An apparatus for detecting defects in a subsea pipeline

Abstract

The application discloses a seabed pipeline defect detection device, which comprises a pipeline protection frame, a walking unit, a detection unit and a tunneling unit, the detection unit and the tunneling unit are both connected with the walking unit, the tunneling unit is located in front of the detection unit, the tunneling unit is driven by the walking unit to drill into seabed mud, so that the normal operation of the detection device is ensured, the walking unit drives the detection unit to move forward, so that the detection unit can detect the seabed pipeline, and the pipeline protection frame provides an installation base for each walking unit. The walking unit, the detection unit and the tunneling unit can be opened and closed, when moving to the connection position of the seabed pipeline and seabed piles, the walking unit, the detection unit and the tunneling unit are opened, so that the detection device can smoothly pass through, after passing through, the walking unit, the detection unit and the tunneling unit are closed, and the detection of the seabed pipeline is continued, so that the adaptability of the device is improved, and the detection efficiency of the device is greatly improved.

Description

Technical Field

[0001] This invention relates to the field of nondestructive testing technology, and in particular to a defect detection device for subsea pipelines. Background Technology

[0002] Oil and gas are important energy resources, and some of them need to be transported via subsea pipelines. This is an important part of the offshore oil and gas field development and production system, and also the fastest and most efficient way to transport oil and gas under the sea.

[0003] Submarine pipelines have the advantages of continuous transportation and are almost unaffected by environmental conditions, but they also have many disadvantages. For example, the pipelines are located on the seabed, and most of them need to be buried at a certain depth in the seabed soil, making inspection and maintenance difficult. In particular, pipeline sections located in wave-breaking zones are greatly affected and may be damaged at any time. Therefore, timely detection of defects in submarine pipelines is very important. Existing detection methods mostly use various sensors for detection. However, since some submarine pipelines are buried deep below the seabed and need to be laid on top of special track piles during construction, some detection equipment cannot cross the track piles for detection, which greatly affects the detection efficiency.

[0004] Therefore, how to change the current situation where the detection efficiency of submarine pipelines is low due to the influence of the seabed environment has become an urgent problem to be solved by those skilled in the art. Summary of the Invention

[0005] The purpose of this invention is to provide a defect detection device for subsea pipelines to solve the problems existing in the prior art, enabling the defect detection device to cross the subsea pipeline piles and advance forward, thereby improving the detection efficiency of subsea pipelines.

[0006] To achieve the above objectives, the present invention provides the following solution: The present invention provides a subsea pipeline defect detection device, comprising:

[0007] Pipe protection frame, which is installed along the axial direction of the seabed pipe;

[0008] The walking unit is capable of abutting against and moving along the subsea pipeline. The walking unit is connected to the pipeline protection frame and can drive the pipeline protection frame to move along the axial direction of the subsea pipeline.

[0009] The detection unit is capable of performing flaw detection on the surface of the subsea pipeline.

[0010] The tunneling unit is capable of drilling into seabed mud; along the direction of movement of the traveling unit, the tunneling unit is located in front of the detection unit;

[0011] The detection unit and the tunneling unit are both connected to the traveling unit. The traveling unit can drive the detection unit and the tunneling unit to move along the axis of the subsea pipeline to realize the flaw detection of the subsea pipeline.

[0012] The walking unit, the detection unit, and the tunneling unit can all open and close. When open, the walking unit, the detection unit, and the tunneling unit can pass through the connection between the subsea pipeline and the subsea road pile. When closed, the walking unit, the detection unit, and the tunneling unit are fitted onto the outside of the subsea pipeline.

[0013] Preferably, the subsea pipeline defect detection device further includes a cleaning unit, which is capable of cleaning the outer wall of the subsea pipeline. The cleaning unit is located between the tunneling unit and the detection unit, and the cleaning unit is also connected to the traveling unit.

[0014] Preferably, the traveling unit includes a traveling fixed base, a traveling wheel set, a traveling opening and closing driver, and two symmetrically arranged traveling supports. The traveling fixed base is connected to the pipeline protection frame, and the traveling supports are hinged to the traveling fixed base. The traveling supports are C-shaped, and the two traveling supports can be fitted onto the outside of the subsea pipeline. The traveling wheel set is disposed on the traveling supports, and the traveling opening and closing driver is connected to the traveling supports in a transmission manner. The traveling opening and closing driver can drive the traveling supports to rotate, thereby realizing the opening and closing of the traveling unit.

[0015] The traveling wheel assembly includes a drive wheel assembly and a transmission wheel assembly. Both the drive wheel assembly and the transmission wheel assembly include a wheel frame and moving wheels disposed at both ends of the wheel frame. The moving wheels are rotatably connected to the wheel frame, and a traveling buffer element is disposed between the wheel frame and the moving wheels. The traveling buffer element is made of elastic material. The middle part of the wheel frame is hinged to the traveling support. The rotation axis of the moving wheels is perpendicular to the axis of the subsea pipeline. The drive wheel assembly also includes a traveling drive motor, which is fixed on the wheel frame and is drivingly connected to the moving wheels.

[0016] Each of the aforementioned walking brackets is provided with a drive wheel set and a transmission wheel set, and adjacent walking wheel sets on each of the aforementioned walking brackets are connected by universal joints.

[0017] Preferably, the traveling tensioning and closing driver includes a traveling tensioning and closing hydraulic cylinder, a traveling push rod, and a traveling transmission shaft. The traveling tensioning and closing hydraulic cylinder is mounted on the traveling fixed base. The movable end of the traveling tensioning and closing hydraulic cylinder is connected to the traveling push rod. The traveling push rod engages with the traveling transmission shaft using wedge-shaped teeth. The traveling tensioning and closing hydraulic cylinder drives the push rod to extend and retract, thereby driving the traveling transmission shaft to rotate. The traveling transmission shaft rotatably passes through the traveling fixed base and is connected to the traveling support in a transmission connection. The traveling transmission shaft can drive the traveling support to rotate.

[0018] Preferably, the walking fixed base is rotatably connected to the pipe protection frame;

[0019] The fixed walking base is connected to a movable walking base, which is rotatably connected to the fixed walking base. A rotational reset elastic element is provided between the two. The relative rotation of the movable walking base and the fixed walking base can cause the rotational reset elastic element to deform, so that the movable walking base and the fixed walking base can be reset.

[0020] The movable base is slidably connected to the pipe protection frame via a sliding rod. The movable base is connected to a sliding hydraulic cylinder. One end of the sliding rod is connected to the movable base, and the other end of the sliding rod slidably passes through the pipe protection frame and is connected to the movable end of the sliding hydraulic cylinder. A sliding reset elastic element is provided between the movable base and the pipe protection frame.

[0021] Preferably, the detection unit includes a first detection mechanism, which is connected to the walking unit. The first detection mechanism includes a first straightening arm and two symmetrically arranged first detection brackets. The first detection brackets are C-shaped and are connected to the walking brackets, with each bracket corresponding to the other.

[0022] The first straightening arm includes a first straightening bracket, one end of which is slidably connected to the first detection bracket, and the reciprocating sliding direction of the first straightening bracket is parallel to the radial direction of the subsea pipeline. A first straightening elastic element is provided between the first straightening bracket and the first detection bracket. The other end of the first straightening bracket is connected to a first straightening wheel and a first flaw detection sensor, and both the first straightening wheel and the first flaw detection sensor can abut against the subsea pipeline.

[0023] The number of the first straightening arms is multiple sets, and all the first straightening arms are evenly distributed circumferentially around the axis of the annular structure formed by the two first detection brackets.

[0024] Preferably, the detection unit further includes a second detection mechanism, which is connected to the walking unit. The second detection mechanism includes a second straightening arm and two symmetrically arranged second detection brackets. The second detection brackets are C-shaped and are connected to the walking brackets, with each bracket corresponding to the other.

[0025] The second straightening arm includes a second straightening connecting rod and a second straightening slider. The first end of the second straightening connecting rod is hinged to the second detection bracket, and the second end of the second straightening connecting rod is hinged to the second straightening slider. The second detection bracket has a straightening slide rail, and the second straightening slider is slidably disposed on the straightening slide rail. A second straightening elastic element is disposed between the second straightening slider and the first end of the second straightening connecting rod. The second straightening connecting rod is connected to a second straightening wheel and a second flaw detection sensor. Both the second straightening wheel and the second flaw detection sensor can abut against the subsea pipeline.

[0026] The number of the second straightening arms is multiple, and all the second straightening arms are evenly distributed circumferentially around the axis of the ring structure formed by the two second detection brackets.

[0027] Preferably, the tunneling unit includes a tunneling support, a tunneling housing, and a tunneling driver. The number of tunneling supports and tunneling housings is two sets each. Both the tunneling supports and tunneling housings are C-shaped. The tunneling supports are connected to the traveling support.

[0028] The tunneling shell has a conical structure and spiral protrusions on its outer wall. The tunneling shell covers the outside of the tunneling support. The tunneling driver is mounted on the tunneling support. The tunneling driver can drive the tunneling shell to rotate to achieve drilling in the seabed mud and to open and close the tunneling shell.

[0029] Preferably, the tunneling drive includes a tunneling rocker arm, a tunneling drive motor, and a tunneling push rod. One end of the tunneling rocker arm is rotatably connected to the tunneling support, and the other end of the tunneling rocker arm is hinged to the tunneling housing. The tunneling drive motor is fixed to the tunneling rocker arm and is connected to the tunneling support via a gear mechanism. The fixed end of the tunneling push rod is connected to the tunneling rocker arm, and the movable end of the tunneling push rod is hinged to the tunneling housing. The tunneling push rod and the tunneling housing correspond one-to-one.

[0030] The outer circumferential surface of the tunneling support has a tunneling groove, which is annular. The tunneling rocker arm has a tunneling slider that is adapted to the tunneling groove, and the tunneling slider is slidably disposed in the tunneling groove.

[0031] Preferably, the cleaning unit includes a storage tank, a cleaning support, nozzles, and a pressurization assembly. The cleaning support is C-shaped, and two cleaning supports are symmetrically arranged. The cleaning support is connected to the traveling support. The nozzles are disposed on the cleaning support and are located on the side of the cleaning support facing the subsea pipeline. The storage tank is disposed on the cleaning support and is connected to the nozzles via a conduit. There are multiple nozzles, and all the nozzles are evenly distributed on the cleaning support.

[0032] The storage tank is connected to the pressurizing assembly, which can increase the pressure of the cleaning fluid in the storage tank so that the cleaning fluid is sprayed out from the nozzle;

[0033] The pressurizing assembly includes a pressurizing cylinder, a pressurizing piston, and a crankshaft wheel. The pressurizing cylinder is connected to the liquid storage tank via a pressurizing valve. The pressurizing piston is slidably disposed inside the pressurizing cylinder. The crankshaft wheel is connected to the pressurizing piston and can drive the pressurizing piston to reciprocate.

[0034] The cleaning bracket is also connected to a driven assembly, which includes a driven rod and a driven wheel. The driven wheel is rotatably connected to one end of the driven rod, and a driven elastic element is provided between the other end of the driven rod and the cleaning bracket. The middle part of the driven rod is hinged to the cleaning bracket, and the driven rod is drivenly connected to the crankshaft wheel. There are multiple sets of driven assemblies, and all the driven assemblies are evenly distributed circumferentially around the axis of the annular structure formed by the cleaning bracket.

[0035] The present invention achieves the following technical effects compared to the prior art:

[0036] The subsea pipeline defect detection device of the present invention includes a detection unit and a tunneling unit, both connected to a traveling unit. The tunneling unit is located in front of the detection unit and, driven by the traveling unit, drills through the seabed mud to ensure the normal operation of the detection device. The traveling unit propels the detection unit forward, ensuring that the detection unit can perform flaw detection on the subsea pipeline. A pipeline protection frame provides an installation foundation for each traveling unit. More importantly, the traveling unit, detection unit, and tunneling unit can all open and close. When moving to the connection point between the subsea pipeline and the subsea bollard, the traveling unit, detection unit, and tunneling unit open to allow the detection device to pass smoothly. After passing, the traveling unit, detection unit, and tunneling unit close to continue flaw detection on the subsea pipeline, avoiding obstacles caused by the subsea bollard and seabed mud, improving the adaptability of the device, and greatly increasing the detection efficiency. Attached Figure Description

[0037] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0038] Figure 1 This is a schematic diagram of the subsea pipeline defect detection device disclosed in an embodiment of the present invention.

[0039] Figure 2 This is a schematic diagram of the operation of the submarine pipeline defect detection device disclosed in the embodiments of the present invention;

[0040] Figure 3 This is a schematic diagram of the structure of the walking unit of the submarine pipeline defect detection device disclosed in an embodiment of the present invention;

[0041] Figure 4 This is a partial structural schematic diagram of the walking unit of the submarine pipeline defect detection device disclosed in an embodiment of the present invention;

[0042] Figure 5 This is a partial structural disassembly diagram of the walking unit of the submarine pipeline defect detection device disclosed in an embodiment of the present invention;

[0043] Figure 6 This is a schematic diagram of the walking support structure of the walking unit of the submarine pipeline defect detection device disclosed in an embodiment of the present invention;

[0044] Figure 7 This is a schematic diagram of the transmission wheel assembly of the walking unit of the submarine pipeline defect detection device disclosed in an embodiment of the present invention;

[0045] Figure 8 This is a disassembled schematic diagram of the drive wheel assembly of the walking unit of the submarine pipeline defect detection device disclosed in an embodiment of the present invention;

[0046] Figure 9 This is a schematic diagram of the structure of the first detection mechanism of the submarine pipeline defect detection device disclosed in an embodiment of the present invention;

[0047] Figure 10 This is a partial structural schematic diagram of the first detection mechanism of the submarine pipeline defect detection device disclosed in an embodiment of the present invention;

[0048] Figure 11 This is a schematic diagram of the structure of the first straightening arm of the first detection mechanism of the submarine pipeline defect detection device disclosed in the embodiments of the present invention;

[0049] Figure 12This is a schematic diagram of the structure of the second detection mechanism of the submarine pipeline defect detection device disclosed in an embodiment of the present invention;

[0050] Figure 13 This is a schematic diagram of the structure of the second straightening arm of the second detection mechanism of the submarine pipeline defect detection device disclosed in an embodiment of the present invention;

[0051] Figure 14 This is a schematic diagram of the disassembled structure of the second straightening arm of the second detection mechanism of the submarine pipeline defect detection device disclosed in the embodiments of the present invention;

[0052] Figure 15 This is a schematic diagram of the tunneling unit of the subsea pipeline defect detection device disclosed in an embodiment of the present invention.

[0053] Figure 16 This is a schematic diagram of the disassembled structure of the tunneling unit of the subsea pipeline defect detection device disclosed in the embodiments of the present invention;

[0054] Figure 17 This is a partial structural schematic diagram of the tunneling unit of the subsea pipeline defect detection device disclosed in an embodiment of the present invention;

[0055] Figure 18 This is a schematic diagram of the tunneling shell of the tunneling unit of the submarine pipeline defect detection device disclosed in the embodiment of the present invention;

[0056] Figure 19 This is a schematic diagram of the tunneling shell of the tunneling unit of the submarine pipeline defect detection device disclosed in the embodiment of the present invention;

[0057] Figure 20 This is a schematic diagram of the cleaning unit of the subsea pipeline defect detection device disclosed in an embodiment of the present invention;

[0058] Figure 21 This is a disassembled structural diagram of the cleaning unit of the subsea pipeline defect detection device disclosed in the embodiments of the present invention;

[0059] Figure 22 This is a partial structural schematic diagram of the cleaning unit of the subsea pipeline defect detection device disclosed in an embodiment of the present invention;

[0060] Figure 23 This is a schematic diagram of the pressurization component of the cleaning unit of the subsea pipeline defect detection device disclosed in an embodiment of the present invention;

[0061] Figure 24 This is a cross-sectional schematic diagram of the pressurization component of the cleaning unit of the subsea pipeline defect detection device disclosed in an embodiment of the present invention.

[0062] Among them, 1 represents the pipe protection frame;

[0063] 2 is the walking unit, 201 is the walking fixed base, 202 is the walking bracket, 203 is the drive wheel set, 204 is the transmission wheel set, 205 is the wheel frame, 206 is the moving wheel, 207 is the walking buffer element, 208 is the walking drive motor, 209 is the universal joint, 210 is the walking opening and closing hydraulic cylinder, 211 is the walking push rod, 212 is the wedge tooth, 213 is the walking transmission shaft, 214 is the walking movable base, 215 is the rotational reset elastic element, 216 is the sliding rod, 217 is the walking sliding hydraulic cylinder, and 218 is the sliding reset elastic element.

[0064] 3 is the detection unit, 301 is the first detection bracket, 302 is the first straightening arm, 303 is the first straightening bracket, 304 is the first straightening elastic element, 305 is the first straightening wheel, 306 is the first flaw detection sensor, 307 is the second straightening arm, 308 is the second detection bracket, 309 is the second straightening connecting rod, 310 is the second straightening slider, 311 is the straightening slide rail, 312 is the second straightening elastic element, 313 is the second straightening wheel, and 314 is the second flaw detection sensor.

[0065] 4 is the tunneling unit, 401 is the tunneling support, 402 is the tunneling housing, 403 is the tunneling rocker arm, 404 is the tunneling drive motor, and 405 is the tunneling push rod;

[0066] 5 is the cleaning unit, 501 is the liquid storage tank, 502 is the cleaning bracket, 503 is the nozzle, 504 is the pressurizing assembly, 505 is the pressurizing cylinder, 506 is the pressurizing piston, 507 is the crankshaft wheel, 508 is the conduit, 509 is the driven rod, and 510 is the driven wheel.

[0067] 6 is the positioning unit. Detailed Implementation

[0068] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0069] The purpose of this invention is to provide a defect detection device for subsea pipelines to solve the problems existing in the prior art, enabling the defect detection device to cross the subsea pipeline piles and advance forward, thereby improving the detection efficiency of subsea pipelines.

[0070] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0071] This invention provides a subsea pipeline defect detection device, comprising a pipeline protection frame 1, a traveling unit 2, a detection unit 3, and a tunneling unit 4. The pipeline protection frame 1 is arranged along the axial direction of the subsea pipeline. The traveling unit 2 is capable of abutting against and moving along the subsea pipeline. The traveling unit 2 is connected to the pipeline protection frame 1 and can drive the pipeline protection frame 1 to move along the axial direction of the subsea pipeline. The detection unit 3 can perform flaw detection on the surface of the subsea pipeline. The tunneling unit 4 can drill in the seabed mud. Along the movement direction of the traveling unit 2, the tunneling unit 4 is located in front of the detection unit 3. Both the detection unit 3 and the tunneling unit 4 are connected to the traveling unit 2. The traveling unit 2 can drive the detection unit 3 and the tunneling unit 4 to move along the axial direction of the subsea pipeline to achieve flaw detection of the subsea pipeline. The traveling unit 2, the detection unit 3, and the tunneling unit 4 can all open and close. When open, the traveling unit 2, the detection unit 3, and the tunneling unit 4 can pass through the connection between the subsea pipeline and the subsea pier. When closed, the traveling unit 2, the detection unit 3, and the tunneling unit 4 are fitted over the outside of the subsea pipeline.

[0072] The subsea pipeline defect detection device of the present invention includes a detection unit 3 and a tunneling unit 4, both connected to a traveling unit 2. The tunneling unit 4 is located in front of the detection unit 3 and, driven by the traveling unit 2, drills through the seabed mud to ensure the normal operation of the detection device. The traveling unit 2 drives the detection unit 3 forward, ensuring that the detection unit 3 can perform flaw detection on the subsea pipeline. The pipeline protection frame 1 provides an installation foundation for each traveling unit 2. More importantly, the traveling unit 2, detection unit 3, and tunneling unit 4 can all open and close. When moving to the connection point between the subsea pipeline and the subsea pier, the traveling unit 2, detection unit 3, and tunneling unit 4 open to allow the detection device to pass smoothly. After passing, the traveling unit 2, detection unit 3, and tunneling unit 4 close to continue flaw detection on the subsea pipeline, avoiding obstacles caused by the subsea pier and seabed mud, improving the adaptability of the device, and greatly increasing the detection efficiency.

[0073] To improve the detection efficiency of the detection unit 3, the subsea pipeline defect detection device of the present invention also includes a cleaning unit 5. The cleaning unit 5 is capable of cleaning the outer wall of the subsea pipeline. The cleaning unit 5 is located between the tunneling unit 4 and the detection unit 3, and is also connected to the traveling unit 2. During the process of the tunneling unit 4 drilling into the seabed mud and the entire device moving forward under the drive of the traveling unit 2, the cleaning unit 5 cleans the seabed mud remaining on the surface of the subsea pipeline, providing convenient conditions for the subsequent detection work of the detection unit 3, thereby improving both the detection efficiency and the detection accuracy of the detection unit 3.

[0074] The traveling unit 2 includes a traveling fixed base 201, a traveling wheel set, a traveling opening and closing actuator, and two symmetrically arranged traveling supports 202. The traveling fixed base 201 is connected to the pipeline protection frame 1, and the traveling supports 202 are hinged to the traveling fixed base 201. The traveling supports 202 are C-shaped, and the two traveling supports 202 can be fitted onto the outside of the subsea pipeline. The traveling wheel set is set on the traveling supports 202. The traveling opening and closing actuator is connected to the traveling supports 202. The traveling opening and closing actuator can drive the traveling supports 202 to rotate, so as to realize the opening and closing of the traveling unit 2. The hinge axis of the traveling supports 202 and the traveling fixed base 201 is parallel to the axis of the subsea pipeline. The traveling opening and closing actuator drives the traveling supports 202 to move, so that they rotate relative to the traveling fixed base 201. When the two traveling supports 202 are closed, they can "tighten" the subsea pipeline, and when the two traveling supports 202 are opened, they can "release" the subsea pipeline, so that the device can pass smoothly through the subsea pier.

[0075] In this specific embodiment, the traveling wheel set includes a drive wheel set 203 and a transmission wheel set 204. Both the drive wheel set 203 and the transmission wheel set 204 include a wheel frame 205 and motion wheels 206 disposed at both ends of the wheel frame 205. The motion wheels 206 are rotatably connected to the wheel frame 205, and a traveling buffer element 207 is provided between the wheel frame 205 and the motion wheels 206. The traveling buffer element 207 is made of elastic material. The middle part of the wheel frame 205 is hinged to the traveling support 202, and the rotation axis of the motion wheels 206 is perpendicular to the axis of the subsea pipeline. In this invention, motion wheels 206 are provided at both ends of the wheel frame 205, and the middle part of the wheel frame 205 is hinged to the traveling support 202. The wheel frame 205 is deflected relative to the traveling support 202, so that the traveling wheel set can adapt to the undulations of the subsea pipeline surface, improving the adaptability of the traveling wheel set. The traveling buffer element 207 can ensure that the motion wheels 206 are in contact with the surface of the subsea pipeline, improving the reliability of the traveling wheel set, and at the same time playing a role in buffering and shock absorption, improving the movement stability of the traveling wheel set. It should also be noted that the drive wheel assembly 203 includes a travel drive motor 208, which is fixed to the wheel frame 205. The travel drive motor 208 is connected to the moving wheel 206 to drive the moving wheel 206 to rotate, thereby enabling the drive wheel assembly 203 to move forward along the axial direction of the seabed pipeline. In practical applications, the travel drive motor 208 can use a gear transmission structure to drive the moving wheel 206 to rotate. Gear transmission is reliable and has good motion stability. Each traveling bracket 202 is equipped with a drive wheel assembly 203 and a transmission wheel assembly 204. Adjacent traveling wheel assemblies on each traveling bracket 202 are connected by a universal joint 209. The drive wheel assembly 203 is connected to the transmission wheel assembly 204 by the universal joint 209, driving the transmission wheel assembly 204 to move. The traveling wheel set is evenly distributed circumferentially around the axis of the ring structure formed by the two traveling supports 202, improving the uniformity of force distribution on the traveling supports 202. The detection unit 3, tunneling unit 4, and cleaning unit 5 are each connected to the traveling unit 2. The traveling unit 2 drives the movement of the other units, thereby inspecting the subsea pipeline and improving the reliability of the device's movement. It should also be noted that in this specific embodiment, the traveling wheel set includes four moving wheels 206, which are arranged in a rectangular pattern to ensure the stability of the traveling wheel set. In practical applications, the number and distribution of the moving wheels 206 can be adjusted according to actual working conditions.

[0076] It should also be noted that, in this specific embodiment, the traveling tension and opening driver includes a traveling tension and opening hydraulic cylinder 210, a traveling push rod 211, and a traveling transmission shaft 213. The traveling tension and opening hydraulic cylinder 210 is mounted on the traveling fixed base 201. The movable end of the traveling tension and opening hydraulic cylinder 210 is connected to the traveling push rod 211. The traveling push rod 211 meshes with the traveling transmission shaft 213 using wedge-shaped teeth 212. The traveling tension and opening hydraulic cylinder 210 drives the push rod to extend and retract, thereby using the wedge-shaped teeth 212 meshing between the traveling push rod 211 and the transmission shaft to drive the traveling transmission shaft 213 to rotate. The traveling transmission shaft 213 rotatably passes through the traveling fixed base 201 and is connected to the traveling bracket 202. The traveling transmission shaft 213 can drive the traveling bracket 202 to rotate. By controlling the extension and retraction of the travel opening and closing hydraulic cylinder 210, the travel push rod 211 is pushed to perform extension and retraction movements, which in turn drives the travel transmission shaft 213 to rotate. The travel transmission shaft 213 drives the travel bracket 202 to rotate through the transmission structure, thereby realizing the opening and closing of the travel bracket 202. The transmission structure can also be a gear structure, or other transmission structures can be selected according to the specific working conditions to improve the flexibility and adaptability of the travel unit 2.

[0077] Specifically, the traveling fixed base 201 is rotatably connected to the pipeline protection frame 1, so that the traveling unit 2 can rotate relative to the pipeline protection frame 1 to adapt to the bending of the subsea pipeline, further improving the adaptability of the traveling unit 2 to the subsea pipeline and ensuring the working reliability of the detection device.

[0078] In this specific embodiment, the fixed walking base 201 is connected to the movable walking base 214, which is rotatably connected to the fixed walking base 201. A rotational reset elastic element 215 is provided between the two to enable the fixed walking base 201 to rotate relative to the movable walking base 214. The relative rotation of the movable walking base 214 and the fixed walking base 201 causes the rotational reset elastic element 215 to deform, thereby resetting the movable walking base 214 and the fixed walking base 201. The rotation of the fixed walking base 201 relative to the movable walking base 214 allows the walking wheel set to deflect to adapt to various subsea pipelines.

[0079] Meanwhile, the movable base 214 is slidably connected to the pipe protection frame 1 via the sliding rod 216. The movable base 214 is connected to the movable sliding hydraulic cylinder 217. One end of the sliding rod 216 is connected to the movable base 214, and the other end of the sliding rod 216 slidably passes through the pipe protection frame 1 and is connected to the movable end of the movable sliding hydraulic cylinder 217. A sliding reset elastic element 218 is provided between the movable base 214 and the pipe protection frame 1. The mobile base 214 is slidably connected to the pipeline protection frame 1 via the sliding rod 216. The mobile base 214 reciprocates in the vertical direction, which can adjust the vertical position of the mobile support 202 and the mobile wheel set, so that each set of mobile wheels is in contact with the surface of the subsea pipeline, providing a strong guarantee for pipeline inspection. The mobile sliding hydraulic cylinder 217 can push the mobile base 214 to move in the vertical direction to adjust the vertical position of the mobile support 202 and the mobile wheel set. When the mobile sliding hydraulic cylinder 217 removes the force applied to the mobile base 214, the mobile support 202 and the mobile wheel set are reset under the elastic force of the sliding reset elastic element 218, further ensuring the movement stability and reliability of the mobile unit 2.

[0080] More specifically, the detection unit 3 includes a first detection mechanism, which is connected to the walking unit 2. The first detection mechanism includes a first straightening arm 302 and two symmetrically arranged first detection brackets 301. The first detection brackets 301 are C-shaped and are connected to the walking brackets 202, with each bracket corresponding to the other. The first detection brackets 301 are connected to the walking brackets 202, and the walking unit 2 drives the first detection mechanism to move, thereby opening and closing the first detection mechanism.

[0081] The first straightening arm 302 includes a first straightening bracket 303. One end of the first straightening bracket 303 is slidably connected to the first detection bracket 301, and the reciprocating sliding direction of the first straightening bracket 303 is parallel to the radial direction of the subsea pipeline. A first straightening elastic element 304 is provided between the first straightening bracket 303 and the first detection bracket 301. The other end of the first straightening bracket 303 is connected to a first straightening wheel 305 and a first flaw detection sensor 306. Both the first straightening wheel 305 and the first flaw detection sensor 306 can abut against the subsea pipeline. The first straightening wheel 305 contacts the subsea pipeline and moves along the subsea pipeline under the drive of the walking unit 2, thereby... The first flaw detection sensor 306 moves to complete the detection work. The end of the first straightening bracket 303 away from the first straightening wheel 305 is slidably connected to the first detection bracket 301, allowing the first straightening bracket 303 to slide radially along the seabed pipeline, thereby adjusting the position of the first straightening wheel 305 and ensuring the position of the first flaw detection sensor 306. This ensures that the first flaw detection sensor 306 can contact the seabed pipeline and successfully complete the detection work. The first straightening elastic element 304 further ensures that the first straightening wheel 305 and the first flaw detection sensor 306 are in contact with the outer wall of the seabed pipeline, while also ensuring that the first straightening bracket 303 can smoothly return to its original position after sliding. In this specific embodiment, there are two first straightening wheels 305, which are arranged in a direction parallel to the axis of the seabed pipeline. The first flaw detection sensor 306 is located between the two first straightening wheels 305, ensuring the working stability of the first flaw detection sensor 306.

[0082] In order to conduct comprehensive inspection of the subsea pipeline, there are multiple sets of first straightening arms 302. All the first straightening arms 302 are evenly distributed around the axis of the ring structure formed by the two first inspection supports 301, thereby improving the inspection accuracy of the first inspection mechanism.

[0083] Meanwhile, the detection unit 3 also includes a second detection mechanism, which is connected to the walking unit 2. The second detection mechanism includes a second straightening arm 307 and two symmetrically arranged second detection supports 308. The second detection supports 308 are C-shaped and are connected to the walking supports 202, with each supporting one another. Similar to the structure of the first detection mechanism, the second detection supports 308 are connected to the walking supports 202. The walking unit 2, which is connected to the second detection mechanism, drives the second detection supports 308 to open and close. While detecting the subsea pipeline, the second detection supports 308 can pass smoothly through the subsea piles, improving the adaptability of the detection device to the subsea environment.

[0084] The second straightening arm 307 includes a second straightening connecting rod 309 and a second straightening slider 310. The first end of the second straightening connecting rod 309 is hinged to the second detection bracket 308, and the second end of the second straightening connecting rod 309 is hinged to the second straightening slider 310. The second detection bracket 308 has a straightening slide rail 311, and the second straightening slider 310 is slidably mounted on the straightening slide rail 311. A second straightening elastic element 312 is provided between the second straightening slider 310 and the first end of the second straightening connecting rod 309. The second straightening connecting rod 309 is connected to a second straightening wheel 313 and a second flaw detection sensor 314. Both the second straightening wheel 313 and the second flaw detection sensor 314 can abut against the subsea pipeline. The second straightening connecting rod 309 and the second straightening slider 310... The second detection bracket 308 forms a slider linkage mechanism, enabling the second straightening wheel 313 to adaptively adjust according to the shape of the subsea pipeline, thereby adjusting the position of the second flaw detection sensor 314. This ensures that the second flaw detection sensor 314 remains in contact with the surface of the subsea pipeline, guaranteeing smooth flaw detection. The second straightening elastic element 312 ensures that the second straightening wheel 313 contacts the subsea pipeline and returns to its original position smoothly. In practical applications, the contact pressure applied by the second straightening wheel 313 to the subsea pipeline can be adjusted by reasonably setting the parameters of the second straightening elastic element 312, providing strong support for the second flaw detection sensor 314 to perform its detection work and further improving the working reliability of the second straightening arm 307. Correspondingly, there are multiple sets of second straightening arms 307, all of which are evenly distributed circumferentially around the axis of the annular structure formed by the two second detection brackets 308 to ensure all-round detection of the subsea pipeline. The detection unit 3 of this invention includes a first detection mechanism and a second detection mechanism, which perform segmented detection of the subsea pipeline, improving detection accuracy and efficiency. The first flaw detection sensor 306 and the second flaw detection sensor 314 can be selected as magnetic flaw detection sensors or other types of flaw detection sensors.

[0085] Furthermore, the tunneling unit 4 includes a tunneling support 401, a tunneling housing 402, and a tunneling driver. There are two sets of both the tunneling support 401 and the tunneling housing 402. Both the tunneling support 401 and the tunneling housing 402 are C-shaped. The tunneling support 401 is connected to the traveling support 202. The traveling support 202 drives the tunneling support 401 and the tunneling housing 402 to rotate, so as to realize the opening and closing of the tunneling unit 4.

[0086] To ensure the tunneling function of the tunneling unit 4, the tunneling shell 402 has a conical structure and spiral protrusions on its outer wall. The tunneling shell 402 covers the outside of the tunneling support 401. The tunneling driver is mounted on the tunneling support 401. The tunneling driver can drive the tunneling shell 402 to rotate, enabling drilling in the seabed mud, and can also open and close the tunneling shell 402. The tunneling driver drives the tunneling shell 402 to rotate, allowing the tunneling unit 4 to rotate and advance in the seabed mud.

[0087] In this specific embodiment, the tunneling drive includes a tunneling rocker arm 403, a tunneling drive motor 404, and a tunneling push rod 405. One end of the tunneling rocker arm 403 is rotatably connected to the tunneling support 401, and the other end of the tunneling rocker arm 403 is hinged to the tunneling housing 402. The tunneling drive motor 404 is fixed on the tunneling rocker arm 403 and is connected to the tunneling support 401 via a gear mechanism. The fixed end of the tunneling push rod 405 is connected to the tunneling rocker arm 403, and the movable end of the tunneling push rod 405 is hinged to the tunneling housing 402. The tunneling push rod 405 and the tunneling housing 402 correspond one-to-one. The tunneling drive motor 404 rotates, thereby driving the tunneling rocker arm 403 and the tunneling housing 402 to rotate around the annular structure formed by the two tunneling supports 401, so as to realize the rotary drilling of the tunneling housing 402. The movable end of the tunneling pusher 405 extends to push the tunneling shell 402 to rotate. When it encounters a submarine road pile, the tunneling shell 402 opens to pass smoothly.

[0088] To improve the motion reliability of the tunneling rocker arm 403, the outer circumferential surface of the tunneling support 401 has a tunneling groove, which is annular. The tunneling rocker arm 403 has a tunneling slider that is adapted to the tunneling groove. The tunneling slider is slidably set in the tunneling groove. By using the cooperation between the tunneling slider and the tunneling groove, the rotation reliability of the tunneling rocker arm 403 and the tunneling housing 402 is improved, and the tunneling rocker arm 403 is prevented from deviating from the motion trajectory.

[0089] Furthermore, the cleaning unit 5 includes a storage tank 501, a cleaning support 502, nozzles 503, and a pressurizing assembly 504. The cleaning support 502 is C-shaped, with two cleaning supports 502 symmetrically arranged. The cleaning support 502 is connected to the traveling support 202, so that the traveling support 202 can drive the cleaning support 502 to open and close. The nozzles 503 are set on the cleaning support 502 and are located on the side of the cleaning support 502 facing the subsea pipeline, so that the cleaning fluid can be sprayed onto the subsea pipeline for cleaning. The storage tank 501 is set on the cleaning support 502 and is connected to the nozzles 503 via a conduit 508. There are multiple nozzles 503, and all the nozzles 503 are evenly distributed on the cleaning support 502. The storage tank 501 is used to store the cleaning fluid, which can be selected according to the actual cleaning needs.

[0090] In order to ensure the smooth output of the cleaning fluid in the storage tank 501, the storage tank 501 is connected to the pressurizing component 504. The pressurizing component 504 can increase the pressure of the cleaning fluid in the storage tank 501 so that the cleaning fluid can be smoothly sprayed out from the nozzle 503. The nozzle 503 sprays out the cleaning fluid at a certain pressure to enhance the cleaning effect.

[0091] In this specific embodiment, the pressurizing assembly 504 includes a pressurizing cylinder 505, a pressurizing piston 506, and a crankshaft wheel 507. The pressurizing cylinder 505 is connected to the storage tank 501 via a pressurizing valve. The pressurizing piston 506 is slidably disposed within the pressurizing cylinder 505, and the crankshaft wheel 507 is connected to the pressurizing piston 506, enabling the pressurizing piston 506 to reciprocate. The pressurizing assembly 504 can deliver pressurizing medium into the storage tank 501 via the pressurizing cylinder 505 to facilitate the smooth ejection of the cleaning fluid from the storage tank 501. The pressurizing medium can be selected according to actual working conditions, and care should be taken to avoid reaction between the pressurizing medium and the cleaning fluid. The pressurizing medium is connected to the storage tank 501 via a control valve to prevent backflow of the cleaning fluid and improve the operational reliability of the cleaning unit 5. In practical applications, multiple sets of storage tanks 501 and pressurizing assemblies 504 can be set up according to actual cleaning needs to meet different cleaning requirements for subsea pipelines.

[0092] In addition, the cleaning support 502 is also connected to a driven assembly, which includes a driven rod 509 and a driven wheel 510. The driven wheel 510 is rotatably connected to one end of the driven rod 509, and a driven elastic element is provided between the other end of the driven rod 509 and the cleaning unit. The middle part of the driven rod 509 is hinged to the cleaning support 502, and the driven rod 509 is drivenly connected to the crankshaft wheel 507. The driven wheel 510 contacts the subsea pipeline to enhance the support effect on the storage tank 501 and the pressurization assembly 504, ensuring that the cleaning unit 5 can move along the axial direction of the subsea pipeline to complete the cleaning work, guarantee the cleaning effect, and thus provide convenience for subsequent testing. There are multiple sets of driven assemblies, and all driven assemblies are evenly distributed circumferentially around the axis of the annular structure formed by the cleaning support 502, improving the uniformity of force on the cleaning support 502 and improving the overall structural strength of the cleaning unit 5.

[0093] The subsea pipeline defect detection device of the present invention further includes a positioning unit 6, which monitors the location of the device. The positioning unit 6 is mounted on the pipeline protection frame 1 and has a built-in controller. All other units are communicatively connected to the positioning unit 6. When the positioning unit 6 detects a subsea bollard, the walking unit 2, the detection unit 3, and the tunneling unit 4 open. After passing the bollard's location, the units close and continue the detection work, further improving the controllability and efficiency of the device. Additionally, the controller can be used to communicate with external personnel for convenient operation. The structure and operation of the controller are common knowledge to those skilled in the art and will not be described in detail here.

[0094] It should also be explained that in the subsea pipeline defect detection device of the present invention, each hydraulic cylinder is connected to the hydraulic control circuit through a multi-way valve to control the working state of each unit, while simplifying the device structure and improving the ease of operation. Hydraulic control methods are common practices among those skilled in the art and will not be elaborated upon here.

[0095] The subsea pipeline defect detection device of the present invention adopts a multi-segment design, can cross the subsea pipeline piles by itself, can be excavated and travel, and can clean the surface of the subsea pipeline, thereby improving the detection accuracy of the sensor and greatly improving the detection efficiency.

[0096] Specific examples have been used to illustrate the principles and implementation methods of this invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this invention. Furthermore, those skilled in the art will recognize that, based on the ideas of this invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this invention.

Claims

1. A defect detection device for subsea pipelines, characterized in that, include: Pipe protection frame, which is installed along the axial direction of the seabed pipe; The walking unit is capable of abutting against and moving along the subsea pipeline. The walking unit is connected to the pipeline protection frame and can drive the pipeline protection frame to move along the axial direction of the subsea pipeline. The detection unit is capable of performing flaw detection on the surface of the subsea pipeline. A tunneling unit capable of drilling into seabed mud; Along the direction of movement of the walking unit, the tunneling unit is located in front of the detection unit; The detection unit and the tunneling unit are both connected to the traveling unit. The traveling unit can drive the detection unit and the tunneling unit to move along the axis of the subsea pipeline to realize the flaw detection of the subsea pipeline. The walking unit, the detection unit, and the tunneling unit can all open and close. When the walking unit, the detection unit, and the tunneling unit are open, they can pass through the connection between the subsea pipeline and the subsea road pile. When the walking unit, the detection unit, and the tunneling unit are closed, they are fitted onto the outside of the subsea pipeline. The traveling unit includes a traveling fixed base, a traveling wheel set, a traveling opening and closing actuator, and two symmetrically arranged traveling supports. The traveling fixed base is connected to the pipeline protection frame, and the traveling supports are hinged to the traveling fixed base. The traveling supports are C-shaped, and the two traveling supports can be fitted onto the outside of the subsea pipeline. The traveling wheel set is disposed on the traveling supports, and the traveling opening and closing actuator is connected to the traveling supports in a transmission manner. The traveling opening and closing actuator can drive the traveling supports to rotate, thereby realizing the opening and closing of the traveling unit. The traveling wheel assembly includes a drive wheel assembly and a transmission wheel assembly. Both the drive wheel assembly and the transmission wheel assembly include a wheel frame and moving wheels disposed at both ends of the wheel frame. The moving wheels are rotatably connected to the wheel frame, and a traveling buffer element is disposed between the wheel frame and the moving wheels. The traveling buffer element is made of elastic material. The middle part of the wheel frame is hinged to the traveling support. The rotation axis of the moving wheels is perpendicular to the axis of the subsea pipeline. The drive wheel assembly also includes a traveling drive motor, which is fixed on the wheel frame and is drivingly connected to the moving wheels. Each of the aforementioned walking brackets is provided with a drive wheel set and a transmission wheel set, and adjacent walking wheel sets on each of the aforementioned walking brackets are connected by universal joints; The tunneling unit includes a tunneling support, a tunneling housing, and a tunneling driver. There are two sets of both the tunneling support and the tunneling housing. Both the tunneling support and the tunneling housing are C-shaped. The tunneling support is connected to the traveling support. The tunneling shell has a conical structure and spiral protrusions on its outer wall. The tunneling shell covers the outside of the tunneling support. The tunneling driver is mounted on the tunneling support. The tunneling driver can drive the tunneling shell to rotate to achieve drilling in the seabed mud and to open and close the tunneling shell.

2. The subsea pipeline defect detection device according to claim 1, characterized in that: It also includes a cleaning unit, which is capable of cleaning the outer wall of the subsea pipeline. The cleaning unit is located between the tunneling unit and the detection unit, and is also connected to the traveling unit.

3. The subsea pipeline defect detection device according to claim 1, characterized in that: The traveling tensioning and closing actuator includes a traveling tensioning and closing hydraulic cylinder, a traveling push rod, and a traveling transmission shaft. The traveling tensioning and closing hydraulic cylinder is mounted on the traveling fixed base. The movable end of the traveling tensioning and closing hydraulic cylinder is connected to the traveling push rod. The traveling push rod engages with the traveling transmission shaft using wedge-shaped teeth. The traveling tensioning and closing hydraulic cylinder drives the push rod to extend and retract, thereby driving the traveling transmission shaft to rotate. The traveling transmission shaft rotatably passes through the traveling fixed base and is connected to the traveling support in a transmission connection. The traveling transmission shaft can drive the traveling support to rotate.

4. The subsea pipeline defect detection device according to claim 1, characterized in that: The walking fixed base is rotatably connected to the pipe protection frame; The fixed walking base is connected to a movable walking base, which is rotatably connected to the fixed walking base. A rotational reset elastic element is provided between the two. The relative rotation of the movable walking base and the fixed walking base can cause the rotational reset elastic element to deform, so that the movable walking base and the fixed walking base can be reset. The movable base is slidably connected to the pipe protection frame via a sliding rod. The movable base is connected to a sliding hydraulic cylinder. One end of the sliding rod is connected to the movable base, and the other end of the sliding rod slidably passes through the pipe protection frame and is connected to the movable end of the sliding hydraulic cylinder. A sliding reset elastic element is provided between the movable base and the pipe protection frame.

5. The subsea pipeline defect detection device according to claim 1, characterized in that: The detection unit includes a first detection mechanism, which is connected to the walking unit. The first detection mechanism includes a first straightening arm and two symmetrically arranged first detection brackets. The first detection brackets are C-shaped and are connected to the walking brackets, with each bracket corresponding to the other. The first straightening arm includes a first straightening bracket, one end of which is slidably connected to the first detection bracket, and the reciprocating sliding direction of the first straightening bracket is parallel to the radial direction of the subsea pipeline. A first straightening elastic element is provided between the first straightening bracket and the first detection bracket. The other end of the first straightening bracket is connected to a first straightening wheel and a first flaw detection sensor, and both the first straightening wheel and the first flaw detection sensor can abut against the subsea pipeline. The number of the first straightening arms is multiple sets, and all the first straightening arms are evenly distributed circumferentially around the axis of the annular structure formed by the two first detection brackets.

6. The subsea pipeline defect detection device according to claim 1, characterized in that: The detection unit further includes a second detection mechanism, which is connected to the walking unit. The second detection mechanism includes a second straightening arm and two symmetrically arranged second detection brackets. The second detection brackets are C-shaped and are connected to the walking brackets, with each bracket corresponding to the other. The second straightening arm includes a second straightening connecting rod and a second straightening slider. The first end of the second straightening connecting rod is hinged to the second detection bracket, and the second end of the second straightening connecting rod is hinged to the second straightening slider. The second detection bracket has a straightening slide rail, and the second straightening slider is slidably disposed on the straightening slide rail. A second straightening elastic element is disposed between the second straightening slider and the first end of the second straightening connecting rod. The second straightening connecting rod is connected to a second straightening wheel and a second flaw detection sensor. Both the second straightening wheel and the second flaw detection sensor can abut against the subsea pipeline. The number of the second straightening arms is multiple sets, and all the second straightening arms are evenly distributed circumferentially around the axis of the ring structure formed by the two second detection brackets.

7. The subsea pipeline defect detection device according to claim 1, characterized in that: The tunneling drive includes a tunneling rocker arm, a tunneling drive motor, and a tunneling push rod. One end of the tunneling rocker arm is rotatably connected to the tunneling support, and the other end of the tunneling rocker arm is hinged to the tunneling housing. The tunneling drive motor is fixed to the tunneling rocker arm and is connected to the tunneling support via a gear mechanism. The fixed end of the tunneling push rod is connected to the tunneling rocker arm, and the movable end of the tunneling push rod is hinged to the tunneling housing. The tunneling push rod and the tunneling housing are in one-to-one correspondence. The outer circumferential surface of the tunneling support has a tunneling groove, which is annular. The tunneling rocker arm has a tunneling slider that is adapted to the tunneling groove, and the tunneling slider is slidably disposed in the tunneling groove.

8. The subsea pipeline defect detection device according to claim 2, characterized in that: The cleaning unit includes a storage tank, a cleaning support, nozzles, and a pressurization assembly. The cleaning support is C-shaped, and two cleaning supports are symmetrically arranged. The cleaning support is connected to the traveling support. The nozzles are disposed on the cleaning support and are located on the side of the cleaning support facing the subsea pipeline. The storage tank is disposed on the cleaning support and is connected to the nozzles via a conduit. There are multiple nozzles, and all the nozzles are evenly distributed on the cleaning support. The storage tank is connected to the pressurizing assembly, which can increase the pressure of the cleaning fluid in the storage tank so that the cleaning fluid is sprayed out from the nozzle; The pressurizing assembly includes a pressurizing cylinder, a pressurizing piston, and a crankshaft wheel. The pressurizing cylinder is connected to the liquid storage tank via a pressurizing valve. The pressurizing piston is slidably disposed inside the pressurizing cylinder. The crankshaft wheel is connected to the pressurizing piston and can drive the pressurizing piston to reciprocate. The cleaning bracket is also connected to a driven assembly, which includes a driven rod and a driven wheel. The driven wheel is rotatably connected to one end of the driven rod, and a driven elastic element is provided between the other end of the driven rod and the cleaning bracket. The middle part of the driven rod is hinged to the cleaning bracket, and the driven rod is drivenly connected to the crankshaft wheel. There are multiple sets of driven assemblies, and all the driven assemblies are evenly distributed circumferentially around the axis of the annular structure formed by the cleaning bracket.

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