CN103115245B - Pipeline detection device based on piezomagnetic effect - Google Patents
Pipeline detection device based on piezomagnetic effect Download PDFInfo
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- CN103115245B CN103115245B CN201310078522.9A CN201310078522A CN103115245B CN 103115245 B CN103115245 B CN 103115245B CN 201310078522 A CN201310078522 A CN 201310078522A CN 103115245 B CN103115245 B CN 103115245B
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Abstract
The invention discloses a pipeline detection device based on a piezomagnetic effect. The pipeline detection device based on the piezomagnetic effect comprises a machine body outer shell, a main body running mechanism, a propeller motor mechanism, a plurality of driving connecting rod rolling wheel mechanisms, a plurality of driven connecting rod rolling wheel mechanisms and a plurality of signal acquisition processing mechanisms, wherein the machine body outer shell is formed by the connection of a machine body and a machine tail, and the main body running mechanism is arranged inside the machine body outer shell. The propeller motor mechanism is fixed on the tail portion of the machine body outer shell. The driving connecting rod rolling wheel mechanisms are evenly fixed on the machine tail of the machine body outer shell along the circumference, and the driven connecting rod rolling wheel mechanisms are evenly fixed on the machine body of the machine body outer shell along the circumference. Each driven connecting rod rolling wheel mechanism is connected with a signal acquisition processing mechanism through an internet data center (IDC) interface in a straight-inserting mode. The pipeline detection device based on the piezomagnetic effect can automatically conduct detection and positioning in long distance inside a pipeline where oil conveying work is not stopped. An important means is provided for nondestructive detection inside the pipeline, and the pipeline detection device based on the piezomagnetic effect plays a very important role in guaranteeing the pipeline safety and smooth and long-time running.
Description
Technical field
The present invention relates to Oil & Gas Pipeline Testing field, particularly relate to a kind of pipe detection device based on piezomagnetic effect.
Background technology
China is energy big country, be also the country that energy resource consumption is number two, and energy resource consumption is in rising trend simultaneously, and therefore, under such environment promotes, oil movement and storage technology has had development to a certain degree.China's oil accumulating major way or pipeline transportation, in decades, petroleum transportation pipeline is gradually gained popularity reform and opening-up, and wherein northeastward, Central-South, Central China and East China all establish petroleum transportation net, and especially the Northwest also achieves through.In addition, to the east of Sichuan-chongqing Region and Hebei, area all establishes petroleum region accumulating net.As can be seen here, the petroleum pipe line accumulating of China has layout wide, intersects intensive feature, is building the lifting had in pipeline, ladder of management and operation to a certain degree.
Due to the singularity of oil, several factors all may cause occurring security incident.Wherein corrosive pipeline is main in all accidents of oil movement and storage pipeline.Corrosive pipeline situation mainly contains: due to Pipes Buried Deep Underground, under the impact that the gas permeability of soil is different, causes corrosion.Corrosive pipeline can allow pipe wall gradually weak, be out of shape, break, even there is the accidents such as oil leakage.China's oil exploitation has half a century, and due to wherein a lot of conduit running overlong time, occur aging phenomenon, owing to being in underground for a long time, the continuous impact of soil, must occur chemical corrosion, thus occur holiday.
Although traditional Non-Destructive Testing (NDT) method (ultrasonic, magnetic, infiltration, eddy current and ray etc.) has been widely used in industrial detection, but it has its limitation: (1) can only find the defect existed, can not find and predict the position that defect will occur, the sudden destruction of equipment cannot be solved; (2) checked object is generally needed to quit work when detecting; (3) carry out the pre-service such as removal coating, polishing to checked object surface, efficiency is low, and cost is high; (4) accuracy of testing result affects by factors such as workpiece shapes, structure and Personnel Skill Levels; (5) Site Detection working condition is poor, and labour intensity is high, is difficult to avoid undetected.
The nineties in 20th century, it is theoretical that Russian professor Doubov takes the lead in proposing metal magnetic memory.Metal magnetic memory detection technology utilizes the magnetic property of the ferromagnetic metal be in magnetic field of the earth to produce irreversible change in static stress and distortion concentration zones, magnetic permeability transition is there is at metal and air boundary, its surface produce stray field just can can't harm, quick, convenient, exactly determine the structural stress of ferromagnetic metal concentrate and distorted area, i.e. the most dangerous section and position on equipment, and then its expansion trend of fatigue crack and prediction on discovery main shaft, thus carry out the diagnosis in intensity and life-span.Compared with traditional lossless detection method, plastic deformation and the macroscopic cracking of ferromagnetic material can not only be detected, more effectively can detect the hazardous location that the early stage stress of ferromagnetic material is concentrated.This new detection technique can overcome the deficiency of traditional lossless detection method, beyond doubt hardware is carried out to a kind of new lossless detection method of early diagnosis, therefore, once the attention being subject to countries in the world colleague of coming out, competitively conduct a research, and start in the department such as electric power, boilers and pressure vessel and apply.
In sum, the invention provides a kind of pipe detection device based on piezomagnetic effect, to the safety detection technology level improving domestic oil and gas pipes, timely and effective preventing is of great significance because pipe damage destroys the security incident tool caused.
Summary of the invention
In order to improve the safety detection technology level of domestic oil and gas pipes, the timely and effective security incident prevented because of the initiation of pipe damage destruction.The invention provides a kind of pipe detection device based on piezomagnetic effect, the present invention can grow distance and automatically not stop the pipe interior of petroleum transportation work to carry out detecting and locating.
In order to achieve the above object, the invention provides following technical scheme: a kind of pipe detection device based on piezomagnetic effect, it comprises body fuselage, main body travelling mechanism, engine-propeller mechanism, some drive connecting rod idler wheel mechanisms, some follower link idler wheel mechanisms and some signal acquisition process mechanisms; Wherein, described body fuselage is connected to form by fuselage and tail; Main body travelling mechanism is placed in body fuselage; Body fuselage afterbody is fixed in engine-propeller mechanism; Drive connecting rod idler wheel mechanism is circumferentially evenly fixed on the tail of body fuselage, follower link idler wheel mechanism is circumferentially evenly fixed on the fuselage of body fuselage; Each follower link idler wheel mechanism connects a signal acquisition process mechanism by IDC interface straight cutting.
Further, described body fuselage is streamlined.
Further, described main body travelling mechanism comprises data acquisition module, GPS locating module and wireless signal transmission receiver module; Data acquisition module comprises data collecting card, single-chip microcomputer and storage card, and GPS locating module, wireless signal transmission receiver module, data collecting card are all connected with single-chip microcomputer with storage card, and GPS locating module is connected with wireless signal transmission receiver module.
Further, described engine-propeller mechanism comprises device engine and screw propeller, and engine to be placed in body fuselage and to be connected with single-chip microcomputer, and the output shaft of engine stretches out body fuselage and is connected with screw propeller.
Further, described drive connecting rod idler wheel mechanism and follower link idler wheel mechanism are connected to form by variable length connecting rod and roller, variable length connecting rod comprises fixed bar, motion bar and spring, fixed bar external spring locally embedding motion bar is inner, fixed bar end is shape of threads, be inserted and secured on body fuselage, the T-shaped shape projection of head end, is stuck in the cavity of motion bar; Roller comprises connecting rod and two wheels, and connecting rod is through the end of motion bar, and two wheels are separately fixed at the two ends of connecting rod.
Further, described drive connecting rod idler wheel mechanism also comprises motor, pinion wheel, gear wheel and stroke sensor, and motor is fixed in motion bar, and pinion wheel is connected with the output shaft of motor, the connecting rod that gear wheel is arranged on roller engages with pinion wheel, and motor is connected with single-chip microcomputer; Stroke sensor is fixed on wheel.
Further, the end of the motion bar of described follower link idler wheel mechanism has IDC jack, and the output line of IDC jack is connected with data collecting card.
Further, described signal acquisition process mechanism comprises L-type shell, three-dimensional magnetoresistive transducer, discharge circuit, filtering circuit and IDC interface, three-dimensional magnetoresistive transducer is fixed on the top in L-type shell, IDC interface is fixed on L-type shell afterbody, and three-dimensional magnetoresistive transducer, discharge circuit, filtering circuit are connected by data line successively with IDC interface.
The invention has the beneficial effects as follows, the present invention can grow distance and automatically not stop the pipe interior of petroleum transportation work to carry out detecting and locating, and still testing can be completed by the automatic driving function of roller under fluid free condition, which increase its applicability and convenience.By wireless signal transmission data, remote auto controls pick-up unit.Its detection technique adopts new detection mode especially---and Magnetic Memory, overcomes the deficiency of traditional lossless detection method.Advanced scientific and technological positioning system, can monitor the particular location residing for device at any time, and the data that will gather measured by this position, by being wirelessly transmitted to outside computer system, will locate and analyze integration.Improve the safety detection technology level of domestic oil and gas pipes, timely and effective preventing is of great significance because pipe damage destroys the security incident tool caused.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.In the accompanying drawings:
The pipe detection device schematic diagram based on piezomagnetic effect that Fig. 1 provides for the embodiment of the present invention;
The impermeable airtight body syndeton schematic diagram that Fig. 2 provides for the embodiment of the present invention;
The schematic diagram of the variable length connecting rod that Fig. 3 provides for the embodiment of the present invention;
The roller structure schematic diagram that Fig. 4 provides for the embodiment of the present invention;
The motor gear of the drive connecting rod idler wheel mechanism that Fig. 5 provides for the embodiment of the present invention runs schematic diagram;
The schematic diagram of the signal acquisition process mechanism profile that Fig. 6 provides for the embodiment of the present invention;
The fundamental diagram of the signal acquisition process mechanism that Fig. 7 provides for the embodiment of the present invention;
The single chip control module operational flow diagram that Fig. 8 provides for the embodiment of the present invention;
The pipe detection device structural principle schematic diagram based on piezomagnetic effect that Fig. 9 provides for the embodiment of the present invention;
In figure, body fuselage 1, engine-propeller mechanism 2, drive connecting rod idler wheel mechanism 3, follower link idler wheel mechanism 4, signal acquisition process mechanism 5, screw propeller 6, variable length connecting rod 7, roller 8, fixed bar 9, motion bar 10, spring 11, motor 12, pinion wheel 13, gear wheel 14.
Embodiment
Below in conjunction with drawings and Examples, technical solution of the present invention is further described.
Embodiments provide a kind of pipe detection device based on piezomagnetic effect, comprise body fuselage 1, main body travelling mechanism, engine-propeller mechanism 2, some drive connecting rod idler wheel mechanisms 3, some follower link idler wheel mechanisms 4 and some signal acquisition process mechanisms 5.As shown in Figure 1, body fuselage 1 consists of bolt compact siro spinning technology fuselage and tail; It is inner that main body travelling mechanism is placed in impermeable airtight body fuselage 1; Body fuselage 1 afterbody is fixed in engine-propeller mechanism 2; Drive connecting rod idler wheel mechanism 3 is circumferentially evenly fixed on the tail of body fuselage 1, follower link idler wheel mechanism 4 is circumferentially evenly fixed on the fuselage of body fuselage 1; Each follower link idler wheel mechanism 4 connects a signal acquisition process mechanism 5 by IDC interface straight cutting.
Impermeable airtight body fuselage 1 is in streamlined, be conducive to device to reduce resistance in a fluid and move ahead, as shown in Figure 2, fuselage is all corresponding with tail periphery junction has some circumferentially evenly distributed bolts hole, be bolted, its object is for the ease of the work of maintenance and inspection main body travelling mechanism.Under the condition that oil and gas pipes normally works, in order to prevent oil from infiltrating device inside, protection inside subject travelling mechanism, needs to dispose rubber seal in connection.
As shown in Figure 8,9, main body travelling mechanism comprises data acquisition module, GPS locating module and wireless signal transmission receiver module; Data acquisition module comprises data collecting card, single-chip microcomputer and storage card, and GPS locating module, wireless signal transmission receiver module, data collecting card are all connected with single-chip microcomputer with storage card, and GPS locating module is connected with wireless signal transmission receiver module.
Single-chip microcomputer receives outside computer system and by the operating instruction that wireless signal transmits, device is normally run and make data collecting card image data, data is carried out AD conversion and is stored in storage card.Meanwhile, single-chip microcomputer the data in instruction storage card can pass to outside computer system by wireless signal, and carries out the analysis of data by outside computer system.
Wireless signal transmission receiver module is by data and be located through and be wirelessly transmitted to outside computer system; The operation of the command remote control device that outside computer system is sent by wireless signal can be received simultaneously.
GPS locating module achieves the position Primary Location function of this device invention in oil and gas pipes inside, the product of Britain RESOLUTIONS company GPS-41BTM model can be adopted to realize, but be not limited only to this; Wireless signal transmission receiver module achieves the invention of this device and transmits and long-range remote control function with the data of outside computer system, the product of U.S. RF MONOLITHICS company DR3100 model can be adopted to realize, but be not limited only to this.
Engine-propeller mechanism 2 comprises device engine and screw propeller 6, engine (not shown) is placed in the tail place of the impermeable airtight body fuselage 1 of device, and be connected with single-chip microcomputer, the output shaft of engine stretches out body fuselage 1 and is connected with screw propeller 6, screw propeller 6 is made up of some blades, engine driven screw propeller 6 rotates, thus drives the present invention freely to move ahead in oil body.
As shown in Fig. 3,4 and 5, drive connecting rod idler wheel mechanism 3 and follower link idler wheel mechanism 4 are connected to form by variable length connecting rod 7 and roller 8, variable length connecting rod 7 comprises fixed bar 9, motion bar 10 and spring 11, fixed bar 9 external spring 11 also locally embedding motion bar 10 is inner, its objective is and allow connecting rod can have certain extendable room, drive connecting rod idler wheel mechanism 3 and follower link idler wheel mechanism 4 is made tightly to prop up tube inner wall, avoid relative sliding occurs, and be conducive to allowing the present invention be applicable to oil and gas pipes or the tapered pipeline of different-diameter; Fixed bar 9 end is shape of threads, and its effect can be inserted and be fixed on impermeable airtight body fuselage 1, is convenient to dismounting simultaneously; The T-shaped shape projection of head end, can block motion bar 10 and prevent from coming off; Motion bar 10 boring, roller 8 comprises connecting rod and two wheels, and connecting rod is through the end of motion bar 10, and two wheels are separately fixed at the two ends of connecting rod.Roller 8 can make device freely run at pipe interior.In addition, drive connecting rod idler wheel mechanism 3 also comprises motor 12, pinion wheel 13 and gear wheel 14 and stroke sensor, motor 12 is fixed in motion bar 10, pinion wheel 13 is connected with the output shaft of motor 12, the connecting rod that gear wheel 14 is arranged on roller 8 engages with pinion wheel 13, and motor 12 is connected with single-chip microcomputer.To single-chip microcomputer, motor 12 is run by the instruction of outside computer system transmission of wireless signals, by pinion wheel 13 and gear wheel 14, roller 8 is advanced or retrogressing with certain speed, be mainly used in the operation of the environmental baseline lower device of pipe interior no liquid effect.Stroke sensor is fixed on wheel, and when roller rolls on inner-walls of duct, stroke sensor will be triggered, by data line transfer to the distance of data acquisition card recording apparatus movement; The end of the motion bar 10 of follower link idler wheel mechanism 4 has IDC jack, and the output line of IDC jack is connected with data collecting card.
As Fig. 6, shown in 7, signal acquisition process mechanism 5 comprises L-type shell, three-dimensional magnetoresistive transducer, discharge circuit, filtering circuit and IDC interface, three-dimensional magnetoresistive transducer, discharge circuit and filtering circuit are fixed in L-type shell, IDC interface is fixed on L-type shell afterbody, three-dimensional magnetoresistive transducer, discharge circuit, filtering circuit is connected by data line successively with IDC interface, three-dimensional magnetoresistive transducer is fixed on the top in L-type shell, its objective is that the relative direction in order to allow each three-dimensional magnetoresistive transducer survey is identical, and be in the position that is conducive to receiving field signal, the function of the three-dimensional built-in zeroing of magnetoresistive transducer and eliminating external interference, makes it more be conducive to collecting data and comparing data, IDC interface can be connected with the IDC socket of follower link idler wheel mechanism 4 end, its objective is and make the distance between three-dimensional magnetoresistive transducer and inner surface of pipeline keep constant, to improve accuracy of detection in testing process, be convenient to check simultaneously and change signal acquisition process mechanism arrangement, make it can keep normal work, be convenient to connect, amplifying signal and trap signal are mainly played in the effect separately of discharge circuit and filtering circuit, be finally connected with data collecting card, the simulating signal of formation is converted into digital signal collection.
In actual applications, apparatus of the present invention and outside computer system transmit data by wireless signal, therefore outside computer system comprises oil and gas pipes Distribution and localization system and data analysis system.Oil and gas pipes Distribution and localization system mainly coordinates with the GPS positioning system on device, can position at any time residing for obtaining means; The data analysis that device collects by data analysis system, and make alarm and mark.Because magnetoresistive transducer of the present invention can sense the magnetic field that ferromagnetic metal surface produces, in order to avoid affecting the magnetic field data collected, the all cannings of apparatus of the present invention are non-ferromagnetic metal, and device engine wraps up shielding internal magnetic field by special Molybdenum metal materials industry.In addition, the present invention needs the impermeable grade of height, and all screw threads or bolted connection position all need high strength to be fixedly connected with, and rubber ring is placed in interface, strengthen its impermeable ability, make described device do not stop the pipe interior of petroleum transportation work detect ensured.
The course of work of the present invention is as follows: outside computer system sends instruction to the single-chip microcomputer of inside of the present invention by the form of wireless signal, after single-chip microcomputer receives instruction, just drives the normal operation of other each parts in the present invention.When oil and gas pipes normally works, single-chip microcomputer just drives engine-propeller mechanism 2 after receiving instruction, and engine is started running, and screw propeller 6 rotates, thus impels apparatus of the present invention to advance; When oil and gas pipes does not have fluid, single-chip microcomputer just drives the motor 12 in drive connecting rod idler wheel mechanism 3, makes its roller 8 advance with certain speed or retreat.While apparatus of the present invention are run, MCU Instruction data collecting card starts to gather magnetic field data and run-length data, and be kept in storage card, then by wireless signal by data and localized delivery to outside computer system, until single-chip microcomputer receives instruction out of service.
The pipe detection device tool based on piezomagnetic effect that the invention process provides has the following advantages: 1, have employed new detection mode, enter by device the region of stress concentration that pipe interior detects inwall, before compensate for, outside a testing pipes, inner blind spot cannot be entered; 2, have employed wireless long-range control function, can by whole monitorings of outside computer system operating means; 3, adopt propeller type roll booster, utilizing the effect of fluid to advance mobile, without the need to stopping pipeline work, improve applicability and convenience; 4, device has automatic walking function, under fluid free condition, still can complete testing by Long-distance Control; 5, advanced scientific and technological positioning system, can monitor the particular location residing for device at any time, and the data that will gather measured by this position, by being wirelessly transmitted to outside computer system, will locate and analyze integration.
The above specific embodiment; object of the present invention, technical scheme and beneficial effect are further described; be understood that; the above is only to specific embodiments of the invention; be not limited to the present invention; within the spirit and principles in the present invention all, any amendment made, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (8)
1. the pipe detection device based on piezomagnetic effect, it is characterized in that, it comprises body fuselage (1), main body travelling mechanism, engine-propeller mechanism (2), some drive connecting rod idler wheel mechanisms (3), some follower link idler wheel mechanisms (4) and some signal acquisition process mechanisms (5); Wherein, described body fuselage (1) is connected to form by fuselage and tail; Main body travelling mechanism is placed in body fuselage (1); Body fuselage (1) afterbody is fixed in engine-propeller mechanism (2); Drive connecting rod idler wheel mechanism (3) is circumferentially evenly fixed on the tail of body fuselage (1), follower link idler wheel mechanism (4) is circumferentially evenly fixed on the fuselage of body fuselage (1); Each follower link idler wheel mechanism (4) connects a signal acquisition process mechanism (5) by IDC interface straight cutting.
2. according to claim 1 based on the pipe detection device of piezomagnetic effect, it is characterized in that, described body fuselage (1) is in streamlined.
3. according to claim 1 based on the pipe detection device of piezomagnetic effect, it is characterized in that, described main body travelling mechanism comprises data acquisition module, GPS locating module and wireless signal transmission receiver module; Data acquisition module comprises data collecting card, single-chip microcomputer and storage card, and GPS locating module, wireless signal transmission receiver module, data collecting card are all connected with single-chip microcomputer with storage card, and GPS locating module is connected with wireless signal transmission receiver module.
4. according to claim 1 based on the pipe detection device of piezomagnetic effect, it is characterized in that, described engine-propeller mechanism (2) comprises device engine and screw propeller (6), engine to be placed in body fuselage (1) and to be connected with single-chip microcomputer, and the output shaft of engine stretches out body fuselage (1) and is connected with screw propeller (6).
5. according to claim 1 based on the pipe detection device of piezomagnetic effect, it is characterized in that, described drive connecting rod idler wheel mechanism (3) and follower link idler wheel mechanism (4) are connected to form by variable length connecting rod (7) and roller (8), variable length connecting rod (7) comprises fixed bar (9), motion bar (10) and spring (11), fixed bar (9) external spring (11) locally embedding motion bar (10) is inner, fixed bar (9) end is shape of threads, be inserted and secured on body fuselage (1), the T-shaped shape projection of head end, be stuck in the cavity of motion bar (10), roller (8) comprises connecting rod and two wheels, and connecting rod is through the end of motion bar (10), and two wheels are separately fixed at the two ends of connecting rod.
6. according to claim 5 based on the pipe detection device of piezomagnetic effect, it is characterized in that, described drive connecting rod idler wheel mechanism (3) also comprises motor (12), pinion wheel (13), gear wheel (14) and stroke sensor, motor (12) is fixed in motion bar (10), pinion wheel (13) is connected with the output shaft of motor (12), the connecting rod that gear wheel (14) is arranged on roller (8) engages with pinion wheel (13), and motor (12) is connected with single-chip microcomputer; Stroke sensor is fixed on wheel.
7. according to claim 5 based on the pipe detection device of piezomagnetic effect, it is characterized in that, the end of the motion bar (10) of described follower link idler wheel mechanism (4) has IDC jack, and the output line of IDC jack is connected with data collecting card.
8. according to claim 1 based on the pipe detection device of piezomagnetic effect, it is characterized in that, described signal acquisition process mechanism (5) comprises L-type shell, three-dimensional magnetoresistive transducer, discharge circuit, filtering circuit and IDC interface, three-dimensional magnetoresistive transducer is fixed on the top in L-type shell, IDC interface is fixed on L-type shell afterbody, and three-dimensional magnetoresistive transducer, discharge circuit, filtering circuit are connected by data line successively with IDC interface.
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| CN103615664A (en) * | 2013-11-28 | 2014-03-05 | 昆山泰顺自动化设备有限公司 | Pipeline detection equipment |
| CN105798853B (en) * | 2014-12-30 | 2017-11-28 | 中核武汉核电运行技术股份有限公司 | The more leg support centering structures of one kind support radius adjustable rigid |
| CN109737310B (en) * | 2019-01-29 | 2020-10-23 | 陕西泰诺特检测技术有限公司 | Electromagnetic detection system for detecting inside of pipeline |
| CN111664784B (en) * | 2019-03-09 | 2022-02-01 | 中国石油天然气股份有限公司 | Device and method for determining deformation position of pipeline |
| CN112629734B (en) * | 2020-12-31 | 2021-09-28 | 山东大学 | Spherical three-dimensional force-measuring piezomagnetic sensor and three-dimensional force measuring method thereof |
| CN112762275B (en) * | 2021-01-28 | 2023-08-25 | 深圳市水务工程检测有限公司 | Online detection system for large-scale liquid conveying pipeline |
| CN113531404B (en) * | 2021-09-17 | 2022-03-08 | 东营金昱技术开发有限公司 | Novel petroleum pipe corrosion prevention quality inspection equipment for petroleum exploitation |
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| CN101221152B (en) * | 2008-01-24 | 2010-06-09 | 上海交通大学 | Pipe data collection and memory detecting device |
| JP5519360B2 (en) * | 2010-03-25 | 2014-06-11 | 三井造船株式会社 | Underwater inspection system |
| CN102879458B (en) * | 2012-08-07 | 2014-12-31 | 包胜 | Damage detector based on piezomagnetic effect |
| CN102830158B (en) * | 2012-08-29 | 2015-04-08 | 中国石油天然气集团公司 | Bend pipe damage scanning and detecting apparatus based on magnetic memory effect |
| CN203190048U (en) * | 2013-03-12 | 2013-09-11 | 包胜 | Pipeline inspection device based on piezomagnetic effect |
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