An integrated in-service pipeline inspection apparatus

Abstract

The application provides a kind of in-service pipeline comprehensive inner detection device, solve the technical problem that existing inner detection means of in-service pipeline is not conducive to obtain high-precision comprehensive characteristic signal.The device comprises: rigid support frame provides fixed connection reference;Flexible support body forms elastic body;Video monitoring module carries out video acquisition at the front end of elastic body;Inertial navigation module forms acceleration and attitude signal collection in the travel of elastic body;Deformation detection module forms the signal collection of the deformation state of pipeline inner wall;Magnetic flux leakage detection module forms the signal collection of pipeline inner wall damage defect;Wireless transmission module continuously emits low-frequency wireless signal;Mileage acquisition module forms the signal collection of elastic body in the movement distance in pipeline;Data acquisition module converts, packages and time sequence mark to each type signal, forms time sequence detection data and stores.It forms the unified coordinate space of acquisition signal and the time sequence normalization processing and storage of acquisition signal, to obtain better detection precision.

Description

Technical Field

[0001] This invention relates to the field of technology, specifically to an integrated internal inspection device for in-service pipelines. Background Technology

[0002] The construction of oil and gas pipelines helps improve the efficiency of oil and natural gas transportation, providing convenience for people's daily lives and production, and promoting the efficiency of my country's economic operation. However, with the increase in pipeline transportation time, defects such as corrosion are prone to occur inside the pipes, which can lead to serious pipeline accidents. Therefore, regular internal inspection of oil and gas pipelines is of great significance. In existing technologies, pipeline internal detection methods are limited, the acquisition timing and acquisition reference of pipeline characteristic signals are discrete, and the positioning accuracy of characteristic signals is easily interfered with by the harsh environment inside the pipeline. The inability to align characteristic signals makes it impossible to form a high-precision data foundation for a complete analysis of the pipeline internal environment. Summary of the Invention

[0003] In view of the above problems, embodiments of the present invention provide an integrated internal inspection device for in-service pipelines, which solves the technical problem that existing internal inspection methods for in-service pipelines are not conducive to obtaining high-precision integrated feature signals.

[0004] The in-service pipeline integrated internal inspection device according to an embodiment of the present invention includes:

[0005] A rigid support frame is used to be installed along the axis within the flexible support body to provide a fixed connection reference.

[0006] A resilient support body is used to cover the rigid support frame to form an elastic body that adapts to the inner diameter of the pipe.

[0007] The video monitoring module is used to form a fixed connection at the front of the rigid support frame and to collect video along the axial direction at the front end of the elastic body.

[0008] An inertial navigation module is used to form a fixed connection in the middle of a rigid support frame to acquire signals of acceleration and attitude during the movement of the elastic body.

[0009] Deformation detection module is used to collect signals of the deformation state of the inner wall of the pipeline by equidistantly deploying it in the circumferential direction of the elastic body.

[0010] The magnetic flux leakage detection module is used to collect signals of damage defects in the inner wall of the pipe by equidistantly deploying it around the elastic body.

[0011] The wireless transmission module is used to form a fixed connection with the rigid support frame and continuously transmit low-frequency wireless signals.

[0012] The mileage acquisition module is used to form a fixed connection with the rigid support frame. It is circumferentially arranged at the rear end of the elastic body and abuts against the inner wall of the pipe to acquire the signal of the distance the elastic body moves inside the pipe.

[0013] The data acquisition module is used to form a fixed connection with the rigid support frame, and to convert, encapsulate and time-mark the acquired signals to form time-series detection data for storage.

[0014] In one embodiment of the present invention, the rigid support frame includes a front support circular tube, a receiving unit and a rear support circular tube connected in sequence. The receiving unit includes a front fixed circular plate and a rear fixed circular plate with a coaxial axis. Cable through holes are provided on both the parallel front fixed circular plate and the rear fixed circular plate. The unit also includes a set of parallel support rods uniformly fixed circumferentially between the front fixed circular plate and the rear fixed circular plate to form a receiving space.

[0015] The rear end of the front support round tube is coaxially fixed to the front fixed round plate, and the front end of the front support round tube is coaxially fixed to the front adapter round plate. The outer diameter of the front adapter round plate is larger than the outer diameter of the front support round tube. A front adapter bracket is formed along the circumferential direction at the edge of the front adapter round plate. The front adapter bracket extends outward in the radial direction, and the extended end of the front adapter bracket is fixed to the video monitoring module.

[0016] The front end of the rear support tube is fixed on the rear fixed plate, and the rear end of the rear support tube is coaxially fixed to the rear adapter plate. The outer diameter of the rear adapter plate is larger than the outer diameter of the rear support tube. A rear adapter bracket is formed along the circumferential direction at the edge of the rear adapter plate. The rear adapter bracket extends outward in the radial direction, and the end of the rear adapter bracket is fixed to the mileage acquisition module.

[0017] In one embodiment of the present invention, the accommodating space contains a fixed power supply, a data acquisition module, an inertial navigation module, and a wireless transmission module, and the inertial navigation module adjusts its position according to the overall center of gravity of the internal detection device.

[0018] In one embodiment of the present invention, the resilient support body forms an elastic body, which is a cylinder that fits tightly against the wall of the in-service pipeline in the circumferential direction. A conical frustum is formed at the front end of the cylinder, and a video monitoring module is arranged circumferentially at the top of the conical frustum. A protruding mileage acquisition module is arranged circumferentially at the rear end of the elastic body.

[0019] In one embodiment of the present invention, the traction rod protrudes from the center of the conical frustum, and the traction rod also protrudes from the center of the rear end of the elastic body.

[0020] In one embodiment of the present invention, a deformation detection module and a magnetic flux leakage detection module are arranged circumferentially along the elastic body. The deformation detection module is arranged circumferentially near the front end of the elastic body, and the magnetic flux leakage detection module is arranged circumferentially near the rear end of the elastic body. The number of deformation detection modules and the magnetic flux leakage detection modules are the same and their positions are corresponding. The deformation detection module or the magnetic flux leakage detection module is fixedly embedded in the surface of the elastic body.

[0021] In one embodiment of the present invention, the invention includes three rear adapter brackets, each with an extension end fixed with a mileage acquisition module, ten deformation detection modules and ten magnetic flux leakage detection modules, six front adapter brackets and three video monitoring modules, each video monitoring module having a camera and a fill light fixed to the extension end of an adjacent front adapter bracket.

[0022] In one embodiment of the present invention, the mileage acquisition module includes a connecting base, a spring support assembly, a tension spring, a wheel support arm, a mileage wheel, and an encoder;

[0023] The connecting base includes a connecting base plate, a hinged rectangular column, and a reference rectangular column. The hinged rectangular column is vertically fixed to one end face of the connecting base plate. The fixed end of the reference rectangular column is smoothly fixed to the extended end of the hinged rectangular column. The reference rectangular column is parallel to the connecting base plate. A hinged through hole is opened on the opposite side wall of the hinged rectangular column, which is parallel to the connecting base plate and perpendicular to the extension direction of the reference rectangular column. A sliding through hole is opened on the opposite side wall of the reference rectangular column, which is perpendicular to the connecting base plate. The hinged through hole is perpendicular to the sliding through hole.

[0024] The spring support assembly includes a through column, an annular baffle, a nut, and a pin. A hinged through hole perpendicular to the column axis is formed on the hinged end sidewall of the through column, and an external thread is formed on the blocking end sidewall of the through column, with a blocking through hole perpendicular to the column axis formed in the external thread; the tension spring maintains bidirectional elastic force in a static state.

[0025] The wheel support arm includes a pair of parallel hinged support plates, axially symmetrically located on both sides of the hinged rectangular column and the reference rectangular column. The hinged support plates form an obtuse-angle bend towards one end in their respective planes. The distance between the bend and the near end of the hinged support plate is smaller than the distance between the bend and the far end of the hinged support plate. Hinged through holes are respectively opened at the bend and the near end of the hinged support plate, and a fixing through hole is opened at the far end of the hinged support plate.

[0026] The hinge structure is formed by the hinge through-hole of the hinged rectangular column and the hinge through-hole of the bent part of the hinged support plate; the hinge end of the through column passes through the sliding through-hole of the reference rectangular column to maintain axial free sliding, and the hinge structure is formed by the hinge through-hole of the hinge end of the through column and the hinge through-hole of the near end of the hinged support plate. The tension spring is sleeved on the through column, and the blocking end of the through column is sequentially installed with an annular baffle, nut and pin for fixation. One end of the tension spring abuts against the annular baffle, and the other end abuts against the reference rectangular column; the parallel hinged support plate fixes the encoder at the far end, and the fixed odometer wheel is rotated and fixed through the fixed through-hole at the far end.

[0027] In one embodiment of the present invention, the adapter structure of the video monitoring module includes a protective cylinder, a sealing end cover connected to the front end of the protective cylinder by a sealing ring, a pin-type aviation socket provided at the center of the sealing end cover, and a pin-type aviation plug of the camera connected to the pin-type aviation socket; a locking rear cover connected to the rear end of the protective cylinder by a sealing ring, a battery compartment provided on the locking rear cover, and a sealing through hole formed on the side wall of the protective cylinder.

[0028] In one embodiment of the present invention, the rigid support frame is made of SUS316 series stainless steel; the elastic body is made of polyurethane; and the low-frequency signal is 22 or 23 Hz.

[0029] The in-service pipeline integrated internal inspection device of this invention establishes a composite inspection structure that performs cross-verification and information enhancement among multiple types of acquired signals. A rigid support frame covered by a resilient support body establishes a fixed connection benchmark for various types of signal acquisition sensors, forming a unified physical coordinate space for the acquired signals. Through a data acquisition module that performs on-site synchronous processing, the acquired signals undergo time-series normalization processing and storage, enabling better detection accuracy in the complex internal environment of in-service pipelines. Simultaneously, it provides additional positioning and towing methods to address the risk of pipeline blockage. Attached Figure Description

[0030] Figure 1 The diagram shown is a schematic representation of the architecture of an in-service pipeline integrated internal inspection device according to an embodiment of the present invention.

[0031] Figure 2 The diagram shown is a structural schematic of the rigid support frame of an in-service pipeline integrated internal inspection device according to an embodiment of the present invention.

[0032] Figure 3 The figure shown is an axonometric schematic diagram of an in-service pipeline integrated internal inspection device according to an embodiment of the present invention.

[0033] Figure 4 The diagram shown is a schematic diagram of the assembly structure of the surface of an in-service pipeline integrated internal inspection device according to an embodiment of the present invention.

[0034] Figure 5The diagram shown is a structural schematic of the mileage acquisition module in an in-service pipeline integrated internal inspection device according to an embodiment of the present invention.

[0035] Figure 6 The diagram shown is a structural schematic of the video monitoring module in an in-service pipeline integrated internal inspection device according to an embodiment of the present invention. Detailed Implementation

[0036] To make the objectives, technical solutions, and advantages of this invention clearer and more understandable, the invention will be further described below in conjunction with the accompanying drawings and specific embodiments. Obviously, the described embodiments are merely some embodiments of this invention, and not all embodiments. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0037] An embodiment of the present invention provides an integrated internal inspection device for in-service pipelines, such as... Figure 1 As shown. In Figure 1 In this invention, embodiments include:

[0038] A rigid support frame 110 is provided along the axis within the flexible support body to provide a fixed connection reference.

[0039] The rigid support frame includes a housing space and a mating structure fixed to the sidewalls of the housing space. Through appropriate adapter connections with the mating structure, it can be extended to form a rigid support frame or a flexible support, providing support and securing for modules and cables. Considering the harsh environment inside in-service pipelines, SUS316 series stainless steel is preferred.

[0040] The resilient support body 120 is used to cover the rigid support frame to form an elastic body that adapts to the inner diameter of the pipe.

[0041] The elastic body formed by the resilient support structure needs to maintain sufficient elastic modulus to form an interference fit with the inner wall of the pipe, while also having good elasticity at pipe bends to form a moderate overall bending fit. One method of forming the elastic body utilizes a filling mold, in which a rigid support frame, various component modules, and cable routing are fixed, and then polyurethane foam is filled. After the foam cools and solidifies, the elastic body is formed.

[0042] The video monitoring module 130 is used to form a fixed connection at the front of the rigid support frame and to collect video along the axial direction at the front end of the elastic body.

[0043] The video monitoring module includes a camera and a light source, which are connected to a rigid support frame via an adapter structure and kept stable within the elastic body. The video monitoring module acquires forward-facing visible light or infrared light images of the elastic body as it moves, based on the properties of the light source.

[0044] The inertial navigation module 140 is used to form a fixed connection in the middle of the rigid support frame to acquire signals of acceleration and attitude during the movement of the elastic body.

[0045] The inertial navigation module is fixed in a rigid support frame and positioned according to the center of gravity of the internal detection device to obtain accurate acceleration and attitude change signals. The inertial navigation module includes a gyroscope and an accelerometer, and can be a general-purpose product such as strapdown inertial navigation, fiber optic gyroscope inertial navigation, or laser gyroscope inertial navigation.

[0046] The deformation detection module 150 is used to collect signals of the deformation state of the inner wall of the pipeline by equidistantly arranging the elastic body around its circumference.

[0047] The deformation detection module can be a general-purpose product that collects the deformation state of the inner wall of the pipe based on the time difference signal of acoustic wave reflection or optical reflection, or it can be a general-purpose product that collects the deformation state of the inner wall of the pipe based on the charge or impedance change caused by the deformation when the probe contacts the pipe.

[0048] The magnetic flux leakage detection module 160 is used to collect signals of damage defects in the inner wall of the pipeline by equidistantly deploying it around the elastic body.

[0049] The magnetic flux leakage detection module is used to obtain quantitative information about defects in the inner wall of a pipe by detecting the magnetic flux leakage generated by damage to the inner wall. It can employ a single-point detection module or a matrix detection module composed of Hall effect sensors.

[0050] The wireless transmission module 170 is used to form a fixed connection with the rigid support frame and continuously transmit low-frequency wireless signals.

[0051] The wireless transmission module continuously transmits a low-frequency signal of 20 to 30 Hz (preferably 22 or 23 Hz). This utilizes the diffraction characteristics of the low-frequency electromagnetic signal to create a detectable and locatable signal source.

[0052] The mileage acquisition module 180 is used to form a fixed connection with the rigid support frame. It is circumferentially arranged at the rear end of the elastic body and abuts against the inner wall of the pipe to acquire the signal of the distance the elastic body moves inside the pipe.

[0053] The mileage acquisition module includes a rotating wheel that abuts against the inner wall of the pipe, a support structure for the rotating body, and an encoder for acquiring the rotation of the wheel.

[0054] The data acquisition module 190 is used to form a fixed connection with the rigid support frame, and to convert, encapsulate and time-mark the acquired signals to form time-series detection data for storage.

[0055] The data acquisition module can be a DSP (Digital Signal Processor), an FPGA (Field-Programmable Gate Array), an MCU (Microcontroller Unit) system board, a SoC (System on a Chip) system board, or a PLC (Programmable Logic Controller) minimum system including I / O.

[0056] The in-service pipeline integrated internal inspection device of this invention establishes a composite inspection structure that performs cross-verification and information enhancement among multiple types of acquired signals. A rigid support frame covered by a resilient support body establishes a fixed connection benchmark for various types of signal acquisition sensors, forming a unified physical coordinate space for the acquired signals. Through a data acquisition module that performs on-site synchronous processing, the acquired signals undergo time-series normalization processing and storage, enabling better detection accuracy in the complex internal environment of in-service pipelines. Simultaneously, it provides additional positioning and towing methods to address the risk of pipeline blockage.

[0057] The structural design coordinates the integrated connections between various system modules. An embodiment of this invention provides a rigid support frame for an in-service pipeline integrated internal inspection device, as shown below. Figure 2 As shown. In Figure 2 In the rigid support frame 110, a front support circular tube 111, a receiving unit 112, and a rear support circular tube 113 are connected in sequence. The receiving unit 112 includes a coaxial front fixed circular plate 112a and a rear fixed circular plate 112b. Cable through holes are provided on both the parallel front fixed circular plate 112a and the rear fixed circular plate 112b. A set of parallel support rods 112c are uniformly fixed circumferentially between the front fixed circular plate 112a and the rear fixed circular plate 112b to form a receiving space. A power supply, a data acquisition module, an inertial navigation module, and a wireless transmission module are fixed in the receiving space. The inertial navigation module adjusts its position according to the overall center of gravity of the internal detection device.

[0058] The rear end of the front support circular tube 111 is coaxially fixed to the front fixed circular plate 112a, and the front end of the front support circular tube 111 is coaxially fixed to the front adapter circular plate 111a. The outer diameter of the front adapter circular plate 111a is larger than the outer diameter of the front support circular tube 111. A front adapter bracket 111b is formed along the circumferential direction at the edge of the front adapter circular plate 111a. The front adapter bracket 111b extends outward in the radial direction, and a coaxial traction rod is set at the center of the front adapter circular plate 111a. The extended end of the front adapter bracket 111b is fixed to the video monitoring module 130.

[0059] The front end of the rear support circular tube 113 is fixed to the rear fixed circular plate 112b. The rear end of the rear support circular tube 113 is coaxially fixed to the rear adapter circular plate 113a. The outer diameter of the rear adapter circular plate 113a is larger than the outer diameter of the rear support circular tube 113. A rear adapter bracket 113b is formed along the circumferential direction at the edge of the rear adapter circular plate 113a. The rear adapter bracket 111b extends outward in the radial direction. A coaxial traction rod is set at the center of the rear adapter circular plate 113a. The mileage acquisition module 180 is fixed to the end of the rear adapter bracket 113b.

[0060] An embodiment of the present invention provides an integrated internal inspection device for in-service pipelines, as shown in the figure. Figure 3 As shown. In Figure 3 In this structure, the resilient support body forms an elastic body 121, which is a cylinder whose circumference fits tightly against the inner wall of the in-service pipeline. A conical truncated cone is formed at the front end of the cylinder, and a video monitoring module 130 is circumferentially mounted at the top of the truncated cone. A traction rod (not shown) protrudes from the center of the truncated cone. A mileage acquisition module protrudes circumferentially from the rear end of the elastic body 121, and a traction rod (not shown) protrudes from the center of the rear end of the elastic body 121.

[0061] An embodiment of the present invention provides an in-service pipeline integrated internal inspection device surface as shown in the image. Figure 4 As shown. In Figure 4 In this structure, a deformation detection module 150 and a magnetic flux leakage detection module 160 are arranged circumferentially along the elastic body 121. Specifically, the deformation detection module 150 is arranged circumferentially near the front end of the elastic body 121, and the magnetic flux leakage detection module 160 is arranged circumferentially near the rear end of the elastic body 121. The number of deformation detection modules 150 and magnetic flux leakage detection modules 160 are the same, and their positions are corresponding. The deformation detection module 150 or the magnetic flux leakage detection module 160 is encapsulated in a box (e.g., transparent plexiglass) and is fixedly embedded in the surface of the elastic body 121 (during the molding process of the elastic body).

[0062] Combination Figure 2 and Figure 3 As shown, in one embodiment of the present invention, it includes three rear adapter brackets 113b, each with an extension end fixed with a mileage acquisition module, ten deformation detection modules and ten magnetic leakage detection modules, six front adapter brackets 111b and three video monitoring modules, each video monitoring module including a camera and a fill light, which are respectively fixed to the extension ends of adjacent front adapter brackets.

[0063] In one embodiment of the present invention, the mileage acquisition module in the integrated internal inspection device for in-service pipelines is as follows: Figure 5 As shown. In Figure 5 The mileage acquisition module includes a connecting base 181, a spring support assembly 182, a tension spring 183, a wheel support arm 184, a mileage wheel 185, and an encoder 186.

[0064] The connecting base 181 includes a connecting base plate 181a, a hinged rectangular column 181b, and a reference rectangular column 181c. The hinged rectangular column 181b is vertically fixed to one end face of the connecting base plate 181a, and the other end face of the connecting base plate 181a is fixedly connected to the extension end of the rear adapter bracket. The axes of the hinged rectangular column 181b and the reference rectangular column 181c are located in the same plane. The fixed end of the reference rectangular column 181c is smoothly fixed to the extension end of the hinged rectangular column 181b. The reference rectangular column 181c is parallel to the connecting base plate 181a. A hinged through hole (not shown) parallel to the connecting base plate 181a and perpendicular to the extension direction of the reference rectangular column 181c is opened on the opposite side wall of the hinged rectangular column 181b. A sliding through hole (not shown) perpendicular to the connecting base plate 181a is opened on the opposite side wall of the reference rectangular column 181c. The hinged through hole and the sliding through hole are perpendicular.

[0065] The spring support assembly 182 includes a through column 182a, an annular baffle 182b, a nut 182c, and a pin 182d. The through column 182a is a solid cylinder. A hinged through hole (not shown) perpendicular to the axis of the column 182a is formed on the hinged end sidewall of the through column 182a. An external thread is formed on the blocking end sidewall of the through column 182a, and a blocking through hole (not shown) perpendicular to the axis of the column 182a is formed in the external thread. The tension spring 183 maintains bidirectional elastic force in a static state. The inner diameter of the tension spring 183 is larger than the outer diameter of the through column 182a, and the outer diameter is located between the inner and outer diameters of the annular baffle 182c.

[0066] The wheel support arm 184 includes a pair of parallel hinged support plates 184a, which are axially symmetrically located on both sides of the hinged rectangular column 181b and the reference rectangular column 181c. The hinged support plates 184a form an obtuse-angle bend towards one end in their respective planes. The distance between the bend 184b and the near end of the hinged support plate is smaller than the distance between the bend 184b and the far end of the hinged support plate. The bend 184b and the near end of the hinged support plate are respectively provided with hinged through holes, and the far end of the hinged support plate is provided with a fixing through hole. The axes of the corresponding hinged through holes and fixing through holes on the parallel hinged support plates 184a coincide.

[0067] A hinged structure is formed between the hinged through-hole of the hinged rectangular column 181b and the hinged through-hole (with a hinge shaft) of the bent portion 184b of the hinged support plate 184a. The hinged end of the through column 182a passes through the sliding through-hole of the reference rectangular column 181c to maintain axial free sliding. The hinged through-hole of the hinged end of the through column 182a and the hinged through-hole (with a hinge shaft) at the near end of the hinged support plate 184a form a hinged structure. A tension spring 183 is sleeved on the through column 182a. An annular baffle 182b, a nut 182c, and a pin 182d are sequentially installed on the blocking end of the through column 182a for fixation. One end of the tension spring 183 abuts against the annular baffle 182b, and the other end abuts against the reference rectangular column 181c. An encoder 186 is fixed at the far end of the parallel hinged support plate 184a, and the odometer wheel 185 is rotated and fixed through the fixed through-hole at the far end.

[0068] In practical applications, the mileage wheel 185 is subjected to force against the inner wall of the in-service pipeline. The wheel support arm 184 generates a traction torque on the spring support assembly 182, causing the spring support assembly to generate a corresponding reverse tension, ensuring that the mileage wheel 185 can always be against the inner wall of the in-service pipeline, thus completing the encoder's acquisition of the rotation signal of the mileage wheel.

[0069] An embodiment of the present invention includes a video monitoring module in an integrated internal inspection device for in-service pipelines, such as... Figure 6 As shown. In Figure 6 In the video monitoring module 130, the adapter structure includes a protective cylinder. A sealing end cap is fitted onto the front end of the protective cylinder via a sealing ring. A pin-type aviation connector is located at the center of the sealing end cap, through which the pin-type aviation plug of the camera is connected. A locking rear cover is fitted onto the rear end of the protective cylinder via a sealing ring, and a battery compartment is located on the locking rear cover. A sealing through-hole is formed on the side wall of the protective cylinder.

[0070] In practical applications, the camera is fixedly connected to the adapter structure via a pin-type aviation socket, and obtains the working power and wiring path through the adapter structure.

[0071] The above description is merely a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. An integrated internal inspection device for in-service pipelines, characterized in that, include: A rigid support frame is used to be installed along the axis within the flexible support body to provide a fixed connection reference. A resilient support body is used to cover the rigid support frame to form an elastic body that adapts to the inner diameter of the pipe. The video monitoring module is used to form a fixed connection at the front of the rigid support frame and to collect video along the axial direction at the front end of the elastic body. An inertial navigation module is used to form a fixed connection in the middle of a rigid support frame to acquire signals of acceleration and attitude during the movement of the elastic body. Deformation detection module is used to collect signals of the deformation state of the inner wall of the pipeline by equidistantly deploying it in the circumferential direction of the elastic body. The magnetic flux leakage detection module is used to collect signals of damage defects in the inner wall of the pipe by equidistantly deploying it around the elastic body. The wireless transmission module is used to form a fixed connection with the rigid support frame and continuously transmit low-frequency wireless signals. The mileage acquisition module is used to form a fixed connection with the rigid support frame. It is circumferentially arranged at the rear end of the elastic body and abuts against the inner wall of the pipe to acquire the signal of the distance the elastic body moves inside the pipe. The data acquisition module is used to form a fixed connection with the rigid support frame, and to convert, encapsulate and time-mark the acquired signals to form time-series detection data for storage. The rigid support frame includes a front support tube, a receiving unit, and a rear support tube connected in sequence. The receiving unit includes a front fixed circular plate and a rear fixed circular plate with a coaxial axis. Cable through holes are provided on both the parallel front fixed circular plate and the rear fixed circular plate. It also includes a set of parallel support rods that are uniformly fixed circumferentially between the front fixed circular plate and the rear fixed circular plate to form a receiving space. The rear end of the front support round tube is coaxially fixed to the front fixed round plate, and the front end of the front support round tube is coaxially fixed to the front adapter round plate. The outer diameter of the front adapter round plate is larger than the outer diameter of the front support round tube. A front adapter bracket is formed along the circumferential direction at the edge of the front adapter round plate. The front adapter bracket extends outward in the radial direction, and the extended end of the front adapter bracket is fixed to the video monitoring module. The front end of the rear support round tube is fixed on the rear fixed round plate, and the rear end of the rear support round tube is coaxially fixed to the rear adapter round plate. The outer diameter of the rear adapter round plate is larger than the outer diameter of the rear support round tube. A rear adapter bracket is formed along the circumferential direction at the edge of the rear adapter round plate. The rear adapter bracket extends outward in the radial direction, and the mileage acquisition module is fixed at the end of the rear adapter bracket. The resilient support body forms an elastic body, which is a cylinder that fits tightly against the wall of the in-service pipeline in the circumferential direction. A cone-shaped frustum is formed at the front end of the cylinder, and a video monitoring module is set at the top of the cone-shaped frustum along the circumferential direction. A protruding mileage acquisition module is set at the rear end of the elastic body along the circumferential direction. A deformation detection module and a magnetic flux leakage detection module are arranged circumferentially along the elastic body. The deformation detection module is arranged circumferentially near the front end of the elastic body, and the magnetic flux leakage detection module is arranged circumferentially near the rear end of the elastic body. The number of deformation detection modules and the magnetic flux leakage detection modules are the same and their positions are corresponding. The deformation detection module or the magnetic flux leakage detection module is fixedly embedded in the surface of the elastic body.

2. The in-service pipeline integrated internal inspection device as described in claim 1, characterized in that, The space contains a fixed power supply, a data acquisition module, an inertial navigation module, and a wireless transmission module. The inertial navigation module adjusts its position according to the overall center of gravity of the internal detection device.

3. The in-service pipeline integrated internal inspection device as described in claim 1, characterized in that, The traction rod protrudes from the center of the conical frustum, and the traction rod also protrudes from the center of the rear end of the elastic body.

4. The in-service pipeline integrated internal inspection device as described in claim 1, characterized in that, It includes three rear adapter brackets, each with an extension end fixed with a mileage acquisition module, ten deformation detection modules and ten magnetic flux leakage detection modules, six front adapter brackets and three video monitoring modules, each video monitoring module including a camera and a supplementary light, which are respectively fixed to the extension end of the adjacent front adapter bracket.

5. The in-service pipeline integrated internal inspection device as described in claim 1, characterized in that, The mileage acquisition module includes a connecting base, a spring support assembly, a tension spring, a wheel support arm, a mileage wheel, and an encoder; The connecting base includes a connecting base plate, a hinged rectangular column, and a reference rectangular column. The hinged rectangular column is vertically fixed to one end face of the connecting base plate. The fixed end of the reference rectangular column is smoothly fixed to the extended end of the hinged rectangular column. The reference rectangular column is parallel to the connecting base plate. A hinged through hole is opened on the opposite side wall of the hinged rectangular column, which is parallel to the connecting base plate and perpendicular to the extension direction of the reference rectangular column. A sliding through hole is opened on the opposite side wall of the reference rectangular column, which is perpendicular to the connecting base plate. The hinged through hole is perpendicular to the sliding through hole. The spring support assembly includes a through column, an annular baffle, a nut, and a pin. A hinged through hole perpendicular to the column axis is formed on the hinged end sidewall of the through column, and an external thread is formed on the blocking end sidewall of the through column, with a blocking through hole perpendicular to the column axis formed in the external thread; the tension spring maintains bidirectional elastic force in a static state. The wheel support arm includes a pair of parallel hinged support plates, axially symmetrically located on both sides of the hinged rectangular column and the reference rectangular column. The hinged support plates form an obtuse-angle bend towards one end in their respective planes. The distance between the bend and the near end of the hinged support plate is smaller than the distance between the bend and the far end of the hinged support plate. Hinged through holes are respectively opened at the bend and the near end of the hinged support plate, and a fixing through hole is opened at the far end of the hinged support plate. The hinge structure is formed by the hinge through-hole of the hinged rectangular column and the hinge through-hole of the bent part of the hinged support plate; the hinge end of the through column passes through the sliding through-hole of the reference rectangular column to maintain axial free sliding, and the hinge structure is formed by the hinge through-hole of the hinge end of the through column and the hinge through-hole of the near end of the hinged support plate. The tension spring is sleeved on the through column, and the blocking end of the through column is sequentially installed with an annular baffle, nut and pin for fixation. One end of the tension spring abuts against the annular baffle, and the other end abuts against the reference rectangular column; the parallel hinged support plate fixes the encoder at the far end, and the fixed odometer wheel is rotated and fixed through the fixed through-hole at the far end.

6. The in-service pipeline integrated internal inspection device as described in claim 1, characterized in that, The adapter structure of the video monitoring module includes a protective cylinder, a sealing end cover connected to the front end of the protective cylinder by a sealing ring, a pin-type aviation socket set in the center of the sealing end cover, and a pin-type aviation plug of the camera connected to the pin-type aviation socket; a locking rear cover connected to the rear end of the protective cylinder by a sealing ring, a battery compartment set on the locking rear cover, and a sealing through hole formed on the side wall of the protective cylinder.

7. The in-service pipeline integrated internal inspection device as described in claim 1, characterized in that, The rigid support frame is made of SUS316 series stainless steel; the elastic body is made of polyurethane; and the low-frequency wireless signal is 22 or 23 Hz.

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