Device for multi - ultrasonic inspection of pipeline interior

Abstract

The present invention relates to a device for inspecting the interior of a pipeline using multi-element ultrasonic technology, which is applied to detecting defects in a tubular pipeline wall or verifying the characteristics of a tubular pipeline wall. The device is designed to be placed inside a fluid conveying pipeline and move under the action of the conveyed fluid to detect defects in the wall of the pipeline or inspect the characteristics of the wall of the pipeline. The device has a circumference and includes a plurality of ultrasonic sensors (3, 4) distributed on its circumference, and each ultrasonic sensor (3, 4) is formed by a plurality of transmitters and a plurality of receiving antennas. The device further includes an electronic control mechanism configured to control each sensor (3, 4) and receive and record the information measured by the sensors.

Description

Technical Field

[0001] The present invention relates to a device for inspecting the interior of a pipe using multi - element or phased - array ultrasonic technology. This device is particularly applied to a device sometimes referred to as a "scraper" for detecting defects in the wall of a tubular pipe or characterizing the wall of a tubular pipe.

[0002] Such a device is designed to inspect tubular conduits intended to convey fluids, especially homogeneous liquids. This can be, for example, water, refined hydrocarbons or certain crude oils. Background Art

[0003] For example, European Patent EP1,333,277 discloses a device using phased - array ultrasonic technology, in which a certain number of ultrasonic sensors allow the emission and reception of sound waves, and the characteristics of the sound waves change according to the obstacles encountered, so that certain information about the wall characteristics can be inferred. Each sensor consists of a series of transmitters and receivers. On - vehicle electronic control devices allow the reception and recording of the information measured by the sensors.

[0004] However, such a device cannot perform pipe inspection with sufficient fineness and precision to analyze various defects or characteristics quickly enough, and all of these should facilitate movement inside the pipe or conduit in a compact form. However, certain combinations of defects may be particularly important for a specific pipe or conduit, so it is necessary to be able to configure the device appropriately to detect these combinations of defects. Summary of the Invention

[0005] In view of this, one of the objectives of the present invention is especially to solve the above - mentioned problems. Therefore, an objective of the present invention is especially to propose a device for inspecting the interior of a multi - element ultrasonic pipe, which is autonomous, particularly compact and capable of quickly detecting multiple defects and combinations of defects.

[0006] According to a first aspect, the present invention provides a device for inspecting the interior of a pipe using multi - element ultrasonic inspection. The device is configured to be placed inside a tubular pipe for conveying fluids and to move under the action of the fluid conveyed in the pipe to detect defects in the wall of the pipe or to inspect the characteristics of the wall of the pipe. The device has a circumference and includes a plurality of ultrasonic sensors distributed on the circumference. Each sensor is formed by a plurality of transmitters and a plurality of receiving antennas. The device further includes an electronic control mechanism configured to control each sensor and receive and record the information measured by the sensors.

[0007] The sensors are grouped as follows: a first group of sensors, the transmitters of which are adapted to transmit longitudinal acoustic waves along a first incident direction that is orthogonal to the circumference at the position of the corresponding transmitter; and a second group of sensors, the transmitters of which are adapted to transmit transverse acoustic waves along a second incident direction that forms a non-zero angle of incidence with the normal to the circumference at the position of the corresponding transmitter, preferably substantially equal to 45 degrees.

[0008] The electronic control mechanism is configured to control each sensor in the first and second groups, as well as each transmitter and receiver of each said sensor, respectively, according to a configurable control program and according to the characteristics of the defect to be detected in the wall and / or the characteristics of the wall to be inspected.

[0009] According to certain embodiments, the device further includes one or more of the following features obtained independently or in any technically possible combination:

[0010] The electronic control mechanism is configured to apply a specific delay to the transmission and / or reception of the transmitters and / or receivers of each sensor in the first and second groups according to a configurable focusing delay rule, so as to electronically vary and change in a sensor-specific manner the focusing distance of the beam emitted by the sensor.

[0011] The electronic control mechanism is configured to apply a specific delay to the transmission and / or reception of each transmitter and / or receiver of each sensor in the second group according to a configurable deflection delay rule, so as to electronically and in a sensor-specific manner change the angle of incidence of the beam emitted by the sensor.

[0012] The first group of sensors is distributed along the circumference in one or more rows, preferably two rows, and the electronic control mechanism is configured to allow electronic scanning by the beams emitted by the first group of sensors in all rows.

[0013] The second group of sensors is distributed along the circumference in one or more rows, preferably three rows, and the electronic control mechanism is configured to allow electronic scanning by the beams emitted by the second group of sensors in all rows.

[0014] The sensors are provided with an active opening facing their transmitters, and the electronic control mechanism is configured to sequentially activate the openings of the sensors in a given row to allow electronic scanning.

[0015] The electronic control mechanism is configured to allow electronic scanning by the beams emitted by the sensors in all rows according to a determined step between switching operations.

[0016] The electronic control mechanism is configured to sequentially activate the openings of a given row of sensors in accordance with a defined step between each switching operation, so as to allow electronic scanning according to a circumferential scanning resolution corresponding to the defined step between each switching operation.

[0017] The electronic control mechanism is configured to vary the number of transmitters and receivers used in a given sensor, so as to vary the spot size of the beam projected by the given sensor at a given focal length.

[0018] The device includes a clock with configurable frequency, and the electronic control mechanism is configured to trigger measurements by the ultrasonic sensor at the frequency.

[0019] The device includes at least one axial odometer-type sensor, and the electronic control mechanism is configured to correlate the information obtained by the ultrasonic sensor with the position information obtained by the axial odometer-type sensor.

[0020] The step between each position measurement taken by one or more axial odometer-type sensors is configurable, and the electronic control mechanism is configured to trigger measurements by the ultrasonic sensor according to the step between each position measurement taken.

[0021] The device includes at least one propagation speed measurement sensor for measuring the propagation speed of the ultrasonic beam emitted by the ultrasonic sensor or the ultrasonic wave emitted by the transmitter of the ultrasonic sensor, and the electronic control mechanism is configured to receive and record the information measured by the at least one propagation speed measurement sensor.

[0022] The device includes a low-frequency electromagnetic transmitter that can emit waves to the surface outside the pipeline when the device is placed inside the pipeline, so as to allow monitoring and detecting the device inside the pipeline from outside the pipeline.

[0023] The device includes a centering mechanism that can ensure the centering of the device in the pipeline.

[0024] Thus, it can be seen that the device of the present invention can inspect the inside of the pipeline by quickly detecting various defects and combinations of defects and by inspecting certain geometric features of the pipeline, and allows a comprehensive inspection of the volume of the welding area. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The features and advantages of the present invention will be apparent from the following illustrative and non-limiting description read in conjunction with the accompanying drawings.

[0026] Figure 1 is an exemplary view of the device of the present invention;

[0027] Figure 2 is an exemplary view of verifying the characteristics of the pipeline wall by the device of the present invention;

[0028] Figure 3 It is an exemplary diagram for detecting defects in the pipe wall by the device of the present invention;

[0029] Figure 4 It is an exemplary diagram for analyzing the welding volume at the pipe wall that can be analyzed by the device of the present invention;

[0030] Figure 5 It is an exemplary diagram for detecting defects in the pipe wall by the device of the present invention using a predetermined step size between each switching operation;

[0031] Figure 6 It is an exemplary diagram for detecting defects in the pipe wall by the device of the present invention using another predetermined step size between each switching operation. Detailed implementation mode

[0032] Figure 1 An example of a device for inspecting the interior of a multi - element ultrasonic pipe according to the present invention is shown. The device is intended to be placed inside a tubular pipe for transporting fluid. The device moves inside the pipe under the action of the transported fluid to detect defects 8 - 18 in the wall 1 of the pipe (as shown in the example of Figures 3 to 6 ), or to inspect features 6, 7 of the wall 1 of the pipe (as shown in Figure 2 ).

[0033] The device has a circumference 2. A plurality of ultrasonic sensors 3, 4 are distributed on the circumference 2. Conventionally, each sensor 3, 4 is formed by a plurality of transmitters and a plurality of receivers or receiving antennas (not shown in the figure).

[0034] The device further includes electronic control mechanisms, which (not shown in the figure because they are arranged inside) are connected to various sensors and to various transmitters and receivers of these sensors. These electronic control mechanisms are configured to control each sensor 3, 4 and receive and record the information measured by these sensors 3, 4.

[0035] These sensors 3, 4 are divided into two groups. In the first group, the transmitters of the sensors 3 are adapted to transmit acoustic waves 20, as shown in Figure 2 . The acoustic wave 20 is a longitudinal wave in a first incident direction, and the first incident direction is orthogonal to the circumference 2 at the position of the corresponding transmitter. In the second group, the transmitters of the sensors 4 are adapted to transmit acoustic waves 21, as shown in Figures 3 to 6 . The acoustic wave 21 is a shear wave in a second incident direction, and the second incident direction forms an incident angle with the normal of the circumference 2 at the position of the corresponding transmitter, and the incident angle is non - zero, preferably substantially equal to 45 degrees.

[0036] The electronic control mechanism is configured to control each of the sensors 3, 4 in the first and second groups respectively, as well as each transmitter and receiver of each of these sensors 3, 4. The control is carried out according to a configurable control program and according to the characteristics of the defects 8 - 18 to be detected in the wall body 1 and / or the characteristics 6, 7 of the wall body 1 to be inspected.

[0037] The electronic control mechanism is configured to apply a specific delay to the transmission and / or reception of each transmitter and / or receiver of each of the sensors 3, 4 in the first and second groups. This delay is applied according to a configurable focusing delay rule. In this way, it is possible to electronically change the focusing distance of the beams 20, 21 emitted by the sensors 3, 4 involved in a manner specific to each sensor 3, 4.

[0038] Furthermore, the electronic control mechanism is configured to apply another specific delay to the transmission and / or reception of each transmitter and / or receiver of each of the sensors 4 in the second group. This delay is applied according to a configurable deflection delay rule. In this way, it is possible to electronically change the incident angle of the beam 21 emitted by the sensors 4 in a manner specific to each sensor 4.

[0039] It can be seen from Figure 1 that the first group of sensors 3 is distributed along a circumference. They can be distributed in one or more rows. In the example of Figure 1 , they are distributed in two rows. The electronic control mechanism is configured to allow electronic scanning by the beams 20 emitted by all rows of the first group of sensors 3.

[0040] It can also be seen from Figure 1 that the second group of sensors 4 is also distributed along a circumference. They can be distributed in one or more rows. In the example of Figure 1 , they are distributed in three rows. The electronic control mechanism is configured to allow electronic scanning by the beams 21 emitted by all rows of the second group of sensors 4.

[0041] More specifically, these two groups of sensors 3, 4 are provided by using active openings (not marked with reference numerals in the figure) facing their transmitters. The electronic control mechanism is configured to sequentially activate the openings of the sensors 3, 4 in a given row to allow electronic scanning.

[0042] It is possible to set the step parameter between each switching operation. Therefore, the electronic control mechanism is configured to allow electronic scanning by the beams 20, 21 emitted by all rows of the sensors 3, 4 according to this parameterized step between each switching operation.

[0043] More specifically, the electronic control mechanism is configured to sequentially activate the openings of the sensors 3, 4 of a given row according to a configured step between each switching operation, so as to allow electronic scanning according to a circumferential scanning resolution corresponding to this determined step between each switching operation.

[0044] For example, Figure 5 It shows electronic scanning being performed by the sensor 4 arranged on the circumference 2 of the device to scan the wall 1 of the pipeline, where there are defects 17 in the form of cracks or fissures, using a step value of 1 between each switching operation.

[0045] In this regard, Figure 6 It shows electronic scanning being performed by the sensor 4 arranged on the circumference 2 of the device to scan the wall 1 of the pipeline, where there are defects 18 in the form of cracks or fissures, using a step value of 4 between each switching operation.

[0046] Therefore, Figure 5 the circumferential scanning resolution obtained in Figure 6 is four times higher than the circumferential scanning resolution obtained in

[0047] In addition, the electronic control mechanism is configured to vary the number of transmitters and receivers used in the given sensors 3, 4, so as to vary the spot size of the beams 20, 21 projected by the given sensors 3, 4 at a given focal length.

[0048] Therefore, the device of the present invention is designed to inspect the wall 1 of a tubular pipeline, which pipeline is especially required to transport a homogeneous type of liquid (for example, water, refined hydrocarbons or certain crude oils). This device can especially detect, identify, determine the size and locate the defects 8 - 18 existing in the wall 1, and in certain cases, especially the defects 11 - 16 in the welding area 19 of the wall 1, as Figure 4 shown.

[0049] Thus, the device can detect, identify, determine the size and locate defects, such as longitudinal cracks, corrosion, delamination, subsidence, welds showing peak effects, when passing through the pipeline once.

[0050] Preferably, for a pipeline with a diameter on the order of 0.5 meters, the body length of the device is less than 1.2 meters.

[0051] To perform this type of inspection, the device includes several multi - element sensors 3, 4 and an electronic control mechanism configured to control these sensors 3, 4 as needed.

[0052] The multi - element sensors 3, 4 are decomposed into independent elements that can be independently controlled. These sensors 3, 4 are connected to the electronic control mechanism to independently and simultaneously control the transmission and reception on each channel.

[0053] It is not necessary to use all sensor elements simultaneously. The electronic control mechanism allows for dynamic multiplexing to distribute active elements among the elements of each sensor 3, 4. For example, the device of the present invention can be configured to allow 32-way simultaneous transmission and reception.

[0054] Therefore, the flexibility of configuration is extremely wide, and the resulting device has a high degree of compactness.

[0055] As described above, especially with reference to Figure 1 and Figure 2 , the first group of sensors 3 is dedicated to generating so-called 0° longitudinal waves. This group of sensors 3 is distributed in two rows in this example, and electronic scanning and electronic focusing can be used in particular to inspect the geometry and thickness of the pipe wall 1.

[0056] Also as described above, especially with reference to Figure 1 and Figures 3 to 6 , the second group of sensors 4 is dedicated to generating so-called transverse waves, which have a non-zero refraction angle, which is substantially equal to 45° in this example. In this example, this group of sensors 4 is distributed in three rows, and electronic scanning, electronic focusing, and electronic deflection can be used in particular to detect, identify, and determine the size of longitudinal cracks in the pipe wall 1.

[0057] Preferably, the generated transverse waves are generated in two directions, in other words, deflected in the positive or negative direction of the normal to the circumference 2 of the device at the exit point. This can be used in particular to inspect the entire volume of the weld 19 as shown in Figure 4 and detect defects therein at the critical points 11-16.

[0058] The parameters of the specific delay law of the first group of focusing sensors 3 and the parameters of the focusing and deflection of the second group of sensors 4 are set, which are adapted to the nature and characteristics of those defects 8-18 in the wall 1, and it is hoped to be able to detect the characteristics 6, 7 of the wall 1 to be inspected as expected.

[0059] Thus, the changes in focusing and deflection allow for great flexibility in detecting and characterizing (e.g., identifying, determining the size, and locating circumferential cracks).

[0060] This flexibility allows for quickly distinguishing combined defects that may have their own critical degrees.

[0061] The second group of sensors 4 can be of the linear type. Alternatively, they can be of the matrix type.

[0062] During the above-mentioned electronic scanning, the beams 20, 21 are spatially shifted by sequentially activating different active apertures, and each aperture corresponds to one or more transmitters and receivers of a given sensor 3, 4.

[0063] During the electron focusing and electron deflection, according to the focusing or deflection law configured in the electron control mechanism, an electron delay is applied to the transmission and reception on each channel of the corresponding sensors 3 and 4.

[0064] These delays respectively have an effect similar to that of a focusing or deflection lens, so that they can be focused at different depths, and thus deflect the beams 20 and 21 at different angles respectively.

[0065] This type of operation is particularly suitable for inspecting the thick-walled body 1 or inspecting the wall body 1 with a corroded surface state, and is even suitable for inspecting the wall body 1 from a position with very limited space.

[0066] As described above, especially with reference to Figure 5 and Figure 6 , the step size between each switching operation can be set to adjust the circumferential resolution according to the characteristics of the defect to be detected.

[0067] Moreover, the number of transmitters and receivers that form the beams 20 and 21 together or through the opening can be configured, so that the size of the focal spot projected on the wall body 1 can be adjusted.

[0068] Therefore, the overall ultrasonic emission and reception are generated and picked up by the sensors 3 and 4 and controlled by the electron control mechanism, so that full coverage of the pipe wall body 1 can be obtained in the circumferential direction.

[0069] The sensors 3 and 4 can withstand the external pressure on their fronts and provide a certain degree of sealing, so as to ensure the atmospheric pressure behind them (where the electron control mechanism may be located). These electron control mechanisms can include one or more electronic circuit boards.

[0070] The device further includes a clock with a configurable frequency, and the electron control mechanism is configured to trigger the ultrasonic sensors 3 and 4 to perform measurements at this frequency.

[0071] Moreover, the device can include at least one axial odometer-type sensor 5 (as Figure 1 shown), and the electron control mechanism is configured to correlate the information obtained by the ultrasonic sensors 3 and 4 with the position information obtained by one or more axial odometer-type sensors 5. The axial resolution of the axial odometer-type sensor can be configured.

[0072] More specifically, the step size between each position measurement taken by one or more axial odometer-type sensors 5 can be configured, and the electron control mechanism is configured to trigger the measurement by the ultrasonic sensors 3 and 4 according to this step size between each position measurement.

[0073] In this way, in particular, the profile of the defect detected in the pipeline can be generated.

[0074] Preferably, two axial odometer-type sensors are used. This provides extremely high axial resolution, enabling a finer profile to be generated for detected defects and having a high positioning accuracy.

[0075] The device preferably includes two measurement triggering mechanisms, which are the clock with configurable frequency and the axial odometer-type sensors with configurable resolution described above.

[0076] The combination of these two axial resolution configuration mechanisms allows the axial resolution to be adjusted according to the characteristics of the defect to be detected.

[0077] One or more propagation speed measurement sensors 22 may also be provided for measuring the propagation speed of the ultrasonic beams 20, 21 emitted by the ultrasonic sensors 3, 4 or the ultrasonic waves emitted by the transmitters of the ultrasonic sensors. The electronic control mechanism is configured to receive and record the information measured by the propagation speed measurement sensor 22.

[0078] The information received from one or more propagation speed measurement sensors 22 is recorded by the electronic control mechanism. This can improve the calculation accuracy of the geometric deformation size and crack depth.

[0079] A low-frequency electromagnetic transmitter 23 may also be provided, which can emit waves to the outer surface of the pipeline when the device is placed in the pipeline. Therefore, an antenna or beacon can be used to pick up the waves emitted by the transmitter 23 and track and detect the device in the pipeline from the outside of the pipeline.

[0080] Also preferably, a centering mechanism 24 is provided, which ensures that the device is centered in the pipeline.

[0081] In Figure 1 the example shown, these centering mechanisms 24 take the form of centering wheels 24.

[0082] These centering mechanisms 24 can especially ensure concentricity with respect to the pipeline support sensors. They can also ensure that there is a sufficient distance between the sensors 3, 4 and the pipeline wall 1 so that the sensors 3, 4 are not exposed to invasive obstacles. Therefore, the sensors 3, 4 are always non-contact with the wall 1.

[0083] In addition, one or more temperature sensors and one or more pressure sensors are incorporated into the device, and their signals are recorded by the electronic control mechanism. This allows the operating conditions of the device to be checked during the inspection operation.

[0084] The device is also equipped with angular position measurement mechanisms. They can obtain the angular position of the detected defect, such as the angle and orientation of defects of the uplift, subsidence, straight or buckling types.

[0085] As described above, the electronic control mechanism includes, for example, a set of various electronic circuit boards. In the case of a piezoelectric composite multi - ultrasonic sensor, the electronic control mechanism can, in particular, generate the electrical pulses required to vibrate these piezoelectric composite elements and to receive, amplify, filter, and digitize the signals generated by the various echoes returning from the pipe wall 1 or the pipe.

[0086] The electronic control mechanism further includes a digital storage component that can store the signals generated by the sensors 3, 4 and various other information and data collected during the inspection.

[0087] Via a suitable interface, for example, by means of a computer incorporated in the device, it is possible to modify the various above - mentioned settings of the electronic control mechanism. This computer also allows the control, acquisition, and extraction of the recorded data.

[0088] The device is autonomous. It includes one or more batteries that have sufficient electrical autonomy to inspect long pipelines. Preferably, a connector is provided that can connect to an external compartment containing one or more additional batteries in order to further enhance the autonomy for inspecting extremely long pipelines.

[0089] The guiding cup, preferably made of polyurethane, allows for guiding and sealing during the movement of the device in the pipeline. This allows the device to move in both directions along with the fluid transported in the pipeline.

[0090] The compactness of the device has many advantages since a technology of the multi - ultrasonic sensor type is used to optimize the detection function. Thus, the weight of the obtained device is light enough to allow two people to carry and install it into the pipeline without using lifting or handling equipment such as a crane or a jib, and to allow the device to be transported in a light vehicle.

[0091] This specification is for illustration only and does not limit the scope of protection of the present invention. Specifically, the present invention is not limited to a specific number of transmitters and / or receivers in each sensor, each row of sensors, or multiple rows of sensors.

Claims

1. An apparatus for inspecting the interior of a pipe using multiple ultrasounds, a) The apparatus is configured to be placed inside a tubular pipe for transporting a fluid, b) The apparatus is configured to move under the action of the fluid transported in the pipe to detect defects (8 - 18) in the wall (1) of the pipe or to inspect characteristics (6, 7) of the wall (1) of the pipe, c) The apparatus has a circumference (2) and includes a plurality of ultrasonic sensors (3, 4) distributed on the circumference (2), each ultrasonic sensor (3, 4) being formed by a plurality of transmitters and a plurality of receiving antennas. The apparatus further includes an electronic control mechanism configured to control each ultrasonic sensor (3, 4) and receive and record information measured by the ultrasonic sensors (3, 4), The ultrasonic sensors (3, 4) are grouped as: d) A first group of ultrasonic sensors (3) whose transmitters are capable of transmitting longitudinal acoustic waves (20) in a first incident direction that is orthogonal to the circumference (2) at the position of the corresponding transmitter, and e) A second group of ultrasonic sensors (4) whose transmitters are capable of transmitting transverse acoustic waves (21) in a second incident direction that forms a non - zero incident angle with the normal to the circumference (2) at the position of the corresponding transmitter, substantially equal to 45 degrees; f) The electronic control mechanism is configured to f1) control each ultrasonic sensor (3, 4) in the first and second groups and each transmitter and receiver of each of the ultrasonic sensors (3, 4) respectively according to a configurable control program and according to the characteristics of the defects (8 - 18) to be detected in the wall (1) and / or the characteristics (6, 7) of the wall (1) to be inspected; f2) Apply the following to the transmission and / or reception of each transmitter and / or receiver: f2a) Apply a specific delay to the transmission and / or reception of each ultrasonic sensor (3, 4) in the first and second groups according to a configurable focusing delay rule, so as to electronically vary and change in a manner specific to each ultrasonic sensor (3, 4) the focusing distance of the beams of the longitudinal acoustic waves (20) and the transverse acoustic waves (21) emitted by the ultrasonic sensors (3, 4), f2b) Apply a specific delay to the transmission and / or reception of each ultrasonic sensor (4) in the second group according to a configurable deflection delay rule, so as to electronically and in a manner specific to each ultrasonic sensor (4) in the second group change the incident angle of the beam of the transverse acoustic waves (21) emitted by the ultrasonic sensor (4), f2c) Change the number of transmitters and receivers used in a given ultrasonic sensor (3, 4), so as to change the spot size of the beams of the longitudinal acoustic waves (20) and the transverse acoustic waves (21) projected by the given ultrasonic sensor (3, 4) at a given focal length, It is characterized in that: f1) The apparatus is configured to move under the action of the fluid transported in the pipe to detect defects (8 - 18) in the wall (1) of the pipe, f2) The electronic control device is configured to allow a change in the number of transmitters and receivers used in the established ultrasonic sensors (3, 4), or to enable a change in the size of the focal spot of the beam of the longitudinal wave (20) and the transverse wave (21) projected by the established ultrasonic sensors (3, 4) at an established focal length, and is characterized in that the device comprises: g) A clock with a configurable frequency, and the electronic control mechanism is configured to trigger measurements at said frequency by the ultrasonic sensors (3, 4); h) At least one axial odometer-type sensor (5); and the electronic control mechanism is configured to correlate the information obtained by the ultrasonic sensors (3, 4) with the position information obtained by the axial odometer-type sensor (5); i) The position measurement step of the axial odometer-type sensor (5) is configurable, and the electronic control mechanism is configured to trigger measurements by the ultrasonic sensors (3, 4) according to said measurement step, j) At least one propagation speed measurement sensor (22) for measuring the propagation speed of the beam of the longitudinal wave (20) and the transverse wave (21) of the ultrasonic waves emitted by the ultrasonic sensors (3, 4) or the ultrasonic waves emitted by the transmitters of the ultrasonic sensors; and the electronic control mechanism is configured to receive and record the information measured by the at least one propagation speed measurement sensor (22); k) A low-frequency electromagnetic transmitter (23) that can emit waves to the outer surface of the pipeline when the device is placed inside the pipeline, so as to allow the device inside the pipeline to be monitored and detected from outside the pipeline.

2. The device according to claim 1, characterized in that The first group of ultrasonic sensors (3) are distributed in a row or multiple rows along the circumference, and the electronic control mechanism is configured to allow electronic scanning through the beam of the longitudinal wave (20) emitted by all rows of the first group of ultrasonic sensors (3).

3. The device according to any one of claims 1 or 2, characterized in that The second group of ultrasonic sensors (4) are distributed in a row or multiple rows along the circumference, and the electronic control mechanism is configured to allow electronic scanning through the beam of the transverse wave (21) emitted by all rows of the second group of ultrasonic sensors (4).

4. The device according to any one of claims 1 or 2, characterized in that The ultrasonic sensors (3, 4) are provided with active openings facing their transmitters; and the electronic control mechanism is configured to sequentially activate the openings of the ultrasonic sensors (3, 4) in an established row to allow electronic scanning.

5. The device according to any one of claims 1 or 2, characterized in that The electronic control mechanism is configured to allow electronic scanning through the beams of the longitudinal wave (20) and the transverse wave (21) emitted by all rows of the ultrasonic sensors (3, 4) according to the determined switching step.

6. The device according to any one of claims 1 or 2, characterized in that The electronic control mechanism is configured to sequentially activate the openings of the ultrasonic sensors (3, 4) in an established row according to the determined switching step to allow electronic scanning according to the circumferential scanning resolution corresponding to the determined switching step.

7. The device according to any one of claims 1 or 2, characterized in that The device comprises a centering mechanism (24) that can ensure the centering of the device in the pipeline.

8. The device according to claim 2, characterized in that, The first group of ultrasonic sensors (3) are distributed in two rows along the circumference.

9. The device according to claim 3, characterized in that, The second group of ultrasonic sensors (4) are distributed in three rows along the circumference.

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