An underwater pipeline wall thickness detection device and its detection method

Abstract

The present invention relates to the technical field of pipeline detection, and particularly relates to a submarine pipeline wall thickness detection device and a detection method thereof. The device includes a cylinder body, a telescopic driven wheel, a telescopic driving wheel, a telescopic ultrasonic wall thickness detection system and a cable. The cylinder body is a hollow cylinder body, and a driven wheel mating groove, a driving wheel mating groove and a probe mating hole are respectively arranged on the outer wall of the cylinder body. A fixed column is arranged inside the cylinder body, and both ends of the fixed column are fixed on the left and right side walls of the inner cavity of the cylinder body. The telescopic driven wheel and the telescopic driving wheel are both installed on the cylinder body and respectively cooperate with the driven wheel mating groove and the driving wheel mating groove on the cylinder body. The telescopic driven wheel, the telescopic driving wheel and the telescopic ultrasonic wall thickness detection system are electrically connected to an external control system through a cable. The submarine pipeline wall thickness detection device provided by the present invention can automatically move inside the pipeline to detect the wall thickness at different positions, avoiding the inconvenience brought by manual detection and being suitable for further popularization and application.

Description

Technical Field

[0001] The present invention relates to the technical field of pipeline detection, and particularly relates to a subsea pipeline wall thickness detection device and a detection method thereof. Background Art

[0002] A subsea pipeline is a pipeline that continuously transports a large amount of oil (gas) under the sea through a sealed pipeline. It is a main component of the offshore oil (gas) field development and production system and is also the fastest, safest, and most economical and reliable offshore oil and gas transportation method. Existing subsea pipelines mainly include seamless steel pipes from the inside to the outside, an anti-corrosion layer for preventing steel pipe corrosion, and an outermost counterweight concrete layer, where the concrete layer is mainly used to prevent the pipeline from floating.

[0003] Due to the long service time of subsea pipelines, internal medium corrosion and external environmental impacts will cause the wall thickness of the internal steel pipe to decrease year by year. When the wall thickness of the steel pipe is less than a certain value, there will be a risk of leakage. Therefore, the detection of the steel pipe wall thickness is also an important link to ensure the normal use of subsea pipelines.

[0004] During the existing subsea pipeline wall thickness detection process, it is necessary for the detection personnel to enter the pipeline for detection; when the inner diameter of the pipeline is small, it is extremely difficult for the detection personnel to enter the pipeline, and the detection process is extremely inconvenient. Summary of the Invention

[0005] To solve the above problems, the present invention provides a subsea pipeline wall thickness detection device and a detection method thereof.

[0006] To solve the above technical problems, the technical solution adopted by the present invention is as follows:

[0007] A subsea pipeline wall thickness detection device includes a cylinder body, a telescopic driven wheel, a telescopic driving wheel, a telescopic ultrasonic thickness measurement system, and a cable. The cylinder body is a hollow cylinder body, and a driven wheel fitting groove, a driving wheel fitting groove, and a probe fitting hole are respectively arranged on the outer wall of the cylinder body. A fixed column is arranged inside the cylinder body, and both ends of the fixed column are respectively fixed on the left and right side walls of the inner cavity of the cylinder body;

[0008] The telescopic driven wheel and the telescopic driving wheel are both installed on the cylinder body and respectively cooperate with the driven wheel fitting groove and the driving wheel fitting groove on the cylinder body. The telescopic driven wheel, the telescopic driving wheel, and the telescopic ultrasonic thickness measurement system are electrically connected to an external control system through a cable;

[0009] The telescopic ultrasonic thickness measuring system includes a third electric telescopic rod, a third elastic component, an ultrasonic thickness gauge probe, an ultrasonic thickness gauge main body, a touch switch, an arc-shaped convex block, a rubber liquid storage bag, a three-way pipe, a one-way valve, a solenoid valve, and a rubber hose. The third electric telescopic rod is fixed on a fixed column, and its telescopic end is fixedly connected to a third elastic component. The third elastic component is inserted into a probe fitting hole, and the ultrasonic thickness gauge probe is installed at the end of the third elastic component. The ultrasonic thickness gauge main body is installed in the cavity of the cylinder body. The ultrasonic thickness gauge probe is connected to the ultrasonic thickness gauge main body through a cable. Assembly cavities are respectively arranged on both sides of the probe fitting hole, and rubber liquid storage bags are installed in the assembly cavities. The inside of the rubber liquid storage bags is filled with a coupling agent. A three-way pipe is connected to the rubber liquid storage bag. The liquid inlet pipe of the three-way pipe penetrates through the side wall of the cylinder body and extends to the outside of the cylinder body. A one-way valve is installed on the liquid inlet pipe. The liquid outlet pipe of the three-way pipe penetrates through the side wall of the assembly cavity and extends into the probe fitting hole. A solenoid valve is installed on the liquid outlet pipe. The liquid outlet pipe of the three-way pipe is connected to a rubber hose. Touch switches for controlling the on-off of the solenoid valve are respectively arranged on the left and right side walls of the probe fitting hole. An arc-shaped convex block for pushing the touch switch is arranged on the side wall of the third elastic component;

[0010] When the arc-shaped convex block contacts the touch switch, the solenoid valve is opened, and the detection surface of the ultrasonic thickness gauge probe faces the outlet of the rubber hose.

[0011] Furthermore, the bottom pipeline wall thickness detection device further includes a hanging ring. The hanging ring is installed at the center of the left side wall of the cylinder body, and the hanging ring is connected to an external traction device through a cable.

[0012] Furthermore, the telescopic driven wheel includes a first electric telescopic rod, a first elastic component, and a driven wheel. The first electric telescopic rod is fixed on a fixed column. The telescopic end of the first electric telescopic rod is connected to a first elastic component. The first elastic component penetrates through the side wall of the cylinder body and extends into a driven wheel fitting groove. The driven wheel is fixedly installed at the end of the first elastic component.

[0013] Furthermore, the telescopic driving wheel includes a second electric telescopic rod, a second elastic component, a driving wheel, and a driving motor. The second electric telescopic rod is fixed on a fixed column. The telescopic end of the second electric telescopic rod is connected to a second elastic component. The second elastic component penetrates through the side wall of the cylinder body and extends into a driving wheel fitting groove. The driving wheel is fixedly installed at the end of the second elastic component. A driving motor for driving the driving wheel to rotate is installed on the side wall of the driving wheel.

[0014] Further, the first elastic component, the second elastic component, and the third elastic component are all composed of an insertion pipe, a square insertion column, a limiting block, a spring, a pressing plate, and a pressure sensor. The square insertion column is inserted into the insertion pipe and is slidably matched with the insertion pipe. A limiting block is fixed at one end of the square insertion column located in the insertion pipe. A spring is fixedly connected to the bottom of the limiting block. A pressing plate is fixedly connected to the bottom of the spring. A pressure sensor for detecting the pressure of the pressing plate is arranged at the bottom of the inner cavity of the insertion pipe.

[0015] Preferably, the driven wheel fitting grooves are uniformly arranged along the circumference at the left and right ends of the outer wall of the cylinder body. The driving wheel fitting groove is located between the two driven wheel fitting grooves on both sides, and the driving wheel fitting groove is uniformly arranged along the circumference on the outer wall of the cylinder body. The probe fitting holes are arranged between the driven wheel fitting grooves and the driving wheel fitting groove, and the probe fitting holes are uniformly arranged along the circumference on the outer wall of the cylinder body. The probe fitting holes on the left and right sides are arranged in a staggered manner.

[0016] Preferably, when the arc-shaped convex block contacts the touch switch, the distance between the detection surface of the ultrasonic thickness gauge probe and the rubber hose outlet is not greater than 0.5 cm.

[0017] The present invention also provides a method for detecting the wall thickness of a submarine pipeline, including the following steps:

[0018] 1) Place the thickness detection device into the pipeline, and control the first electric telescopic rod and the second electric telescopic rod to extend so that the driven wheel and the driving wheel are abutted against the inner wall of the pipeline;

[0019] 2) Adjust the telescopic amounts of the first electric telescopic rod and the second electric telescopic rod so that the pressure readings of the pressure sensors in the first elastic component and the second elastic component are within a preset pressure value range;

[0020] 3) Drive the driving wheel to rotate through the driving motor, and then drive the device to move forward;

[0021] 4) When the device moves to the detection site, control the third electric telescopic rod to extend. When the arc-shaped convex block contacts the touch switch, the solenoid valve is opened, and the coupling agent in the rubber liquid storage bag is squeezed to the detection surface of the ultrasonic thickness gauge probe through the liquid outlet pipe of the three-way pipe and the rubber hose. After the arc-shaped convex block is separated from the touch switch, the solenoid valve is closed. The third electric telescopic rod drives the ultrasonic thickness gauge probe with the squeezed coupling agent to be abutted against the inner wall of the pipeline. The ultrasonic thickness gauge main body measures the thickness of the pipeline through the ultrasonic thickness gauge probe, and the data measured by the ultrasonic thickness gauge main body is transmitted to the external control system through the cable;

[0022] 5) Control the third electric telescopic rod to retract and reset, and drive the device to rotate to the next detection point through the driving motor, and cycle steps 1)-5) to complete the detection of the pipeline wall thickness;

[0023] 6) After the detection is completed, control the second electric telescopic rod to retract and reset, and start the external traction device. The traction device drags the device out of the pipeline through the cable and the hanging ring.

[0024] Preferably, during the movement of the device, by adjusting the telescopic amounts of the first electric telescopic rod and the second electric telescopic rod, the pressure values of the pressure sensors in the first elastic component and the second elastic component are always within the preset range.

[0025] Preferably, in step 4), after the probe of the ultrasonic thickness gauge abuts against the inner wall of the pipeline, control the telescopic amount of the third electric telescopic rod. When the pressure reading of the pressure sensor in the third elastic component is within the preset range value, the ultrasonic thickness gauge main body measures the thickness of the pipeline through the probe of the ultrasonic thickness gauge.

[0026] The beneficial effects of the present invention are as follows:

[0027] The submarine pipeline wall thickness detection device provided by the present invention can move automatically inside the pipeline to detect the wall thickness at different positions, avoiding the inconvenience brought by manual detection; and this device can be applied to pipelines with different inner diameters, has strong applicability, and is suitable for further popularization and application. Description of the Drawings

[0028] Figure 1 is the structural schematic diagram of the present invention;

[0029] Figure 2 is the sectional view taken along line A-A of the present invention;

[0030] Figure 3 is the sectional view taken along line C-C of the present invention;

[0031] Figure 4 is the sectional view taken along line B-B of the present invention;

[0032] Figure 5 is the enlarged view of part a in the present invention;

[0033] Figure 6 is the structural schematic diagram of the first elastic component, the second elastic component, and the third elastic component;

[0034] Figure 7 is the matching schematic diagram of the telescopic driven wheel and the pipeline;

[0035] Figure 8 is the matching schematic diagram of the telescopic driving wheel and the pipeline.

[0036] The names of the reference numerals in the drawings are as follows:

[0037] Cylinder - 1; Telescopic driven wheel - 2; Telescopic driving wheel - 3; Telescopic ultrasonic thickness measurement system - 4; Cable - 5; Hanging ring - 6; Rope - 7; Insertion pipe - 8; Square insertion post - 9; Limit block - 10; Spring - 11; Pressure plate - 12; Pressure sensor - 13; Pipeline - 14; Driven wheel mating groove - 101; Driving wheel mating groove - 102; Probe mating hole - 103; Fixed column - 104; Assembly cavity - 105; First electric telescopic rod - 21; First elastic component - 22; Driven wheel - 23; Second electric telescopic rod - 31; Second elastic component - 32; Driving wheel - 33; Driving motor - 34; Third electric telescopic rod - 41; Third elastic component - 42; Ultrasonic thickness gauge probe - 43; Ultrasonic thickness gauge body - 44; Tactile switch - 45; Arc convex block - 46; Rubber liquid storage bladder - 47; Three - way pipe - 48; Check valve - 49; Solenoid valve - 410; Rubber hose - 411; Liquid inlet pipe - 481; Liquid outlet pipe - 482. Detailed implementation mode

[0038] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0039] Refer to the attached Figure 1 As shown, a submarine pipeline wall thickness detection device includes a cylinder 1, a telescopic driven wheel 2, a telescopic driving wheel 3, a telescopic ultrasonic thickness measurement system 4 and a cable 5. The cylinder 1 is a hollow cylinder. On the outer wall of the cylinder 1, there are respectively arranged a driven wheel mating groove 101, a driving wheel mating groove 102 and a probe mating hole 103. Inside the cylinder 1, there is a fixed column 104, and both ends of the fixed column 104 are respectively fixed on the left and right side walls of the inner cavity of the cylinder 1;

[0040] The telescopic driven wheel 2 and the telescopic driving wheel 3 are both installed on the cylinder 1 and respectively cooperate with the driven wheel mating groove 101 and the driving wheel mating groove 102 on the cylinder 1. The telescopic driven wheel 2, the telescopic driving wheel 3 and the telescopic ultrasonic thickness measurement system 4 are electrically connected to an external control system through the cable 5. In this embodiment, the external control system is a computer. Among them, the cable rope 5 can be used for the transmission of electricity and signals, which is a conventional existing technology. As a further improvement, a power supply unit (such as a storage battery) is arranged inside the cylinder 1 to supply power to the device.

[0041] In use, first place the device into the pipeline 14. Then, control the telescopic driven wheel 2 and the telescopic driving wheel 3 to protrude and abut against the inner wall of the pipeline 14. Next, drive the device to move within the pipeline 14 through the telescopic driving wheel 3. When the device moves to the position to be detected, measure the wall thickness of the pipeline at this place through the telescopic ultrasonic thickness measurement system 4.

[0042] Refer to the attached Figure 1 , 4 As shown in FIGS. 4 and 5, the telescopic ultrasonic thickness measurement system 4 includes a third electric telescopic rod 41, a third elastic component 42, an ultrasonic thickness gauge probe 43, an ultrasonic thickness gauge main body 44, a touch switch 45, an arc-shaped convex block 46, a rubber liquid storage bag 47, a three-way pipe 48, a one-way valve 49, a solenoid valve 410, and a rubber hose 411. The third electric telescopic rod 41 is fixed on the fixed column 104, and its telescopic end is fixedly connected with the third elastic component 42. The third elastic component 42 is inserted into the probe fitting hole 103, and the ultrasonic thickness gauge probe 43 is installed at the end of the third elastic component 42. The ultrasonic thickness gauge main body 44 is installed in the cavity of the cylinder body 1. Among them, the ultrasonic thickness gauge consists of a probe and a main unit, and the ultrasonic thickness gauge probe 43 is connected to the ultrasonic thickness gauge main body 44 through a cable. Assembly cavities 105 are respectively arranged on both sides of the probe fitting hole 103, and rubber liquid storage bags 47 are installed in the assembly cavities 105. The inside of the rubber liquid storage bags 47 is filled with a coupling agent. Among them, the rubber liquid storage bag 47 is similar to a rubber balloon. When the coupling agent is filled into the rubber liquid storage bag 47, the rubber liquid storage bag 47 expands, and the rubber liquid storage bag 47 can discharge the internal coupling agent through its own elastic force (similar to the water flowing out of the balloon vent when the balloon is filled with water and then released); a three-way pipe 48 is connected to the rubber liquid storage bag 47. The liquid inlet pipe 481 of the three-way pipe 48 penetrates through the side wall of the cylinder body 1 and extends to the outside of the cylinder body 1, and a one-way valve 49 is installed on the liquid inlet pipe 481, where the one-way valve 49 is used to prevent the coupling agent in the rubber liquid storage bag 47 from flowing out through the liquid inlet pipe 481; the liquid outlet pipe 482 of the three-way pipe 48 penetrates through the side wall of the assembly cavity 105 and extends into the probe fitting hole 103, and a solenoid valve 410 is installed on the liquid outlet pipe 482. The liquid outlet pipe 482 of the three-way pipe 48 is connected to the rubber hose 411. Touch switches 45 for controlling the on / off of the solenoid valve 410 are respectively arranged on the left and right side walls of the probe fitting hole 103, and an arc-shaped convex block 46 for pushing the touch switch 45 is arranged on the side wall of the third elastic component 42.

[0043] Under normal conditions, the solenoid valve 410 is in the closed state. When the arc-shaped convex block 46 comes into contact with the touch switch 45, the solenoid valve 410 opens. The rubber liquid storage bladder 47 squeezes out the internal coupling agent through its own elasticity. The squeezed coupling agent is discharged to the detection surface of the ultrasonic thickness gauge probe 43 through the liquid outlet pipe 482 and the rubber hose 411. During the use of the ultrasonic thickness gauge, if there are a large number of gaps when the probe contacts the object to be inspected and the contact effect is poor, the reflected echo will be greatly reduced or even no echo signal can be received. Applying the coupling agent at the probe can make the probe and the object to be inspected fully contact and improve the coupling effect. When the arc-shaped convex block 46 separates from the touch switch 45, the solenoid valve 410 returns to the closed state. During use, the user can inject the coupling agent into the rubber liquid storage bladder 47 through the liquid inlet pipe 481. The setting of the one-way valve 49 can prevent the rubber liquid storage bladder 47 from flowing out through the liquid inlet pipe 481.

[0044] Refer to the appendix Figure 5 As shown, when the arc-shaped convex block 46 comes into contact with the touch switch 45, the solenoid valve 410 opens, and the detection surface of the ultrasonic thickness gauge probe 43 (i.e., Figure 5 the top surface of the ultrasonic thickness gauge probe 43 in the figure) is opposite to the liquid outlet of the lower end of the rubber hose 411. Among them, when the arc-shaped convex block 46 comes into contact with the touch switch 45, the distance between the detection surface of the ultrasonic thickness gauge probe 43 and the liquid outlet of the rubber hose 411 is not greater than 0.5 cm, so that the coupling agent flowing out of the rubber hose 411 can be coated on the detection surface of the ultrasonic thickness gauge probe 43.

[0045] When the wall thickness of the pipeline 14 needs to be detected, control the third electric telescopic rod 41 to extend. The extension of the third electric telescopic rod 41 drives the third elastic component 42 and the ultrasonic thickness gauge probe 43 to eject outward. During the outward ejection of the third elastic component 42, the arc-shaped convex block 46 first contacts the touch switch 45, the solenoid valve 410 opens, and the coupling agent in the rubber liquid storage bladder 47 flows to the detection surface of the ultrasonic thickness gauge probe 43 through the liquid inlet pipe 481 and the rubber hose 411. As the third electric telescopic rod 41 continues to extend, the arc-shaped convex block 46 separates from the touch switch 45, and the solenoid valve 410 returns to the closed state; the third electric telescopic rod 41 continues to extend, and the ultrasonic thickness gauge probe 43 contacts the inner wall of the pipeline 14. Among them, the third elastic component 42 applies pressure to the ultrasonic thickness gauge probe 43 so that the third elastic component 42 closely adheres to the inner wall of the pipeline 14

[0046] Detect the wall thickness of the pipeline 14. After the detection is completed, control the third electric telescopic rod 41 to retract and reset.

[0047] Refer to the appendix Figure 1As shown, the submarine pipeline wall thickness detection device further includes a hanging ring 6. The hanging ring 6 is installed at the center of the left side wall of the cylinder body 1, and the hanging ring 6 is connected to an external traction device through a cable 7. In this embodiment, a winch is selected as the traction device. After the pipeline wall thickness is detected, the telescopic driving wheel 3 is controlled to retract, and the external winch pulls the hanging ring 6 through the cable 7 to pull the device out of the pipeline 14.

[0048] Refer to the appendix Figure 1 And 2 As shown, the telescopic driven wheel 2 includes a first electric telescopic rod 21, a first elastic component 22 and a driven wheel 23. The first electric telescopic rod 21 is fixed on the fixed column 104. The telescopic end of the first electric telescopic rod 21 is connected with a first elastic component 22. The first elastic component 22 penetrates through the side wall of the cylinder body 1 and extends into the driven wheel mating groove 101. Among them, the first elastic component 22 has a clearance fit with the cylinder body 1 and can be telescopic; the end of the first elastic component 22 is fixedly installed with a driven wheel 23. When the device needs to move, the first electric telescopic rod 21 pushes out the driven wheel 23 so that the driven wheel 23 contacts the inner wall of the pipeline 14 (as shown in the appendix Figure 7 ), and the first elastic component 22 provides a pressing force on the driven wheel 23 so that the driven wheel 23 abuts against the inner wall of the pipeline.

[0049] Refer to the appendix Figure 1 And 3 As shown, the telescopic driving wheel 3 includes a second electric telescopic rod 31, a second elastic component 32, a driving wheel 33 and a driving motor 34. The second electric telescopic rod 31 is fixed on the fixed column 104. The telescopic end of the second electric telescopic rod 31 is connected with a second elastic component 32. The second elastic component 32 penetrates through the side wall of the cylinder body 1 and extends into the driving wheel mating groove 102. Among them, the second elastic component 32 has a clearance fit with the cylinder body 1 and can be telescopic; the end of the second elastic component 32 is fixedly installed with a driving wheel 33. A driving motor 34 for driving the driving wheel 33 to rotate is installed on the side wall of the driving wheel 33. The output shaft of the driving motor 34 is connected to the middle axis of the roller of the driving wheel 33 for driving the driving wheel 33 to rotate. When the device needs to move, the second electric telescopic rod 31 pushes out the driving wheel 33 so that the driving wheel 33 contacts the inner wall of the pipeline 14 (as shown in the appendix Figure 8 ), and the second elastic component 32 provides a pressing force on the driving wheel 33 so that the driving wheel 33 abuts against the inner wall of the pipeline. Then, by starting the driving motor 34 to drive the driving wheel 33 to rotate, the device is driven to move.

[0050] The telescopic settings of the above-mentioned telescopic driven wheel 2, telescopic driving wheel 3 and telescopic ultrasonic thickness measurement system 4 enable them to be applicable to the wall thickness detection of pipelines 14 with different inner diameters.

[0051] Refer to the appendix Figure 6As shown, the first elastic component 22, the second elastic component 32, and the third elastic component 42 are all composed of an insertion pipe 8, a square insertion column 9, a limit block 10, a spring 11, a pressure plate 12, and a pressure sensor 13. The square insertion column 9 is a cuboid with a square cross-section. The square insertion column 9 is inserted into the insertion pipe 8 and is in sliding fit with the insertion pipe 8. Among them, the square structure of the square insertion column 9 prevents relative rotation between the square insertion column 9 and the insertion pipe 8. A limit block 10 is fixed at one end of the square insertion column 9 located in the insertion pipe 8. A spring 11 is fixedly connected to the bottom of the limit block 10. A pressure plate 12 is fixedly connected to the bottom of the spring 11. A pressure sensor 13 for detecting the pressure of the pressure plate 12 is arranged at the bottom of the inner cavity of the insertion pipe 8. When the spring 11 is compressed, the corresponding compression force can be measured by the pressure sensor 13. During the compression process of the elastic component, a corresponding pressing force will be provided, and the magnitude of this pressing force can be measured by the pressure sensor 13.

[0052] Refer to the appendix Figure 1 As shown, the driven wheel mating grooves 101 are evenly arranged along the circumference at the left and right ends of the outer wall of the cylinder 1. The driving wheel mating groove 102 is located between the two driven wheel mating grooves 101 on both sides, and the driving wheel mating groove 102 is evenly arranged along the circumference on the outer wall of the cylinder 1. The probe mating holes 103 are arranged between the driven wheel mating grooves 101 and the driving wheel mating grooves 102, and the probe mating holes 103 are evenly arranged along the circumference on the outer wall of the cylinder 1. The probe mating holes 103 on the left and right sides are arranged in a staggered manner. That is, the telescopic driven wheels 2 are evenly arranged along the circumference at the left and right ends of the side wall of the cylinder 1, the telescopic driving wheels 3 are evenly arranged along the circumference in the middle of the side wall of the cylinder 1, the telescopic ultrasonic wall thickness measurement system 4 is evenly arranged along the circumference on the side wall of the cylinder 1, and the telescopic ultrasonic wall thickness measurement system 4 is located between the telescopic driven wheels 2 and the telescopic driving wheels 3. The two sets of telescopic ultrasonic wall thickness measurement systems 4 are arranged in a staggered manner to detect different positions on the inner wall of the pipeline.

[0053] This embodiment further provides a method for detecting the wall thickness of a submarine pipeline, including the following steps:

[0054] 1) Place the wall thickness detection device into the pipeline 14, and control the first electric telescopic rod 21 and the second electric telescopic rod 31 to extend so that the driven wheel 23 and the driving wheel 33 are in contact with the inner wall of the pipeline 14;

[0055] 2) Adjust the telescopic amounts of the first electric telescopic rod 21 and the second electric telescopic rod 31 so that the pressure readings of the pressure sensors 13 in the first elastic component 22 and the second elastic component 32 are within a preset pressure value range; this step ensures that the driven wheel 23 and the driving wheel 33 are in close contact with the inner wall of the pipeline 14 by adjusting the telescopic amounts of the electric telescopic rods so that the pressure readings of the pressure sensors 13 are within the preset pressure value range, which is beneficial to the movement of the device.

[0056] 3) Drive the driving wheel 33 to rotate through the driving motor 34, thereby driving the device to move forward;

[0057] 4) When the device moves to the detection site, control the third electric telescopic rod 41 to extend. When the arc-shaped convex block 46 contacts the touch switch 45, the solenoid valve 410 is opened, and the coupling agent in the rubber liquid storage bag 47 is squeezed through the liquid outlet pipe 482 of the three-way pipe 48 and the rubber hose 411 to the detection surface of the ultrasonic thickness gauge probe 43. After the arc-shaped convex block 46 separates from the touch switch 45, the solenoid valve 410 is closed. The third electric telescopic rod 41 drives the ultrasonic thickness gauge probe 43 with the squeezed coupling agent to abut against the inner wall of the pipeline 14. The ultrasonic thickness gauge main body 44 measures the thickness of the pipeline 14 through the ultrasonic thickness gauge probe 43, and the data measured by the ultrasonic thickness gauge main body 44 is transmitted to the external control system through the cable 5;

[0058] 5) Control the third electric telescopic rod 41 to retract and reset, and drive the device to rotate to the next detection point through the driving motor 34, and cycle steps 1)-5) to complete the detection of the wall thickness of the pipeline 14;

[0059] 6) After the detection is completed, control the second electric telescopic rod 31 to retract and reset, start the external traction device, and the traction device drags the device out of the pipeline 14 through the cable 7 and the hanging ring 6. Compared with retracting through the retractable driving wheel 3, dragging the device out of the pipeline 14 through the external traction device is more efficient and convenient.

[0060] Further, during the movement of the device, by adjusting the telescopic amounts of the first electric telescopic rod 21 and the second electric telescopic rod 31 in real time, the pressure values of the pressure sensors 13 in the first elastic component 22 and the second elastic component 32 are always within the preset range. When the inner diameter of the pipeline changes due to corrosion, this control method can always ensure that the driven wheel 23 and the driving wheel 33 are tightly abutted against the inner wall of the pipeline 14, which is beneficial to the movement of the device.

[0061] Further, in step 4), after the ultrasonic thickness gauge probe 43 abuts against the inner wall of the pipeline 14, control the telescopic amount of the third electric telescopic rod 41. When the pressure reading of the pressure sensor 13 in the third elastic component 42 is within the preset range value, the ultrasonic thickness gauge main body 44 measures the thickness of the pipeline 14 through the ultrasonic thickness gauge probe 43. This control method is to perform thickness measurement after ensuring that the ultrasonic thickness gauge probe 43 is tightly abutted against the inner wall of the pipeline 14, which is beneficial to the effective measurement of the wall thickness of the pipeline by the telescopic ultrasonic thickness measurement system 4.

[0062] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A subsea pipeline wall thickness detection device, characterized in that, It includes a cylinder body, a telescopic driven wheel, a telescopic driving wheel, a telescopic ultrasonic thickness measuring system and a cable. The cylinder body is a hollow cylinder body. On the outer wall of the cylinder body, there are respectively arranged a driven wheel fitting groove, a driving wheel fitting groove and a probe fitting hole. Inside the cylinder body, there is a fixed column, and both ends of the fixed column are fixed on the left and right side walls of the inner cavity of the cylinder body; The telescopic driven wheel and the telescopic driving wheel are both installed on the cylinder body and respectively cooperate with the driven wheel fitting groove and the driving wheel fitting groove on the cylinder body. The telescopic driven wheel, the telescopic driving wheel and the telescopic ultrasonic thickness measuring system are electrically connected to an external control system through the cable; The telescopic ultrasonic thickness measuring system includes a third electric telescopic rod, a third elastic component, an ultrasonic thickness measuring probe, an ultrasonic thickness measuring instrument main body, a touch switch, an arc-shaped convex block, a rubber liquid storage bag, a three-way pipe, a one-way valve, a solenoid valve, a rubber hose. The third electric telescopic rod is fixed on the fixed column, and its telescopic end is fixedly connected with a third elastic component. The third elastic component is inserted into the probe fitting hole. At the end of the third elastic component, there is an ultrasonic thickness measuring probe installed. The ultrasonic thickness measuring instrument main body is installed in the cavity of the cylinder body. The ultrasonic thickness measuring probe is connected to the ultrasonic thickness measuring instrument main body through a cable. On both sides of the probe fitting hole, there are respectively arranged assembly cavities, and in the assembly cavities, there are rubber liquid storage bags installed. The inside of the rubber liquid storage bags is filled with a coupling agent. The rubber liquid storage bags are connected with a three-way pipe. The liquid inlet pipe of the three-way pipe penetrates through the side wall of the cylinder body and extends to the outside of the cylinder body. A one-way valve is installed on the liquid inlet pipe. The liquid outlet pipe of the three-way pipe penetrates through the side wall of the assembly cavity and extends into the probe fitting hole. A solenoid valve is installed on the liquid outlet pipe. The liquid outlet pipe of the three-way pipe is connected with a rubber hose. On the left and right side walls of the probe fitting hole, there are touch switches for controlling the on-off of the solenoid valve installed, and on the side wall of the third elastic component, there is an arc-shaped convex block for pushing the touch switch; When the arc-shaped convex block contacts the touch switch, the solenoid valve is opened, and the detection surface of the ultrasonic thickness measuring probe faces the outlet of the rubber hose.

2. The wall thickness detection device for a submarine pipeline according to claim 1, characterized in that, It also includes a hanging ring. The hanging ring is installed at the center of the left side wall of the cylinder body, and the hanging ring is connected with an external traction device through a cable.

3. The wall thickness detection device for a subsea pipeline according to claim 1, wherein The telescopic driven wheel includes a first electric telescopic rod, a first elastic component and a driven wheel. The first electric telescopic rod is fixed on the fixed column. The telescopic end of the first electric telescopic rod is connected with a first elastic component. The first elastic component penetrates through the side wall of the cylinder body and extends into the driven wheel fitting groove. At the end of the first elastic component, there is a driven wheel fixedly installed.

4. The wall thickness detection device for a subsea pipeline according to claim 3, wherein The telescopic driving wheel includes a second electric telescopic rod, a second elastic component, a driving wheel and a driving motor. The second electric telescopic rod is fixed on the fixed column. The telescopic end of the second electric telescopic rod is connected with a second elastic component. The second elastic component penetrates through the side wall of the cylinder body and extends into the driving wheel fitting groove. At the end of the second elastic component, there is a driving wheel fixedly installed. On the side wall of the driving wheel, there is a driving motor installed for driving the driving wheel to rotate.

5. The wall thickness detection device for a subsea pipeline according to claim 4, wherein, The first elastic component, the second elastic component, and the third elastic component are all composed of an insertion pipe, a square insertion column, a limiting block, a spring, a pressing plate, and a pressure sensor. The square insertion column is inserted into the insertion pipe and is in sliding fit with the insertion pipe. A limiting block is fixed at one end of the square insertion column located in the insertion pipe. A spring is fixedly connected to the bottom of the limiting block, and a pressing plate is fixedly connected to the bottom of the spring. A pressure sensor for detecting the pressure of the pressing plate is arranged at the bottom of the inner cavity of the insertion pipe.

6. The wall thickness detection device for a submarine pipeline according to claim 1, characterized in that, The driven wheel mating grooves are uniformly arranged along the circumference at the left and right ends of the outer wall of the cylinder body. The driving wheel mating groove is located between the two driven wheel mating grooves on both sides, and the driving wheel mating groove is uniformly arranged along the circumference on the outer wall of the cylinder body. The probe mating holes are arranged between the driven wheel mating grooves and the driving wheel mating groove, and the probe mating holes are uniformly arranged along the circumference on the outer wall of the cylinder body. The probe mating holes on the left and right sides are arranged in a staggered manner.

7. The wall thickness detection device for a submarine pipeline according to claim 1, characterized in that When the arc-shaped convex block contacts the touch switch, the distance between the detection surface of the ultrasonic thickness gauge probe and the outlet of the rubber hose is not greater than 0.5 cm.

8. A method for detecting the wall thickness of a subsea pipeline, applying the subsea pipeline wall thickness detection device as described in claim 5, characterized in that, It includes the following steps: 1) Place the thickness detection device into the pipeline, and control the first electric telescopic rod and the second electric telescopic rod to extend so that the driven wheel and the driving wheel are in contact with the inner wall of the pipeline; 2) Adjust the telescopic amounts of the first electric telescopic rod and the second electric telescopic rod so that the pressure readings of the pressure sensors in the first elastic component and the second elastic component are within the preset pressure value range; 3) Drive the driving wheel to rotate through the driving motor, and then drive the device to move forward; 4) When the device moves to the detection site, control the third electric telescopic rod to extend. When the arc-shaped convex block contacts the touch switch, the solenoid valve is opened, and the coupling agent in the rubber liquid storage bag is squeezed to the detection surface of the ultrasonic thickness gauge probe through the liquid outlet pipe of the three-way pipe and the rubber hose. After the arc-shaped convex block is separated from the touch switch, the solenoid valve is closed. The third electric telescopic rod drives the ultrasonic thickness gauge probe with the squeezed coupling agent to be in contact with the inner wall of the pipeline. The ultrasonic thickness gauge main body measures the thickness of the pipeline through the ultrasonic thickness gauge probe, and the data measured by the ultrasonic thickness gauge main body is transmitted to the external control system through the cable; 5) Control the third electric telescopic rod to retract and reset, and drive the device to rotate to the next detection point through the driving motor, and cycle steps 1)-5) to complete the detection of the pipeline wall thickness; 6) When the detection is completed, control the second electric telescopic rod to retract and reset, start the external traction device, and the traction device drags the device out of the pipeline through the cable and the hanging ring.

9. The method for detecting the wall thickness of a subsea pipeline according to claim 8, wherein, During the movement of the device, by adjusting the telescopic amounts of the first electric telescopic rod and the second electric telescopic rod, the pressure values of the pressure sensors in the first elastic component and the second elastic component are always within the preset range.

10. A method for detecting the wall thickness of a submarine pipeline according to claim 8, characterized in that, In step 4), after the ultrasonic thickness gauge probe is in contact with the inner wall of the pipeline, control the telescopic amount of the third electric telescopic rod. When the pressure reading of the pressure sensor in the third elastic component is within the preset range value, the ultrasonic thickness gauge main body measures the thickness of the pipeline through the ultrasonic thickness gauge probe.

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