CN107490617A - The weak magnetic Non-Destructive Testing sensor and application method of a kind of coal bed gas defect of pipeline - Google Patents
The weak magnetic Non-Destructive Testing sensor and application method of a kind of coal bed gas defect of pipeline Download PDFInfo
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Abstract
The invention belongs to Nondestructive detection with magnetic flux leakage field, propose the weak magnetic Non-Destructive Testing sensor and application method of a kind of coal bed gas defect of pipeline, the sensor includes support body, motor and the road wheel positioned at both sides are provided with the support body, the support body front-end and back-end are fixedly installed the identical first sensor linear transducer array of structure and second sensor linear transducer array respectively, the infrared head sensor of correlation for being located in one of the road wheel both sides is fixedly installed on the support body, signal acquisition circuit is additionally provided with the support body, the signal acquisition circuit includes collection amplification module, real-time clock module, industrial computer and memory module, the output end of the magnetic field sensor probe head is connected by gathering amplification module with industrial computer, the output end of the infrared head sensor of correlation is connected with the industrial computer.Sensor of the invention is simple in construction, and its data processing is merged using K arest neighbors sorting algorithms to multi-parameter information, have compared with high resolution, accuracy and reliability are higher the characteristics of, can be widely applied to pipe detection field.
Description
Technical field
The present invention relates to a kind of Non-Destructive Testing intelligence sensor for coal bed gas defect of pipeline, specifically a kind of coal bed gas
The weak magnetic Non-Destructive Testing sensor and application method of defect of pipeline, belong to Nondestructive detection with magnetic flux leakage field.
Background technology
Coal bed gas is cleaning, high-grade energy and the industrial chemicals to emerge in the world in nearly ten or twenty year, is to alleviate natural gas
The effective way of insufficiency of supply-demand.In order to ensure the coal bed gas energy can be fully used, advanced complete skill is not only used
Coal bed gas in the exploration of art equipment and exploitation reservoir, while to take effective measures in time and solve what is run into pipeline
Problem.There are transmission detection method, stress-strain measurement method, sound wave/ultrasonic reflections for the method for pipe detection both at home and abroad at present
Method, ultrasonic guided wave detecting method, fiber laser arrays method, Magnetic Flux Leakage Inspecting method etc..Wherein the method based on Magnetic Flux Leakage Inspecting is with the fastest developing speed,
The method is mainly by detecting the defects of change of stray field in ferromagnetism sample is to find sample, but due to needing to ferromagnetic
Property sample is magnetized, and masks " natural " magnetic information that piece surface is reflected, and be not suitable for some not allow magnetic
The high precision apparatus of change, therefore it is badly in need of a kind of new Non-Destructive Testing sensor for coal seam feed channel.
The content of the invention
The present invention overcomes the shortcomings of the prior art, and technical problem to be solved is：A kind of coal seam feed channel is provided
The weak magnetic Non-Destructive Testing sensor of defect, using based on the novel sensor of tunneling magnetoresistance to pipeline without magnetization
On the basis of the magnetic field of defect of pipeline is sensed and detected.
In order to solve the above-mentioned technical problem, the technical solution adopted by the present invention is：The weak magnetic of coal bed gas defect of pipeline is lossless
Detection sensor, including support body, the support body both sides are each provided with 2 road wheels, and the road wheel is under motor driving along coal
Layer feed channel inwall is rotated, and the support body is walked along coal bed gas inner-walls of duct, and fixation is set respectively for the support body front-end and back-end
The identical first sensor linear transducer array of structure and second sensor linear transducer array are equipped with, is fixedly installed on the support body positioned at it
In the road wheel both sides the infrared head sensor of correlation, be along the circumferential direction evenly arranged with multiple use on the road wheel
In the light-blocking block for blocking the infrared head sensor optical path of the correlation, first sensor linear transducer array and second sensor probe battle array
Row the distance between D=L/N, wherein, L be road wheel take a round support body advance distance, N be light-blocking block quantity；Described
One sensor probe array and second sensor linear transducer array include along the circumferential direction symmetrically arranged multiple magnetic field sensors
Probe, and the support body along coal bed gas inner-walls of duct walk when, the first sensor linear transducer array and second sensor are popped one's head in
Circumference where magnetic field sensor probe head and the cross-sectional circumferential of coal seam feed channel on array is concentric；Also set up on the support body
There is signal acquisition circuit, the signal acquisition circuit includes collection amplification module, real-time clock module, industrial computer and storage mould
Block, the output end of the magnetic field sensor probe head are connected by gathering amplification module with industrial computer, and the infrared head of correlation passes
The output end of sensor is connected with the industrial computer, and the collection amplification module is used to enter the signal of magnetic field sensor probe head collection
After row amplification, the industrial computer is sent to, the real-time clock module is used to provide clock signal, the correlation to industrial computer
Infrared head sensor is used to export Periodic triggers to the industrial computer, and the industrial computer is used for red according to the correlation
The trigger signal of the outside sensor output, carries out the collection of the data and clock signal of magnetic field sensor probe head, and will gather number
Memory module is arrived according to storage.
The magnetic field sensor probe head is the axle linear transducers of TMR2301 tri-, the first sensor linear transducer array and
Two sensor probe arrays include 12 axle linear transducers of TMR2301 tri-, and 12 light-blocking blocks are provided with the road wheel.
The weak magnetic Non-Destructive Testing sensor of described coal bed gas defect of pipeline, in addition to the wireless transmission being arranged on support body
Device and the receiver for being arranged on ground, the industrial computer are provided with safety time, when not having low level signal in safety time
When transmitting, the industrial computer output control signal stops motor operating, and by the wireless launcher to the receiver
Launch distress signal, the receiver carries out alarm after receiving distress signal.
The weak magnetic Non-Destructive Testing sensor of described coal bed gas defect of pipeline, in addition to the tube brush in front of support body is arranged on,
The tube brush is used to clear up coal bed gas inner-walls of duct.
Present invention also offers the application method of the weak magnetic Non-Destructive Testing sensor of above-mentioned coal bed gas defect of pipeline, including with
Lower step：
(S1) support body is driven to be walked in coal bed gas pipeline internal by motor, by being arranged on two, support body both ends sensing
Magnetic field data in device linear transducer array collection coal seam feed channel；
(S2) N number of light-baffling device is symmetrically arranged with road wheel, road wheel every revolution, sends N number of low level pulse letter
Number, triggering industrial computer carries out a data acquisition, and industrial computer is by after the processing of magnetic field data signal, pulse value and real-time clock signal
Memory module is arrived in storage in the form of array；
(S3) by each sensor probe all directions under same pulse signal in each sensor probe array
Data are overlapped, and are obtained under each pulse signal, the voltage for tangential component X, Y that first sensor linear transducer array measurement obtains
Signal is KU1x(m)、KU1y(m), normal component Z voltage signal KU1z(m), and second sensor linear transducer array measurement obtains
The voltage signal of tangential component X, Y be KU2x(m)、KU2y(m), normal component Z voltage signal KU2z(m)；Wherein m represents arteries and veins
Rush sequence number；
(S4) the magnetic field data group under same direction is fitted by least square method, obtains the magnetic under three directions
Field data curvilinear equation KUx(l)、KUy(l), KUz(l)；L represents the coordinate value along its length of coal gas layer pipeline；
(S5) coal gas layer defect of pipeline is judged by multi-parameter information integration technology：Setting magnetic field intensity is tangentially divided
It is K to measure gradient threshold valueT1, magnetic field intensity normal component gradient threshold value is KT2, the overall unusual degree value mark of tangential component data
Accurate poor threshold valueThe overall unusual degree value standard deviation threshold value σ of normal component dataT(z), obtain feature to
AmountAnd according to criterion：
(1)HpZero crossing；
(2)
(3)
(4)
(5)σ(z)≤σT(z)；
5 characteristic values in characteristic vector T are judged using K arest neighbors sorting algorithm, when characteristic vector T is therein
When 4 or All Eigenvalues meet above-mentioned criterion, that is, judge pipeline existing defects herein；Wherein, HpRepresent normal component,Represent tangential gradient, KzNormal direction gradient is represented,Represent tangential component data integrally unusual degree value mark
Accurate poor, σ (z) represents normal direction component data integrally unusual degree value standard deviation.
The step (S4) specifically includes：
Obtain the magnetic field data KU in three directions of the first sensor under m-th of pulse1x(m)、KU1y(m)、KU1z(m)
With the magnetic field data KU in three directions of the second sensor under the m+1 pulse2x(m+1)、KU2y(m+1)、KU2z(m+1)
Average value KUx(m)、KUy(m)、KUz(m), wherein, Pass through least square method pair
The average value of the magnetic field data in three directions is fitted, and obtains the magnetic field data curvilinear equation KU in three directionsx(l)、KUy
(l), KUz(l)。
The normal component Hp, tangential gradientNormal direction gradient Kz, the overall unusual degree value mark of tangential component data
It is accurate poorCalculation formula with the overall unusual degree value standard deviation sigma (z) of normal component data is respectively：
Hp=KUz；
Wherein, Δ Hp(x) difference of the coordinate value of tangential component x-axis direction two is represented；ΔHp(y) tangential component y-axis side is represented
To the difference of two coordinate values, Δ XmRepresent horizontal range difference corresponding to two coordinates, Δ Hp(z) represent normal component in z-axis direction
The difference of two coordinate values；N represents the number of sampled point, Hp(x)iRepresent the value of tangential component x-axis direction ith sample point, Hp
(y)iThe value of tangential component y-axis direction ith sample point is represented,Represent x corresponding to n point in tangential component
The variance of the quadratic sum of the value in direction and y directions is averaged, Hp(z)iRepresent normal component z-axis direction ith sample point
Value,Represent the average of n sampled point of normal component.
The present invention has the advantages that compared with prior art：
1st, the stray field that the present invention is formed just with earth's magnetic field to ferromagnetism sample fault location is detected so as to find
Defect, pipeline is detected by former and later two sensor probe arrays, its is simple in construction, and easy for installation, measurement is precisely.
2nd, the present invention is fitted using least square method to measurement data, and can exclude that part clutter brings does
Disturb, the method that data processing uses multi-parameter information fusion, i.e., multi-parameter information is melted by K arest neighbors sorting algorithms
Close, have compared with high resolution, accuracy and reliability are higher the characteristics of compensate for the missing inspection and erroneous judgement of single criterion the deficiencies of, reach
The purpose to the accurate judgement of defect is arrived.
3. low frequencies module used in a sensor, there is the huge of low cost, transmission convenience and high-transmission efficiency
Big advantage, can accurate the location of judgment means when sensor breaks down.
Brief description of the drawings
Fig. 1 is a kind of front view of the weak magnetic Non-Destructive Testing sensor of coal bed gas defect of pipeline of the proposition of the present invention；
Fig. 2 is Fig. 1 top view；
Fig. 3 is Fig. 1 right view；
Fig. 4 is the structural representation of the signal acquisition circuit of the present invention.
Embodiment
, below will be in the embodiment of the present invention to make the purpose, technical scheme and advantage of the embodiment of the present invention clearer
Technical scheme be clearly and completely described, it is clear that described embodiment be the present invention part of the embodiment, without
It is whole embodiments；Based on the embodiment in the present invention, those of ordinary skill in the art are not before creative work is made
The every other embodiment obtained is put, belongs to the scope of protection of the invention.
As shown in Fig. 1~2, the invention provides a kind of weak magnetic Non-Destructive Testing sensor of coal bed gas defect of pipeline, including
Support body 1, the both sides of support body 1 are each provided with 2 road wheels 2, and the road wheel 2 is under the driving of motor 3 along coal seam feed channel 4
Wall rotates, and the support body 1 is walked forward along the inwall of coal seam feed channel 4, the front-end and back-end of support body 1 are fixedly installed respectively
Structure identical first sensor linear transducer array 5 and second sensor linear transducer array 6, wherein, it is fixedly installed on the support body 1
The infrared head sensor 7 of correlation of the both sides of road wheel 2 is located in one of, is along the circumferential direction uniformly arranged on the road wheel
There are 12 axles 8, axle 8 can be used for the light path for blocking the infrared head sensor 7 of the correlation, the He of first sensor linear transducer array 5
The distance between second sensor linear transducer array 6 D=L/12, wherein, L be road wheel take a round support body advance distance；
As shown in figure 3, it is the structural representation of sensor probe array, it is along the circumferential direction right that sensor probe array includes
Claim 12 magnetic field sensor probe heads 9 set, this 12 magnetic field sensor probe heads can be with detection of coal seam feed channel along the circumferential direction
12 positions magnetic field.The support body 1 along coal bed gas inner-walls of duct 4 walk when, circle where this 12 magnetic field sensor probe heads
Week is concentric with the cross-sectional circumferential of coal seam feed channel.
In addition, as shown in figure 4, being additionally provided with signal acquisition circuit on the support body 1, the signal acquisition circuit includes adopting
Collect amplification module, real-time clock module, industrial computer and memory module, the output end of the magnetic field sensor probe head is put by collection
Big module is connected with industrial computer, and the output end of the infrared head sensor of correlation is connected with the industrial computer, and the collection is put
Big module is used for after the signal of sensor probe collection is amplified, and is sent to the industrial computer, the real-time clock module
For providing clock signal to industrial computer, the infrared head sensor of correlation is used to export periodic triggers to the industrial computer
Signal, the industrial computer are used for the trigger signal exported according to the infrared head sensor of the correlation, carry out magnetic field sensor spy
The collection of the data and clock signal of head, and by acquired data storage to memory module.In addition, signal acquisition circuit can also wrap
Power supply module is included, for being powered to circuit.
Wherein, the present invention can also be uniformly arranged light-blocking block on road wheel as needed, and be not limited to utilize setting
Axle on road wheel is in the light to form the trigger signal of the infrared head sensor of correlation.
Further, the magnetic field sensor probe head is the axle linear transducers of TMR2301 tri-, the first sensor probe
Array and second sensor linear transducer array include 12 axle linear transducers of TMR2301 tri-.The axle linear transducers of TMR2301 tri-
Inside can provide differential voltage signal using three unique favour stone full bridge structures designs, each favour stone full-bridge
Vin-、Vin+Output, and the output has a good temperature stability, Width funtion working range, can be real the characteristics of low-power consumption
Now to the detection of fault location Weak magentic-field；In addition, the master chip of collection amplification module can be LM358, each LM358 can be born
The signal acquisition amplifier section of two TMR2301 linear transducers is blamed, therefore gather amplification module to include multiple LM358 main cores
Piece, the master chip has internal frequency compensation, DC voltage gain is high, supply voltage scope is wide, precision is high, low in energy consumption excellent
Point, can be by the amplified signal KU of each TMR2301 linear transducersx1、KUy1、KUz1Real-time Transmission is to industrial computer；Real-time clock mould
Block master chip is DS1302, second before can calculating 2100, point, when, day, week, the moon, the energy in year, also leap year adjustment
Power, by serial i/O mouths can read access time, take I/O mouths lack；Power supply module uses 12V storage battery power supply, through DC-DC
Change-over panel generation ± 5V and ± 3.3V stable DC voltage gives each module for power supply.Memory module can select solid state hard disc
WDS120G1G0A120GSSD, there is fast access speed, anti-magnetic interference, high-performance, low-power consumption, stablize durable, light antidetonation
The advantages of safety, low-power consumption, the collection of a magnetic leakage signal is carried out by every 3ms, every time 80 byte datas of record (including 12
Probe three axis signals, clock signal, pulse value), collection 1h the data obtaineds capacity for (1h/3ms) * 80 data=
26MByte, it is available for two sensor probe array acquisition 2363h；Industrial computer is the core cell of sensor, main to be responsible for adopting
Collect the magnetic field data digital quantity of amplification module output, clock signal that real-time clock module provides, the infrared head sensor of correlation
Send after pulse signal is handled and be stored in a manner of array in hard disk.In addition, industrial computer can be operated with controlled motor, with
Driving sensor support body is walked forward.Wherein, pulse value refers to sequence corresponding to the pulse of the infrared head sensor transmission of correlation
Number.
Further, as shown in figure 3, the weak magnetic Non-Destructive Testing sensor of the coal bed gas defect of pipeline of the embodiment of the present invention,
Also include the wireless launcher being arranged on support body and the receiver for being arranged on ground, when the industrial computer is provided with safe
Between, when no low level signal transmits in safety time, the industrial computer output control signal stops motor operating, and passes through
The wireless launcher launches distress signal to the receiver, and the receiver, which receives, to carry out alarm after distress signal and carry
Show.Wireless launcher can be low frequencies module, and receiver includes low frequency reception module, when the transmitting of low frequencies module is super
During low frequency signal (20-30Hz), the low frequency reception module on ground can send the location of acousto-optic instruction, determining device.
, it is necessary to handle the data in memory module, to obtain coal seam feed channel after the completion of pipe detection work
Defect situation, in the embodiment of the present invention, the data transfer in memory module to host computer can be subjected to data by host computer
Processing and calculating, the embodiment of the present invention additionally provide a kind of user of the weak magnetic Non-Destructive Testing sensor of coal bed gas defect of pipeline
Method, comprise the following steps：
(S1) support body is driven to be walked in coal bed gas pipeline internal by motor, by being arranged on two, support body both ends sensing
Magnetic field data in device linear transducer array collection coal seam feed channel；
(S2) N number of light-baffling device is symmetrically arranged with road wheel, road wheel every revolution, sends N number of low level pulse letter
Number, triggering industrial computer carries out a data acquisition, and industrial computer is by after the processing of magnetic field data signal, pulse value and real-time clock signal
Memory module is arrived in storage in the form of array；Pulse value refers to sequence corresponding to the pulse of the infrared head sensor transmission of correlation
Number.
(S3) by each sensor probe all directions under same pulse signal in each sensor probe array
Data are overlapped, and are obtained under each pulse signal, the voltage for tangential component X, Y that first sensor linear transducer array measurement obtains
Signal is KU1x(m)、KU1y(m), normal component Z voltage signal KU1z(m), and second sensor linear transducer array measurement obtains
The voltage signal of tangential component X, Y be KU2x(m)、KU2y(m), normal component Z voltage signal KU2z(m)；Wherein m represents arteries and veins
Rush sequence number；
(S4) the magnetic field data group under same direction is fitted by least square method, obtains the magnetic under three directions
Field data curvilinear equation KUx(l)、KUy(l), KUz(l)；L represents the coordinate value along its length of coal gas layer pipeline；A most young waiter in a wineshop or an inn
Multiplication fitting can exclude the interference that part clutter is brought.
(S5) coal gas layer defect of pipeline is judged by multi-parameter information integration technology：Setting magnetic field intensity is tangentially divided
It is K to measure gradient threshold valueT1, magnetic field intensity normal component gradient threshold value is KT2, the overall unusual degree value mark of tangential component data
Accurate poor threshold valueThe overall unusual degree value standard deviation threshold value σ of normal component dataT(z), obtain feature to
AmountAnd according to criterion：
(1)HpZero crossing；
(2)
(3)
(4)
(5)σ(z)≤σT(z)；
5 characteristic values in characteristic vector T are judged using K arest neighbors sorting algorithm, when characteristic vector T is therein
When 4 or All Eigenvalues meet above-mentioned criterion, that is, judge pipeline existing defects herein；Wherein, HpRepresent normal component,Represent tangential gradient, KzNormal direction gradient is represented,Represent tangential component data integrally unusual degree value mark
Accurate poor, σ (z) represents normal direction component data integrally unusual degree value standard deviation.
Wherein, K arest neighbors sorting algorithm refers to if most like (the i.e. feature sky of the k in feature space, a sample
Between in it is closest) sample in it is most of belong to some classification, then the sample falls within this classification.The present invention passes through this
One method compensate for normal vector Hp(y) zero crossing or tangential vectorial Hp(x) there is the missing inspection and erroneous judgement of the single criterions such as maximum
The deficiencies of, reach the purpose to the accurate judgement of defect.
Due to being symmetrically arranged with 12 light-blocking blocks on road wheel corresponding with the infrared head sensor of correlation, then equivalent to row
Walk wheel often to take a round, industrial computer gathers 12 data, due to first sensor linear transducer array 4 and second sensor linear transducer array 5
The distance between meet D=L/12, L is that road wheel often takes a round, and the distance that support body advances, is then sent out equivalent in m-th of pulse
Second sensor linear transducer array position when position when raw where first sensor linear transducer array is sent with the m+1 pulse
Identical, i.e. KU1x(m)、KU1y(m)、KU1zAnd KU (m)2x(m+1)、KU2y(m+1)、KU2z(m+1) it is same position corresponding to
The magnetic field data put, therefore, the step (S4) can also specifically include：Obtain three of first sensor under m-th of pulse
The magnetic field data KU in individual direction1x(m)、KU1y(m)、KU1zAnd three directions of the second sensor under the m+1 pulse (m)
Magnetic field data KU2x(m+1)、KU2y(m+1)、KU2z(m+1) average value KUx(m)、KUy(m)、KUz(m), wherein：
Then, the average value of the magnetic field data in three directions is fitted by least square method, obtains three directions
Magnetic field data curvilinear equation KUx(l)、KUy(l), KUz(l).After being averaged to the measured values of two sensor probe arrays
Least square fitting is carried out again, can further exclude the interference that part clutter is brought.
Further, the normal component Hp, tangential gradientNormal direction gradient Kz, tangential component data it is integrally unusual
Degree value standard deviationCalculation formula with the overall unusual degree value standard deviation sigma (z) of normal component data is respectively：
Hp=KUz； (4)
Wherein, Δ Hp(x) difference of the coordinate value of tangential component X-direction two is represented；ΔHp(y) tangential component y-axis side is represented
To the difference of two coordinate values, Δ XmRepresent horizontal range difference corresponding to two coordinates, Δ Hp(z) represent normal component in z-axis direction
The difference of two coordinate values；N represents the number of sampled point, Hp(x)iRepresent the value of tangential component X-direction ith sample point, Hp
(y)iThe value of tangential component y-axis direction ith sample point is represented,Represent X corresponding to n point in tangential component
The variance of the quadratic sum of the value in direction and y directions is averaged, Hp(z)iRepresent normal component z-axis direction ith sample point
Value,Represent the average of n sampled point of normal component.
The parameter of sensor of the invention is：
Sensitivity：1mV/V/Oe
Magnetic hysteresis：0.01Oe
Operating voltage and electric current：- 5V≤VCC≤7V, I≤20mA
Drift：≤3nT/h
Magnetic field intensity scope：±500Oe
Operating temperature：- 40 DEG C~125 DEG C
Communication protocol：UART.
Finally it should be noted that：Various embodiments above is merely illustrative of the technical solution of the present invention, rather than its limitations；To the greatest extent
The present invention is described in detail with reference to foregoing embodiments for pipe, it will be understood by those within the art that：Its according to
The technical scheme described in foregoing embodiments can so be modified, either which part or all technical characteristic are entered
Row equivalent substitution；And these modifications or replacement, the essence of appropriate technical solution is departed from various embodiments of the present invention technology
The scope of scheme.
Claims (7)
1. the weak magnetic Non-Destructive Testing sensor of coal bed gas defect of pipeline, it is characterised in that including support body, the support body both sides are respectively set
2 road wheels are equipped with, the road wheel rotates under motor driving along coal bed gas inner-walls of duct, makes the support body along coal seam tracheae
Road inwall walking, the support body front-end and back-end are fixedly installed the identical first sensor linear transducer array of structure and second and passed respectively
Sensor linear transducer array, the infrared head sensing of correlation for being located in one of the road wheel both sides is fixedly installed on the support body
Device, along the circumferential direction it is evenly arranged with the road wheel and multiple is used to block being in the light for the infrared head sensor optical path of the correlation
Block, the distance between first sensor linear transducer array and second sensor linear transducer array D=L/N, wherein, L is that road wheel walks one
The distance that coil body advances, N are the quantity of light-blocking block；
The first sensor linear transducer array and second sensor linear transducer array include along the circumferential direction symmetrically arranged multiple
Magnetic field sensor probe head, and the support body along coal bed gas inner-walls of duct walk when, the first sensor linear transducer array and second
Circumference where magnetic field sensor probe head and the cross-sectional circumferential of coal seam feed channel on sensor probe array is concentric；
Signal acquisition circuit is additionally provided with the support body, the signal acquisition circuit includes collection amplification module, real-time clock
Module, industrial computer and memory module, the output end of the magnetic field sensor probe head are connected by gathering amplification module with industrial computer,
The output end of the infrared head sensor of correlation is connected with the industrial computer, and the collection amplification module is used for magnetic field sensing
After the signal of device probe collection is amplified, the industrial computer is sent to, the real-time clock module is used to provide to industrial computer
Clock signal, the infrared head sensor of correlation are used to export Periodic triggers, the industrial computer to the industrial computer
For the trigger signal exported according to the infrared head sensor of the correlation, the data and clock for carrying out magnetic field sensor probe head are believed
Number collection, and by acquired data storage to memory module.
2. according to the weak magnetic Non-Destructive Testing sensor of claim 1 coal bed gas defect of pipeline, it is characterised in that the magnetic field sensing
Device probe is the axle linear transducers of TMR2301 tri-, and the first sensor linear transducer array and second sensor linear transducer array wrap
12 axle linear transducers of TMR2301 tri- are included, 12 light-blocking blocks are provided with the road wheel.
3. according to the weak magnetic Non-Destructive Testing sensor of claim 1 coal bed gas defect of pipeline, it is characterised in that also include being arranged on
Wireless launcher on support body and the receiver for being arranged on ground, the industrial computer are provided with safety time, work as safety time
When interior no low level signal transmits, the industrial computer output control signal stops motor operating, and passes through the wireless transmission
Device launches distress signal to the receiver, and the receiver carries out alarm after receiving distress signal.
4. according to the weak magnetic Non-Destructive Testing sensor of claim 1 coal bed gas defect of pipeline, it is characterised in that also include being arranged on
Tube brush in front of support body, the tube brush are used to clear up coal bed gas inner-walls of duct.
5. according to the application method of the weak magnetic Non-Destructive Testing sensor of claim 1 coal bed gas defect of pipeline, it is characterised in that bag
Include following steps：
(S1) drive the support body to be walked in coal bed gas pipeline internal by motor, visited by being arranged on two, support body both ends sensor
Magnetic field data in head array collection coal seam feed channel；
(S2) N number of light-baffling device is symmetrically arranged with road wheel, road wheel every revolution, sends N number of low level pulse signal, is touched
Send out industrial computer carry out a data acquisition, industrial computer by magnetic field data signal, pulse value and real-time clock signal processing after with number
Memory module is arrived in the form storage of group；
(S3) by the data of each sensor probe all directions under same pulse signal in each sensor probe array
It is overlapped, obtains under each pulse signal, the voltage signal for tangential component X, Y that first sensor linear transducer array measurement obtains
For KU1x(m)、KU1y(m), normal component Z voltage signal KU1z, and cutting of obtaining of second sensor linear transducer array measurement (m)
It is KU to component X, Y voltage signal2x(m)、KU2y(m), normal component Z voltage signal KU2z(m)；Wherein m represents pulse sequence
Number；
(S4) the magnetic field data group under same direction is fitted by least square method, obtains the magnetic field number under three directions
According to curvilinear equation KUx(l)、KUy(l), KUz(l)；L represents the coordinate value of coal gas layer pipeline along its length；
(S5) coal gas layer defect of pipeline is judged by multi-parameter information integration technology：Set magnetic field intensity tangential component ladder
Degree threshold value is KT1, magnetic field intensity normal component gradient threshold value is KT2, the overall unusual degree value standard deviation of tangential component data
Threshold valueThe overall unusual degree value standard deviation threshold value σ of normal component dataT(z) characteristic vector, is obtainedAnd according to criterion：
(1)HpZero crossing；
(2)
(3)
(4)
(5)σ(z)≤σT(z)；
5 characteristic values in characteristic vector T are judged using K arest neighbors sorting algorithm, 4 therein as characteristic vector T
Or All Eigenvalues judge pipeline existing defects herein when meeting above-mentioned criterion；Wherein, HpRepresent normal component,Represent tangential gradient, KzNormal direction gradient is represented,Represent tangential component data integrally unusual degree value mark
Accurate poor, σ (z) represents normal direction component data integrally unusual degree value standard deviation.
6. the application method of the weak magnetic Non-Destructive Testing sensor of coal bed gas defect of pipeline according to claim 4, its feature
It is, the step (S4) specifically includes：
Obtain the magnetic field data KU in three directions of the first sensor under m-th of pulse1x(m)、KU1y(m)、KU1zAnd the (m)
The magnetic field data KU in three directions of two sensors under the m+1 pulse2x(m+1)、KU2y(m+1)、KU2z(m+1) be averaged
Value KUx(m)、KUy(m)、KUz(m), wherein, By least square method to three
The average value of the magnetic field data in individual direction is fitted, and obtains the magnetic field data curvilinear equation KU in three directionsx(l)、KUy(l),
KUz(l)。
7. the application method of the weak magnetic Non-Destructive Testing sensor of coal bed gas defect of pipeline according to claim 4, its feature
It is, the normal component Hp, tangential gradientNormal direction gradient Kz, the overall unusual degree value standard of tangential component data
DifferenceCalculation formula with the overall unusual degree value standard deviation sigma (z) of normal component data is respectively：
Hp=KUz；
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The difference of scale value；N represents the number of sampled point, Hp(x)iRepresent the value of tangential component x-axis direction ith sample point, Hp(y)iTable
Show the value of tangential component y-axis direction ith sample point,Represent tangential component on x directions corresponding to n point with
The variance of the quadratic sum of the value in y directions is averaged, Hp(z)iThe value of normal component z-axis direction ith sample point is represented,Represent the average of n sampled point of normal component.
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