe; 21′—annular connector; 22′—transition section; 23′—elastic testing element; 3—mileage testing assembly; 31—mounting seat; 32—supporting rod; 33—wheel support; 34—odometer wheel; 35—spring; 36—open slot; 37—sealing end cap; 38—mileage detector; 4—bumper board; 5—sealing rubber cup; 6—pressure-resistant connecting wire; 7—pressure-resistant connector; 8—bolt; 9—spacer ring.

    EMBODIMENTS

    [0077] The invention will be further described in detail with the following specific embodiments and the attached drawings.

    [0078] As shown in FIG. 1, the NDT device for pipeline provided by the invention comprises a mobile carrier 1 and a probe testing assembly 2. The probe testing assembly 2 is permanently or rotatably installed on the mobile carrier 1. The probe testing assembly 2 tests the inner pipe wall through the movement of the mobile carrier 1 in the pipeline, and the testing content of the probe testing assembly 2 can be determined by the testing probe 24 with different testing functions that is carried according to actual needs.

    [0079] Under normal circumstances, the axis of the mobile carrier 1 is parallel to that of the pipeline, and the mobile carrier 1 can automatically advance in the pipeline or advance with the fluid through the carried traveling mechanism or other structures. When the mobile carrier 1 moves in the pipeline under the action of the fluid by carrying other structures, the action is the pushing action caused by the pressure difference between the front and rear sides of the mobile carrier 1 when the fluid flows. When the mobile carrier 1 moves in the pipeline under the action of fluid by carrying a traveling mechanism, the traveling mechanism can specifically include a driving mechanism arranged in the mobile carrier 1 and a traveling wheel arranged on the mobile carrier 1, which is driven by the driving mechanism to rotate. Specifically, the traveling wheels are respectively arranged at both ends of the mobile carrier 1, the probe testing assembly 2 can be arranged on the mobile carrier 1 between the traveling wheels, the traveling mechanism can be arranged outside or inside the mobile carrier 1, and existing technology can be adopted for the traveling mechanism.

    [0080] The probe testing assembly 2 comprises a testing component installed on the mobile carrier 1 and having a testing element in which the testing probe 24 is encapsulated. When the mobile carrier 1 is advancing, the testing probe 24 corresponds to the inner pipe wall, so that the testing probe 24 can test the inner pipe wall.

    [0081] As shown in FIG. 12, the NDT device for pipeline provided in this embodiment also comprises a data processing unit, a first signal conditioning unit and a second signal conditioning unit. The testing probe 24 comprises an excitation coil and a receiving coil with mutual inductance, and also includes a passive resonance coil which is located between the excitation coil and the receiving coil. The data processing unit, the first signal conditioning unit and the excitation coil are connected in sequence, and the receiving coil, the second signal conditioning unit and the data processing unit are connected in sequence. Wherein the data processing unit is used for generating an excitation signal to the first signal conditioning unit and receiving testing information fed back by the second signal conditioning unit, and also used for MPU calibration, RTC timing, etc. As an option, the data processing unit in this example is specifically an FPGA, featuring strong data processing capability and low cost.

    [0082] In this embodiment, an eddy current testing system is formed by the data processing unit, the first signal conditioning unit, the second signal conditioning unit and the testing probe 24 without additional magnetizing treatment devices, thus greatly reducing the volume of the system. The cleanliness requirement for the inside of the pipeline is greatly reduced due to the certain lift-off testing capacity of the testing probe. In addition, based on the high integration of the testing probe, the NDT device for pipeline provided by the invention not only improves the flexibility of the device through the pipeline, but also greatly reduces the system cost. Further, the excitation coil generates a primary magnetic field under the action of the excitation signal and is mutually induced with the receiving coil so that the energy of the excitation coil is wirelessly transmitted to the receiving coil. By introducing the passive resonance coil between the excitation coil and the receiving coil, the coupling between the excitation coil and the receiving coil can be enhanced, thereby significantly improving the energy transmission efficiency between the transmitting coil and the receiving coil, further improving the sensitivity of the testing probe 24 so that the probe can accurately test pipeline defects at a higher lift-off height, and improving the defect detection capability of the testing probe 24.

    [0083] In some other embodiments, as shown in FIG. 1, FIG. 8 and FIG. 9, when the mobile carrier 1 moves under the action of fluid, the structure of the mobile carrier 1 may include cylindrical capsule 11 and sealing rubber cup 5. The probe testing assembly 2 is installed on the cylindrical capsule 11, and in this case, the outline of the cylindrical capsule 11 may be set as a cylindrical structure with an accommodating cavity inside, to facilitate the installation of related electronic devices and make the overall structure more compact and reasonable. The structure of the sealing rubber cup 5 is similar to that of a bowl, with the outer diameter generally 3-6% larger than the inner diameter of the pipeline. The sealing end of the sealing rubber cup 5 is in the same direction as the testing element of the probe testing assembly 2, and both of them deviate from the moving direction of the mobile carrier 1. In addition, the sealing rubber cup 5 and the inner pipe wall form a certain interference and fit with each other tightly. At this time, the mobile carrier 1 automatically advances in the pipeline under the pressure difference between both sides of the sealing rubber cup 5. Wherein, the sealing rubber cup 5 is preferentially installed in front of the probe testing assembly 2, so that the edge of the sealing rubber cup 5 is attached to the inner pipe wall when the mobile carrier 1 advances, and that the sealing rubber cup 5 can clean the inner pipe wall while the mobile carrier 1 advances, enabling the testing probe 24 to test the inner pipe wall more accurately. Multiple sealing rubber cups 5 can be provided. In this case, at least one sealing rubber cup 5 is located in front of the probe testing assembly 2. With the cooperation of multiple sealing rubber cups 5, it is possible to prevent the risk that the device cannot advance due to air leakage after one sealing rubber cup 5 is deformed. Meanwhile, the data processing unit, the first signal conditioning unit and the second signal conditioning unit can all be installed in the cylindrical capsule 11, in which there is also a battery module 12 which supplies power to the testing probe 24, the data processing unit, the first signal conditioning unit and the second signal conditioning unit.

    [0084] The head of said mobile carrier 1 is also provided with a bumper board 4 made of rubber material, which not only avoids the damage to the cylindrical capsule 11 caused by the direct impact of the invention on the elbow of the pipeline during high-speed advancement of the invention but also avoids the damage to the data processing unit, the first signal conditioning unit, the second signal conditioning unit and the battery module 12 in the cylindrical capsule 11 caused by excessive shock during the impact process.

    [0085] If there are two groups of sealing rubber cups 5 and probe testing assemblies 2, one group of sealing rubber cups 5 and probe testing assemblies 2 are tightly installed on the cylindrical capsule 11 by flanges and bolt 8, while the other group of sealing rubber cups 5 and probe testing assemblies 2 are also tightly installed at the rear end of the cylindrical capsule 11 by flanges and bolt 8. To provide a certain movable space for probe testing assembly 2 at the rear side of sealing rubber cup 5, a spacer ring 9 can also be provided between probe testing assembly 2 and the adjacent sealing rubber cup 5.

    [0086] In some other embodiments, as shown in FIG. 1 and FIG. 2, there are at least two groups of probe testing assemblies 2, each of which is sequentially arranged on the outer side of the mobile carrier 1 along the axis of the mobile carrier 1, and provided with multiple testing components inside. The testing components in the adjacent two groups of probe testing assemblies are arranged in a staggered manner, so that the pipe walls in the circumferential direction can be covered by the total range of testing contributed by the testing probes 24 on said multiple testing components. In this way, the multiple testing probes 24 can cooperate in jointly completing the testing of the entire inner pipe wall when the mobile carrier 1 is advancing, thus ensuring comprehensive testing.

    [0087] In some specific embodiments, the testing element is an elastic testing element 23, so that each testing component in the probe testing assembly 2 tests the inner pipe wall through its elastic testing element 23. The elastic motion direction of the elastic testing element 23 is in the radial direction of the pipeline, thus enabling each elastic testing element 23 to be propped against the inner pipe wall when testing the inner pipe wall, effectively contacting the inner pipe wall through the elasticity of the elastic testing element 23 during movement testing, and providing a relatively stable supporting force, thereby improving signal quality and the testing accuracy while achieving the sealing and good water pressure resistance of the probe.

    [0088] Here, it should be explained that in the case of propping of the elastic testing element 23 against the inner pipe wall, “propping” includes surface propping and line propping, depending on the testing mode or testing object of the carried testing probe 24.

    [0089] In some other embodiments, the elastic testing element 23 is made of elastic material, and the testing probe 24 is wrapped with the elastic material, so that the elastic testing element 23 has elasticity and can move radially, resulting in a possible gap between two adjacent elastic testing elements 23 in the same probe testing assembly 2 in a natural state or under small stress. As a result, the entire circumference cannot be covered; in other words, the total range of testing contributed by the elastic testing probes 24 in one group of probe testing assemblies 2 cannot completely cover the pipe wall in the circumferential direction. Therefore, by arranging at least two groups of probe testing assemblies 2, sequentially arranging the testing components of each group of probe testing assemblies on the outer side of the mobile carrier 1 along the axis of the mobile carrier 1, and arranging the elastic testing elements 23 on the adjacent two groups of probe testing assemblies in a staggered manner, the two groups of probe testing assemblies can cooperate so that the pipe walls in the circumferential direction can be covered by the total range of testing contributed by the elastic testing elements 23, thus realizing 360° complete testing of the inner pipe wall, making the testing more comprehensive and effective.

    [0090] The purpose of the staggered arrangement of more than two groups of probe testing assemblies 2 is mainly to make the range of testing contributed by each elastic testing element 23 cover the entire circumference and provide a certain overlap width. Taking the surface propping as an example, if the width of the propped contact surface, i.e., the width of the testing coverage surface provided by a single testing probe 24 is W, the number of elastic testing elements 23 arranged is n, and the inner diameter of the pipeline is D.sub.1, the relation will be

    [00001] N 1 = π × D 1 W .

    After N.sub.1 is calculated, the result is rounded up to an even number to obtain the number of probes to be arranged (n), and the number of probes to be arranged at the front and rear ends are n/2.

    [0091] In this way, the entire circumference can be covered by two groups of probe testing assemblies. In addition, the above relation shall be satisfied if three or more groups of N are arranged. In other words, after N.sub.1 is calculated, the result is rounded up to an integer to obtain the number of probes to be arranged (n), and n/N probes shall be arranged in a staggered manner in the front and rear groups respectively.

    [0092] In some specific embodiments, the elastic material for the elastic testing element 23 is rubber material or polyurethane material with high elasticity and toughness, and rubber material is preferably used as the elastic material for the embodiments.

    [0093] In some specific embodiments, as shown in FIG. 3 and FIG. 4, a contact surface for testing is formed at one side of the elastic testing element 23 that is propped against the inner pipe wall. Once the elastic testing element 23 is propped against the inner pipe wall, said contact surface for testing can be attached to the inner pipe wall. During testing, the elastic testing element 23 is propped against and attached to the inner pipe wall through said contact surface for testing, and the size of said contact surface for testing is consistent with the testing range of the testing probe 24, so that the testing can be performed better. Wherein, the attachment can be understood as the match between said contact surface for testing and the shape of the inner pipe wall, i.e., they can be matched after attachment.

    [0094] It can be understood that since the elastic testing element 23 is elastic and its contact surface for testing should be attached to the pipe wall during testing, i.e. when the elastic testing element 23 is in a natural state or an unstressed state, said contact surface for testing or the elastic testing element 23 is not parallel to the axis of the mobile carrier 1 and there is a certainly included angle α (preferably within the range of 3°-7°, depending on the elastic material to be used), the diameter of the testing element of the probe testing assembly 2 larger than the diameter of the inner pipe wall before testing can be changed to a diameter equal to the diameter of the inner pipe wall during testing, and at the same time, said testing element can be attached to the inner pipe wall.

    [0095] As shown in FIG. 1 to FIG. 5, the probe testing assembly 2 provided in this embodiment can be of a split structure, i.e., the probe testing assembly 2 comprises multiple testing components arranged around the axis of the mobile carrier 1. In this case, the testing components are generally made of elastic material, and comprise a connector 21 and an elastic testing element 23. The testing probe 24 is installed in the elastic testing element 23, and the elastic testing element 23 can move radially around the connector 21 under its elastic action. In this way, the testing component is directly installed on the mobile carrier 1 through the connector 21 when installed, the extended end of the elastic testing element 23 forms a free end relative to the connector 21, and the free end can move radially around the connector 21 under its elastic action when being squeezed by the pipe wall during testing, thereby ensuring a good fit between the probe and the pipe wall, providing sufficient supporting force to prevent the testing probe 24 from shaking during testing and thus make it more stable.

    [0096] Specifically, as shown in FIG. 3, the connector 21 is provided with a positioning hole used to position said connector on the mobile carrier 1 and a connecting hole used to fix said connector on the mobile carrier 1 by fasteners or other connecting structures after positioning by the positioning hole. Of course, other existing mounting structures can also be used without restrictions.

    [0097] To better construct the testing component and make the constructed testing component be attached to the inner pipe wall, a transition section 22 is provided between the connector 21 and the elastic testing element 23 as shown in FIG. 2 to FIG. 4, and the connector 21 is vertically connected to the mobile carrier 1, so that the transition section 22 can play a transitional connecting role, thus enabling the elastic testing element 23 to be attached onto the inner pipe wall through small-angle elastic deformation (e.g., an angle within) 5°.

    [0098] If the probe testing assembly 2 is of a split structure, the probe testing assembly 2 can be integrally molded by a mold directly, and the testing probe 24, which is an NDT testing probe 24, is directly encapsulated in the probe testing assembly 2 during the molding process. Furthermore, set

    [00002] R 1 = D 1 2 ,

    where R.sub.1 is the radius of the inner end of the elastic testing element 23, D.sub.1 is the inner diameter of the pipeline, R.sub.2 is the radius of the outer end of the elastic testing element 23, and R.sub.2 is slightly larger than R.sub.1. With the installation position of the testing probe 24 determined, the probe testing assembly 2 is subject to compressive deformation on the inner pipe wall, so that the angle α becomes close to 0°, thus ensuring that the testing probe 24 is attached onto the pipe wall.

    [0099] As shown in FIG. 6 to FIG. 8, the probe testing assembly 2 provided in this embodiment can be of an integral structure and can be molded by a mold at one time in the production process. In this case, the probe testing assembly 2 comprises an annular connector 21′ and multiple testing components which are elastic testing elements 23 distributed at intervals along the circumferential direction of the annular connector 21′, and the testing probes 24 are encapsulated in the testing components. The elastic testing elements 23′ can move radially around the annular connector 21′ under their elastic action. Meanwhile, the probe testing assembly 2 can be generally made of elastic material, and the molded probe testing assembly 2 can be directly sleeved on the mobile carrier 1 through the annular connector 21′ during installation, making it more convenient for the integral installation of the probe testing assembly 2.

    [0100] When the probe testing assembly 2 with integral structure is installed, the annular connector 21′ is vertically connected with the mobile carrier 1, and a transition section 22′ can be arranged between the annular connector 21′ and the elastic testing element 23′, as shown in FIG. 7. At this time, the transition section 22′ can play a transitional connecting role, so that the elastic testing element 23′ can be attached to the inner wall of the pipeline through elastic deformation within 5° at a small angle.

    [0101] When there are two groups of probe testing assemblies 2 with integral structure, the elastic testing element 23′ of the two groups of probe testing assemblies 2 have a certain angular difference in the circumferential direction, so that the testing probe 24 can be fully covered in the circumferential direction. For example, if one group of probe testing assembly 2 has N flexible testing elements 23′ uniformly distributed along the circumferential direction, the angular difference between the front and rear groups of probe testing assemblies 2 is

    [00003] r = 360 ⁢ ° 2 ⁢ N ;

    the angle is designed as

    [00004] R = D 1 2 ,

    where D.sub.1 is the inner diameter of the pipe, R.sub.1 is the radius of the inner end of the elastic testing element 23′, R.sub.2 is the radius of the inner end of the elastic testing element 23′, and R.sub.2 is slightly larger than R.sub.1, so that the elastic testing element 23′ is basically flush with the inner wall of the pipe after being squeezed by the inner wall.

    [0102] 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; and the second signal conditioning unit comprises a second signal amplification module and an analog-to-digital conversion module connected in sequence. More specifically, the digital-to-analog conversion module is of an ADC chip; The first signal amplification module is specifically a power amplifier; The second signal conditioning unit comprises a power supply voltage regulating chip for providing 5V operating voltage and a power supply voltage regulating chip for providing 3.3V operating voltage, an operational amplifier for amplifying signals and a standard voltage chip for providing 4.096V voltage. The 4.096V voltage is divided into 2.048V voltage, which is supplied to the operational amplifier and then output to the ADC chip (analog-to-digital conversion module) after differential amplification. The ADC acquisition chip is a 16-bit, 1 MSPS, true-differential input, digital-to-analog converter, and provides SPI interface to output the acquired testing data to the data processing unit. It also comprises a 4-bit dual power transceiver and supports bidirectional level conversion. The signal converted by ADC and the clock provided by the data processing unit allows a stronger circuit against interference through the chip. As an option, the signal conditioning unit further comprises a filtering module, which is connected with the signal amplification module and used for filtering a clutter signal.

    [0103] In some other embodiments, the NDT device for pipeline further comprises a management control unit and a host computer which are bidirectionally connected with the data processing unit, wherein the management control unit is connected to the host computer while the host computer is connected to the server. Specifically, the management control unit is used for self-inspection of the testing probe 24, IMU self-inspection, configuration management, data file management, etc., wherein the self-inspection of the testing probe 24 performs start-stop control and real-time data viewing; configuration management is used to test parameter configuration, RTC timing and parameter configuration for local storage of equipment; data file management is mainly used for data file reading and conversion. Further, the host computer is equipped with data acquisition management software, the data processing unit transmits the testing information (data) fed back by the second signal conditioning unit to the management control unit for storage, and the management control unit further transmits the feedback information to the host computer via the data management software, or the management control unit transmits the feedback information to the data management software of the host computer via the wireless communication module. The testing information is analyzed through the data management software integrated into the host computer, to judge whether the defects occur in the pipelines and to locate the defective pipelines. The host computer transmits the data analysis results to a server at the same time, thus realizing data storage and sharing.

    [0104] In some other embodiments, the geometric centers of the excitation coil, the passive resonance coil and the receiving coil are collinear, i.e., the excitation coil, the passive resonance coil and the receiving coil are arranged coaxially, improving the energy transmission efficiency to the maximum extent.

    [0105] In some other embodiments, the excitation coil, the passive resonance coil and the receiving coil are of rectangular coils spirally wound with copper wire, in which the defects are more easily to be identified compared with others in the circular structure.

    [0106] In some other embodiments, the excitation coil is a differential coil, and the passive resonance coil and the receiving coil are absolute coils. The differential coil can form a uniform eddy current in the central area of the coil, and can generate obvious eddy current change in the middle eddy current area when defects are detected, thus changing the magnetic field and facilitating the identification of defective parts.

    [0107] In some other embodiments, the excitation coil, the passive resonance coil and the receiving coil are PCB planar coils or FPC planar coils, which are characterized by small size and high sensitivity to surface defects; they have high sensitivity to defects due to the small effective lift-off, and broad prospects in the field of eddy current testing. Further, the PCB planar coil can be directly manufactured and permanently fixed on the moving component. In addition, the FPC planar coil is flexible enough, allowing consistency of the coil with the pipe surface to be detected, so the testing probe 24 also has a very broad prospect in testing complex surface geometry.

    [0108] In some other embodiments, the excitation coil comprises two symmetrically arranged rectangular field coils to generate more uniform eddy currents under the action of excitation signals.

    [0109] In some other embodiments, as shown in FIG. 13, the excitation coil of the invention is a single-layer PCB rectangular differential coil with a length of a1 and a width of b1, a wire diameter in the intermediate differential area of d11, a wire diameter of rest wires of d12, a wire spacing of d13, and d11>d12. In this embodiment, the wire diameters in the differential area range from 0.500 to 0.510 mm, the diameters of the rest wires range from 0.250 to 0.260 mm, the wire spacing ranges from 0.250 to 0.260 mm, and the whole excitation coil length ranges from 56.630 to 56.640 mm and width ranges from 30.520 to 30.530 mm. More specifically, the excitation coil is provided with an input interface input1 and an output interface output1 for an external excitation signal.

    [0110] In some other embodiments, the passive resonance coil comprises multiple PCB resonance sub-coils which are connected in series and arranged in layers. As a preferred embodiment, the testing probe 24 comprises four layers of passive resonance coils. As shown in FIG. 14, the passive resonance coil has a length of a2 and a width of b2, a copper wire diameter of d31 and a wire spacing of d41. More specifically, via holes are arranged between different passive resonance coils, and passive resonance coils between different layers are connected in series through copper wires. In this embodiment, the PCB rectangular resonance coil of each layer has a wire diameter ranging from 0.0880 to 0.0890 mm, a wire spacing ranging from 0.0880 to 0.0890 mm, a length ranging from 29.440 to 29.450 mm, and a width ranging from 29.440 to 29.450 mm.

    [0111] In some other embodiments, the receiving coil comprises a plurality of PCB receiving sub-coils which are connected in series and arranged in layers. As a preferred embodiment, the testing probe 24 comprises four layers of receiving sub-coils. As shown in FIG. 15, the receiving sub-coils have a length of a3 and a width of b3, a copper wire diameter of d51 and a wire spacing of d61. Via holes are formed between the receiving sub-coils in different layers, and the receiving sub-coils between different layers are connected in series through copper wires. In the Embodiment, the PCB rectangular receiving sub-coil of each layer has a wire diameter ranging from 0.0880 mm to 0.0890 mm, a wire spacing ranging from 0.0880 mm to 0.0890 mm, a length ranging from 10.430 mm to 10.440 mm, and a width ranging from 24.750 mm to 24.760 mm. More specifically, the input interface input2 is arranged on the first layer, and the output interface output2 is arranged on the fourth layer. The back-end data processing unit is connected through two interfaces.

    [0112] As a preferred embodiment, the testing probe 24 of the invention comprises an excitation coil, four layers of resonance sub-coils, and four layers of receiving sub-coils. The whole probe is small in size and convenient to install. For the invention, under the action of the resonance coil, the receiving coil arranged in a multilayered structure can improve the inductance value of the coil, etc., and further can better induce the change in the magnetic flux of the pipeline to be tested, thus improving the testing sensitivity, reducing the optimal testing frequency, and effectively reducing the requirements on excitation signal. Further, a multi-coil array created by a plurality of resonance sub-coils and receiving sub-coils can increase the testing range and reduce the testing time.

    [0113] In some other embodiments, bending positions of the excitation coil, the passive resonance coil, and the receiving coil are all chamfered at 45° to reduce electromagnetic interference and signal emission, and reducing the signal noise when the external signal frequency is high.

    [0114] In some other embodiments, the passive resonance coil is connected with a capacitor in series, which is connected with the capacitor via a wire on the left side of the coil. When the passive resonance coil comprises a plurality of resonance sub-coils, one resonance sub-coil is connected in series with a resonance point regulating capacitor, and two via holes are specifically formed outside the resonance sub-coil to place the capacitor. The resonance point of the coil can be adjusted by the capacitance of the capacitor, thereby improving the interference rejection of the testing probe 24 to be suitable for a wider testing environment.

    [0115] To further illustrate the inventive concept, the testing principle is described as follows:

    [0116] The NDT device for pipeline is arranged on the mobile carrier 1 and placed in a conductive pipeline to be tested, and the invention starts to work after being powered on. The data processing unit FPGA generates a sine wave excitation signal through a first digital-to-analog conversion module DAC by a DDS method, and the sine wave excitation signal is amplified to 6V by a power amplifier and applied to the excitation coil; the excitation coil is driven by the excitation signal to generate a primary magnetic field, and a passive resonance coil enhances the coupling between the excitation coil and the receiving coil and the tested pipeline. When the tested specimen (tested pipeline) is in the primary magnetic field, the primary magnetic field generates eddy current on the surface of the tested specimen and the flow direction of the eddy current changes at the defect. A secondary magnetic field generated by the eddy current changes due to a change in the eddy current. Changes in the amplitude and phase of the receiving coil are detected by detecting a change in the magnetic flux of the receiving coil. Therefore, the induced voltage generated by the received primary magnetic field and the induced voltage generated by the secondary magnetic field (feedback testing signal) are amplified by the operational amplifier, converted into digital signals recognizable by the data processing unit FPGA through the ADC, and then transmitted to the data processing unit. The data processing unit transmits the feedback testing signal to the host computer. The host computer extracts the amplitude and phase value of the testing signal, obtains the change in the amplitude and phase of the testing signal, and accurately detects the relevant defect information of the tested specimen and the positions of defective pipelines in combination with the coded signal fed back by the encoder.

    [0117] To further illustrate the technical effect of the application, a concrete testing effect diagram of the resonance coil introduced for the testing probe 24 of the application is given. Wherein FIG. 16 is a diagram showing the comparison of the testing effects before and after a passive resonance coil is provided in the application, wherein FIGS. 16 (a) and (c) are mutually referenced, FIGS. 16 (e) and (g) are mutually referenced, FIGS. 16 (b) and (d) are mutually referenced, FIGS. 16 (f) and (h) are mutually referenced, FIGS. 16 (a)-(d) are testing diagrams after the passive resonance coil is provided, and FIGS. 16 (e)-(h) are testing diagrams after the passive resonance coil is not provided. In the Figures, the horizontal coordinates indicate the testing direction in cm, and the vertical coordinates indicate the amplitude in V. It can be clearly seen from FIG. 16 that under the same lift-off condition, The amplitude of the testing probe 24 with the passive resonance coil provided changes more than that without the passive resonance coil provided, and the maximum lift-off value of the testing probe 24 with the passive resonance coil provided is higher than that of the testing probe 24 without the passive resonance coil provided, which has more excellent testing performance.

    [0118] Further, the length, width, and thickness of the artificial defect sample in the application are 450 mm, 300 mm, and 10 mm respectively. FIG. 17 shows various surface defects except for circular defects in samples with a thickness of 10 mm, a length of 20 mm and a width of 2 mm, and defects with a width of 3 mm and 4 mm as shown in FIG. 18, of which three defects have the depth of 5 mm and the inclination angles of 30°, 45° and 60° respectively. Three different circular defects have a depth of 4 mm and a respective diameter of 5 mm, 7 mm, and 10 mm; three rectangular defects have different depths, which are 4 mm, 6 mm, and 8 mm respectively; and three rectangular defects with a depth of 2 mm have different widths of 2 mm, 3 mm and 4 mm, respectively.

    [0119] FIGS. 18 (a)-18 (d) are diagrams showing the testing results of ferromagnetic plate defects with different types and sizes by using the testing probe 24 of the invention under the condition of 5 mm lift-off and a moving speed of 10 mm/s, wherein FIG. 18 (a) is a diagram showing the testing results of defects with different inclination angles under the condition of 5 mm lift-off; FIG. 18 (b) is a diagram showing the testing results of circular defects with different sizes under the condition of 5 mm lift-off; FIG. 18 (c) is a diagram showing the testing results of defects with different sizes and depths under the condition of 5 mm lift-off; FIG. 18 (d) is a diagram showing the testing results of defects with different scales and widths under the condition of 5 mm lift-off. The horizontal coordinates of FIG. 18 indicate the testing direction in cm, and the vertical coordinates indicate the amplitude in V. When the testing probe 24 passes through the defect-free position, the testing signal amplitude keeps unchanged; and when the testing probe 24 passes through the defect position, the testing signal amplitude changes and the changed amplitude and time are related to the size of the defect. In this experiment, when the area of the defect becomes larger or the depth becomes deeper, the signal change amplitude becomes larger and the signal change time is longer.

    [0120] FIG. 19 is an overall testing result of X80 steel pipeline defects by using the testing probe 24 of the invention, wherein, the abscissa indicates the time (s) for the testing probe 24 to move at 0.5 m/s, and the ordinate indicates the defect amplitude (my). FIG. 20 is the testing result of a single testing probe 24 for X80 steel pipeline defects by using the testing probe 24 of the invention, wherein, the abscissa indicates the time (s) for the testing probe 24 to move at 0.5 m/s, and the ordinate indicates the testing amplitude (my). It can be clearly seen from the figure that the testing probe 24 of the invention has a good testing result for pipeline defects.

    [0121] FIG. 22 is a schematic diagram of acceleration testing results of the pipeline cleaner; FIG. 23 is a schematic diagram of Euler angle test results of the pipeline cleaner; In FIGS. 21-23, the abscissa indicates the time (s) for the testing probe 24 to move at 0.5 m/s, and the ordinate indicates the testing amplitude (my).

    [0122] In some other embodiments, as shown in FIGS. 9-11, the mobile carrier 1 is also provided with a mileage testing assembly 3 that is used to acquire mileage data, and the mileage testing assembly 3 comprises a supporting rod 32, wheel support 33, an odometer wheel 34 and a mileage detector 38. The supporting rod 32 is installed on the mobile carrier 1 and can swing up and down; the wheel support 33 is installed on the supporting rod 32 and can swing left and right; the odometer wheel 34 is installed rotatably on the wheel support 33, allowing the mileage testing assembly 3 to swing in four directions on the mobile carrier 1. When the invention advances in the pipeline, the wheel surface of the odometer wheel 34 is pressed against the inner wall of the pipeline. By the friction between the wheel surface of the odometer wheel 34 and the inner wall of the pipeline, the odometer wheel 34 rotates while the invention advances. The mileage detector (38) is installed on the wheel support (33) to acquire mileage data by the number of revolutions of the odometer wheel (34), and the output end of the mileage detector 38 is connected with the data processing unit. Specifically, the mileage detector 38 is an encoder for collecting mileage information of the mobile carrier 1 and feeding it back to the data processing unit, wherein FIG. 21 is a testing diagram of an odometer wheel; FIG. 22 is a schematic diagram showing the acceleration testing results of a pipeline cleaner.

    [0123] In some other embodiments, a sealing end cap 37 is arranged at one end of the wheel support 33 close to the sensor, a cavity is formed between the sealing end cap 37 and the wheel support 33, and the mileage detector 38 is placed inside said cavity. When the odometer wheel 34 rotates, the mileage detector 38 generates pulse signals, which are transmitted to the data processing unit and recorded by the management control unit after being processed by the data processing unit, thereby calculating the running mileage of the equipment.

    [0124] In some other embodiments, a spring 35 is also provided and connected between the supporting rod 32 and the mobile carrier 1, and the spring 35 is a tension spring. Under the action of spring 35, the supporting rod 32 moves radially, so that the wheel surface of the odometer wheel 34 is pressed against the inner wall of the pipeline, which effectively increases the resistance between the wheel surface of the odometer wheel 34 and the inner wall of the pipeline, thus ensuring that the odometer wheel 34 rotates when the invention advances, and making the testing of the mileage detector 38 more accurate.

    [0125] In some other embodiments, the mobile carrier 1 is also provided with a mounting seat 31, which is fixed on the outer wall of the mobile carrier 1, and the supporting rod 32 is connected by the hinge on the mounting seat 31, so that the supporting rod 32 is not directly connected with the mobile carrier 1, which effectively prevents the supporting rod 32 from directly acting on the mobile carrier 1 when it is subjected to external force, thus effectively protecting the mobile carrier 1.

    [0126] In some other embodiments, as shown in FIG. 11, an open slot 36 is formed at the connection between said supporting rod 32 and the wheel support 33, and a swing connecting shaft is arranged within the open slot 36, the axial direction of which is perpendicular to the axial direction of the hinge shaft when the supporting rod 32 is installed by hinge, and the wheel support 33 is installed by hinge in the open slot 36 through the swing connecting shaft so that the wheel support 33 can swing in the open slot 36 and the mileage testing assembly 3 is of a simpler structure.

    [0127] In some other embodiments, the open slot 36 is formed on the end face of the supporting rod 32 and is in a rectangular shape, which ensures that while the wheel support 33 can swing against the supporting rod 32, the swing amplitude of the wheel support 33 against the supporting rod 32 can be limited, to avoid jamming when the device passes through the pipe elbow, and swing in a small range can improve the accuracy of odometer wheel 34.

    [0128] In some other embodiments, there are multiple mileage testing assemblies 3 that are spaced circumferentially along with the mobile carrier 1, which effectively avoids the slipping of the odometer wheel 34 and inaccurate mileage recording, and allows mutual calibration among multiple mileage testings, thereby solving the problem of slipping off the odometer wheel 34 and inaccurate mileage recording.

    [0129] The odometer wheel 34 mounted on the wheel support 33 can be displayed in the upper, lower, left, and right directions, through the cooperation of the supporting rod 32 and the wheel support 33. When the invention is used, the supporting rod 32 can swing outwards under the action of the spring 35, so that the wheel support 33 swings synchronously, and the odometer wheel 34 mounted on the wheel support 33 is pressed against the inner wall of the pipeline. When the NDT device for pipeline rotates in the forward process, the wheel support 33 swings against the supporting rod 32, so that the odometer wheel 34 on the wheel support 33 can swing along with the wheel support 34 to a certain extent, effectively preventing the odometer wheel 34 from being subjected to torsional force when the NDT device for pipeline rotates, thus making the odometer wheel 34 always press against the inner wall of the pipeline, avoiding the odometer wheel 34 from slipping, and greatly improving the testing accuracy of the mileage detector.

    [0130] To improve the pressure resistance and waterproofness of the invention, all the electrical components in the cylindrical capsule 11 are connected with the mileage detector 38 and the testing probe 24 through the pressure-resistant connecting wire 6 with the pressure-resistant connector 7, and the communication between the testing probe 24, the mileage detector 38 and the internal circuit hardware is realized through the pressure-resistant connecting wire 6, and the cylindrical capsule can work normally in a high water pressure environment without being short-circuited due to the inflow of water. In addition, the front and rear end covers of the cylindrical capsule 11 are respectively fitted with sealing rings, so that the whole capsule is sealed to protect the battery module 12 and circuit components.

    [0131] When the invention is placed in the pipeline, the edge of the sealing rubber cup 5 will be attached to the inner wall of the pipeline and the cylindrical capsule 11 will be located in the center of the pipeline through the sealing rubber cup 5 to divide the pipeline into two parts; because of the elasticity of the probe testing assembly 2, when the invention is placed in the pipeline, the probe testing assembly 2 will be deformed, and the elastic testing element 23 of the probe testing assembly 2 will be attached to the inner wall of the pipeline, and by the elasticity of the spring 35, the supporting rod 32 moves radially under the action of the spring 35, so that the wheel surface of the odometer wheel 34 is pressed against the inner wall of the pipeline.

    [0132] The fluid is sent into the pipeline, forming pressure difference on both sides of the sealing rubber cup 5 and moving the invention forward in the pipeline. While the invention moves forward, the testing probe 24 in the elastic testing element 23 starts to detect the inner wall of the pipeline, while the mileage detector 38 collects mileage information through the rotation of the odometer wheel 34, and the data processing unit FPGA of the testing probe 24 generates sine wave excitation signals through the first digital-to-analog conversion module DAC by DDS method. After being amplified by the power amplifier to 6V, it is applied to the excitation coil, which generates a primary magnetic field driven by the excitation signal. The passive resonance coil enhances the coupling between the excitation coil and the receiving coil and the pipeline to be tested. When the tested part (pipeline to be tested) is in the primary magnetic field, the primary magnetic field generates eddy current on the surface of the tested part and the flow direction of the eddy current changes at the defect. Because the eddy current changes, the secondary magnetic field generated by the eddy current changes. By detecting the change of the magnetic flux of the receiving coil, and then detecting the change of the amplitude and phase of the receiving coil, the received induced voltage generated by the primary magnetic field and the induced voltage generated by the secondary magnetic field (feedback testing signal) are amplified by the operational amplifier, and the digital signal which can be recognized by the data processing unit FPGA is converted by the ADC and transmitted to the data processing unit, which transmits the feedback testing signal to the host computer. The host computer extracts the amplitude and phase value of the testing signal, obtains the amplitude and phase change of the testing signal, and combines the coded signal fed back by the encoder to accurately detect the relevant defect information of the tested piece and the position of the corresponding defective pipeline.

    [0133] The in-pipeline testing device provided by the invention has the following advantages: [0134] 1. The probe testing assembly has a good overall packaging effect, with the sealing performance of the probe guaranteed under the high-pressure environment (3-20 Mpa) inside the pipeline; [0135] 2. The probe testing assembly is of high resiliency, and the testing probe has a good joint effect with the pipe wall without fatigue fracture; [0136] 3. The probe testing assembly is molded, so that the testing probes are accurately positioned inside and have good manufacturing consistency; [0137] 4. The probe testing assembly is packaged as a single part without other connecting or supporting parts; the parts falling off during the operation of the probe testing assembly in the pipeline are reduced; [0138] 5. The testing probe by adopting the passive resonance coil has high testing sensitivity and a higher lift-off value; integration of the testing probe with the mobile carrier and mileage testing assembly can improve the flexibility of the equipment in the pipeline. [0139] 6. The testing probe is packaged at the same time as the probe testing assembly is produced, and because the probe testing assembly is under injection molding, the distance between the testing probe and the outer surface of the elastic testing element can be controlled by the mold so that the proper size can be achieved, the lift-off value between the testing probe and the surface to be tested can meet the best requirements, and the testing probe signal can be optimized.

    [0140] The embodiments above are only the preferred embodiments for the invention and not used to restrict the invention. For the technicians of the field, various modifications and changes can be made to the invention. Any modification, equivalent replacement and improvement within the concept and principle of the invention, are covered by the range of protection by the invention.