Pipeline detection device, electronic equipment and pipeline detection method

Abstract

The invention provides a pipeline detection device, electronic equipment and a pipeline detection method. The pipeline detection device comprises a central control unit, at least one magnetic field excitation coil, a plurality of magnetic sensor arrays and a plurality of mechanical components, the multiple mechanical assemblies are arranged on the two sides of the central control unit. Each mechanical assembly comprises a plurality of mechanical arms, a manipulator and a plurality of mechanical joints; the multiple mechanical arms are connected with the central control unit through the multiple mechanical joints, and the multiple mechanical arms are connected with the mechanical hand through the multiple mechanical joints. A magnetic sensor array is arranged on each manipulator; the magnetic field excitation coil is arranged on the central control unit; the central control unit controls the magnetic field excitation coil to excite a magnetic field based on the first instruction; controlling the mechanical arm to open based on the second instruction; based on the third instruction, the manipulator is controlled to gather the fingers, so that the magnetic sensor array is attached to the pipeline; the magnetic sensor array is used for detecting electromagnetic signals of the pipeline so as to detect the pipeline.

Description

Technical Field

[0001] The present application relates to the technical field of pipeline detection, and in particular to a pipeline detection device, electronic equipment and a pipeline detection method. Background Art

[0002] In the prior art, the sensor array of the submarine pipeline detector does not fit the submarine pipeline very well due to the basic setting, so the measurement accuracy of the sensor array is relatively low. Summary of the invention

[0003] The embodiments of the present application provide a pipeline detection device, an electronic device and a pipeline detection method to at least solve the above technical problems existing in the prior art.

[0004] According to a first aspect of the present application, an embodiment of the present application provides a pipeline detection device, including:

[0005] A central control unit, at least one magnetic field excitation coil, a plurality of magnetic sensor arrays, and a plurality of mechanical components;

[0006] A plurality of mechanical components are arranged on both sides of the central control unit; each mechanical component includes a plurality of mechanical arms, a mechanical hand and a plurality of mechanical joints; the plurality of mechanical arms are connected to the central control unit through a plurality of mechanical joints, and the plurality of mechanical arms are connected to the mechanical hand through a plurality of mechanical joints; a magnetic sensor array is arranged on each mechanical hand;

[0007] The magnetic field excitation coil is arranged on the central control unit;

[0008] The central control unit is used to receive a first instruction, and based on the first instruction, control the magnetic field excitation coil to excite the magnetic field so that the pipeline generates an electromagnetic signal; it is also used to receive a second instruction, and based on the second instruction, control the mechanical arm to open so that the mechanical hand is placed on the pipeline; it is also used to receive a third instruction, and based on the third instruction, control the mechanical hand to close the fingers so that the magnetic sensor array fits on the pipeline;

[0009] The magnetic sensor array is used to detect the electromagnetic signal of the pipeline to detect the pipeline.

[0010] Optionally, the central control unit includes a central control module, a first control module and a second control module;

[0011] The central control module is arranged on the first surface of the first control module and the second control module, and the first control module and the second control module are connected by an elastic connection component; a plurality of mechanical components are arranged on both sides of the first control module and the second control module;

[0012] The central control module is used to receive the first instruction, the second instruction and the third instruction, and send the first instruction, the second instruction and the third instruction to the first control module and the second control module;

[0013] The first control module and the second control module are used to control the magnetic field excitation coil to excite the magnetic field based on the first instruction so that the pipeline generates an electromagnetic signal; based on the second instruction, control the robot arm to open so that the robot hand is placed on the pipeline; based on the third instruction, control the robot hand to retract its fingers so that the magnetic sensor array fits on the pipeline.

[0014] Optionally, the pipeline detection device further includes:

[0015] Two rotating shafts are respectively arranged on the first control module and the second control module, one rotating shaft is used to connect the first control module and the central control module, and the other rotating shaft is used to connect the second control module and the central control module.

[0016] Optionally, there are multiple magnetic field excitation coils, and the multiple magnetic field excitation coils are arranged on the second surfaces of the first control module and the second control module.

[0017] Optionally, the pipeline detection device further includes:

[0018] A plurality of filter circuit modules; each filter circuit module is arranged on a manipulator, and the filter circuit module is connected to the magnetic sensor array and is used for filtering the pipeline electromagnetic signal detected by the magnetic sensor array.

[0019] Optionally, the pipeline detection device further includes:

[0020] The connection module is used for connecting with an external mobile device.

[0021] Optionally, the central control unit is further used to store the electromagnetic signal of the pipeline.

[0022] According to a second aspect of the present application, an embodiment of the present application provides an electronic device, including:

[0023] The pipeline detection device as in the first aspect or any embodiment of the first aspect; and

[0024] Mobile robots;

[0025] The mobile robot is connected to the pipeline detection device and is used to drive the pipeline detection device to move.

[0026] Optionally, the mobile robot is also used to send a first instruction, a second instruction and a third instruction to the pipeline detection device.

[0027] According to a third aspect of the present application, an embodiment of the present application provides a pipeline detection method, which is used in the pipeline detection device in the first aspect or any embodiment of the first aspect, and the method includes:

[0028] Obtaining a first instruction, and controlling the magnetic field excitation coil to excite the magnetic field based on the first instruction, so that the pipeline generates an electromagnetic signal;

[0029] Obtaining a second instruction, and controlling the robot arm to open based on the second instruction so that the robot arm is placed on the pipeline;

[0030] Obtaining a third instruction, and based on the third instruction, controlling the manipulator to close its fingers so that the magnetic sensor array fits onto the pipe;

[0031] The electromagnetic signal of the pipeline is detected by a magnetic sensor array.

[0032] The pipeline detection device, electronic device and pipeline detection method provided by the embodiments of the present application are provided with a central control unit, at least one magnetic field excitation coil, multiple magnetic sensor arrays and multiple mechanical components; the multiple mechanical components are arranged on both sides of the central control unit; each mechanical component includes multiple mechanical arms, mechanical hands and multiple mechanical joints; the multiple mechanical arms are connected to the central control unit through multiple mechanical joints, and the multiple mechanical arms are connected to the mechanical hands through multiple mechanical joints; a magnetic sensor array is arranged on each mechanical hand; the magnetic field excitation coil is arranged on the central control unit; the central control unit is used to receive a first instruction, and based on the first instruction, control the magnetic field excitation coil to excite the magnetic field so that the pipeline generates an electromagnetic signal; and is also used to receive a second instruction, and based on the second instruction, control the mechanical arm to open so that the mechanical hand is placed on the pipeline; It is also used to receive a third instruction, and based on the third instruction, control the manipulator to close its fingers so that the magnetic sensor array fits the pipeline; the magnetic sensor array is used to detect the electromagnetic signal of the pipeline to detect the pipeline; in this way, the magnetic sensor array of the pipeline detection device can fit the pipeline more closely, and has a better collection effect on the magnetic eddy current data of the pipeline; and, since the structure of the manipulator arm and the manipulator is simple, the mechanical transmission energy consumption is low; and since the manipulator arm and the manipulator can form an openable and closable mechanical claw-like structure, the pipeline detection device can be suitable for pipeline detection of different sizes; and it can realize detection of different parts on both sides of the pipeline, thereby improving the accuracy of detection; and each manipulator is connected to the central control unit through multiple manipulators, which can ensure that the manipulator is stably connected to the central control unit and prevent the loss of the magnetic sensor array.

[0033] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present application, nor is it intended to limit the scope of the present application. Other features of the present application will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] By reading the detailed description below with reference to the accompanying drawings, the above and other purposes, features and advantages of the exemplary embodiments of the present application will become readily understood. In the accompanying drawings, several embodiments of the present application are shown in an exemplary and non-limiting manner, wherein:

[0035] In the drawings, the same or corresponding reference numerals represent the same or corresponding parts.

[0036] Figure 1 A front view of a pipeline detection device provided in an embodiment of the present application is shown;

[0037] Figure 2 A schematic diagram showing the operation of the pipeline detection device provided by an embodiment of the present application after clamping the pipeline;

[0038] Figure 3 A schematic diagram showing a pipeline detection device provided in an embodiment of the present application detecting parallel pipelines by changing the opening amount of the mechanical arm;

[0039] Figure 4 A schematic diagram showing the working posture of the pipeline detection device provided in an embodiment of the present application when approaching a pipeline or conducting cruise detection;

[0040] Figure 5 A side view of a pipeline detection device provided in an embodiment of the present application is shown;

[0041] Figure 6 A rear view of a pipeline detection device provided in an embodiment of the present application is shown;

[0042] Figure 7 A schematic diagram showing a pipeline detection device provided in an embodiment of the present application performing detection in accordance with a curved pipeline;

[0043] Figure 8 A top view of a pipeline detection device provided in an embodiment of the present application is shown;

[0044] Fig. 9 A bottom view of a pipeline detection device provided in an embodiment of the present application is shown;

[0045] Fig.10 A schematic flow chart of a pipeline detection method according to an embodiment of the present application is shown. DETAILED DESCRIPTION

[0046] In order to make the purpose, features, and advantages of the present application more obvious and easy to understand, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0047] Specific embodiments of the present application are described hereinafter with reference to the accompanying drawings; however, it should be understood that the embodiments described are merely examples of the present application, which may be implemented in a variety of ways. Well-known and / or repeated functions and structures are not described in detail to avoid unnecessary or redundant details that obscure the present application. Therefore, the specific structural and functional details applied for herein are not intended to be limiting, but merely serve as a basis and representative basis for the claims to teach those skilled in the art to use the present application in a variety of ways with substantially any suitable detailed structure.

[0048] This specification may use the phrases "in one embodiment," "in another embodiment," "in yet another embodiment," or "in other embodiments," all of which may refer to one or more of the same or different embodiments according to the present application.

[0049] The present application embodiment provides a pipeline detection device, such as Figure 1-2 As shown, including:

[0050] A central control unit 20, at least one magnetic field excitation coil 30, a plurality of magnetic sensor arrays 11 and a plurality of mechanical components; the plurality of mechanical components are arranged on both sides of the central control unit 20; each mechanical component includes a plurality of mechanical arms 9, a manipulator 40 and a plurality of mechanical joints 10; the plurality of mechanical arms 9 are connected to the central control unit 20 through a plurality of mechanical joints 10, and the plurality of mechanical arms 9 are connected to the manipulator 40 through a plurality of mechanical joints 10; a magnetic sensor array 11 is arranged on each manipulator 40; the magnetic field excitation coil 30 is arranged on the central control unit 20; the central control unit 20 is used to receive a first instruction, and based on the first instruction, control the magnetic field excitation coil 30 to excite the magnetic field so that the pipeline generates an electromagnetic signal; it is also used to receive a second instruction, and based on the second instruction, control the manipulator 9 to open so that the manipulator 40 is placed on the pipeline; it is also used to receive a third instruction, and based on the third instruction, control the manipulator 40 to close its fingers so that the magnetic sensor array 11 fits on the pipeline; the magnetic sensor array 11 is used to detect the electromagnetic signal of the pipeline so as to detect the pipeline.

[0051] In this embodiment, the pipeline detection device can be used for damage detection of submarine pipelines and monitoring the oil and gas transmission rate in submarine pipelines, etc. Pipeline types include but are not limited to signal cables, power transmission cables, and oil and gas pipelines.

[0052] In this embodiment, when multiple robotic arms 9 are connected to the robot 40 through multiple mechanical joints 10, each robotic arm 9 can be connected to the robot 40 through one mechanical joint 10, so that the stability of the connection between the robot and the central control unit can be improved.

[0053] In this embodiment, the maximum opening angle of the pipeline robot arm can be 180°.

[0054] In this embodiment, when the pipeline detection device works on the pipeline surface, the magnetic signal excited by the magnetic field excitation coil 30 will generate an electromagnetic signal through the skin effect of the inner wall of the pipeline. This electromagnetic signal will change due to the pressure of the oil and gas pipeline during transportation in the pipeline, especially when the pipeline is bent or the oil and gas transmission rate in the pipeline changes, the change of the electromagnetic signal is more obvious. Based on this phenomenon, the measurement value of the magnetic sensor array 11 will be used as a basis for judging whether the transmission rate of the oil and gas pipeline has changed and whether the pipeline is damaged.

[0055] In some embodiments, for pipelines of signal cables and power transmission cables, since these types of cables themselves have magnetic fields, when pipeline detection is performed using a pipeline detection device, there is no need to use the magnetic field excitation coil 30 to excite the magnetic field. Only the magnetic sensor array 11 needs to passively measure the electromagnetic signal of the pipeline to perform detection.

[0056] In some embodiments, for oil and gas pipelines, in order to protect the pipelines from the impact of ocean currents or reduce the impact of biological attachment on the pipelines, they are usually laid after being armored. The armored shell can effectively reduce the contact between the internal pipeline and seawater for a period of time, reduce corrosion, and reduce impact. Since the armored shell itself has a strong magnetic field, when the pipeline is inspected by the pipeline detection device, it is not necessary to excite the magnetic field by the magnetic field excitation coil 30. It is only necessary to use the magnetic sensor array 11 to passively measure the electromagnetic signal of the pipeline to perform the inspection.

[0057] In some embodiments, for unarmored oil and gas pipelines, since this type of pipeline itself has no magnetic field, when the pipeline detection device performs pipeline detection, the magnetic field excitation coil 30 needs to excite the magnetic field, and then the magnetic sensor array 11 is used to measure the electromagnetic signal of the pipeline to detect the pipeline.

[0058] In some embodiments, Figure 2 As shown, when the pipeline detection device is working, by controlling the mechanical arm 9 to open a first angle and controlling the mechanical hand 40 to close its fingers, the magnetic sensor array 11 can be made to fit the pipeline 14 more closely.

[0059] In some embodiments, Figure 3 As shown, when the pipeline detection device is working, the parallel pipelines 14 can be detected by controlling the mechanical arm 9 to open the second angle.

[0060] In some embodiments, a positioning module may also be provided in the pipeline detection device. The pipeline detection device is close to the pipeline, such as Figure 4At this time, the magnetic field excitation coil is not working, and the magnetic sensor array 11 is working. The pipeline detection device can provide the detected electromagnetic signal and position data to the mobile robot or user working underwater, so that the mobile robot or user working underwater can assist in finding the signal cable and power transmission cable pushed away by the seabed current based on the electromagnetic signal and position data.

[0061] The pipeline detection device provided in the embodiment of the present application is provided with a central control unit, at least one magnetic field excitation coil, multiple magnetic sensor arrays and multiple mechanical components; the multiple mechanical components are arranged on both sides of the central control unit; each mechanical component includes multiple mechanical arms, mechanical hands and multiple mechanical joints; the multiple mechanical arms are connected to the central control unit through multiple mechanical joints, and the multiple mechanical arms are connected to the mechanical hands through multiple mechanical joints; a magnetic sensor array is arranged on each mechanical hand; the magnetic field excitation coil is arranged on the central control unit; the central control unit is used to receive a first instruction, and control the magnetic field excitation coil to excite the magnetic field based on the first instruction so that the pipeline generates an electromagnetic signal; it is also used to receive a second instruction, and control the mechanical arm to open based on the second instruction so that the mechanical hand is placed on the pipeline; it is also used to receive a second instruction, and control the mechanical arm to open based on the second instruction so that the mechanical hand is placed on the pipeline; it is also used to receive a second instruction Three instructions, based on the third instruction, control the manipulator to close its fingers so that the magnetic sensor array fits on the pipeline; the magnetic sensor array is used to detect the electromagnetic signal of the pipeline to detect the pipeline; in this way, the magnetic sensor array of the pipeline detection device can fit the pipeline more closely, and has a better collection effect on the magnetic eddy current data of the pipeline; and, since the structure of the manipulator and the manipulator is simple, the mechanical transmission energy consumption is low; and since the manipulator and the manipulator can form an openable and closable mechanical claw-like structure, the pipeline detection device can be suitable for pipeline detection of different sizes; and it can realize detection of different parts on both sides of the pipeline, thereby improving the accuracy of detection; and each manipulator is connected to the central control unit through multiple manipulators, which can ensure that the manipulator and the central control unit are stably connected to prevent the loss of the magnetic sensor array.

[0062] In an optional embodiment, if Figure 5-6As shown, the central control unit may include a central control module 2, a first control module 12 and a second control module 13; the central control module 2 is arranged on the first surface of the first control module 12 and the second control module 13, and the first control module 12 and the second control module 13 are connected by an elastic connecting component 7; a plurality of mechanical components are arranged on both sides of the first control module and the second control module; the central control module 2 is used to receive a first instruction, a second instruction and a third instruction, and send the first instruction, the second instruction and the third instruction to the first control module 12 and the second control module 13; the first control module 12 and the second control module 13 are used to control the magnetic field excitation coil to excite the magnetic field based on the first instruction so that the pipeline generates an electromagnetic signal; based on the second instruction, the robot arm 9 is controlled to open so that the robot arm is placed on the pipeline; based on the third instruction, the robot arm is controlled to close its fingers so that the magnetic sensor array 11 fits on the pipeline.

[0063] In this embodiment, the central control unit 20 is divided into a central control module 2, a first control module 12 and a second control module 13, so that the pipeline detection device can have more positions to set the mechanical arm 9, and then more magnetic sensor arrays 11 can be set on the pipeline detection device to simultaneously detect damage at different positions on the pipeline, so that the detection result is more accurate; and when the central control module is set as a whole, it can be prevented that the central control module is too large, which is not conducive to the accuracy of the detection of the curved pipeline and the passage through the curved pipeline.

[0064] In this embodiment, the first control module 12 and the second control module 13 are connected by the elastic connecting component 7, so that when the pipeline detection device passes through the curved part of the pipeline, the first control module 12 and the second control module 13 can both keep in contact with the pipeline, thereby allowing the magnetic sensor array 11 to be in contact with the pipeline 14. Figure 7 shown.

[0065] In some embodiments, Figure 5 , Figure 7 and Figure 8 As shown, the pipeline detection device also includes:

[0066] Two rotating shafts 8 are respectively arranged on the first control module 12 and the second control module 13 . One rotating shaft 8 is used to connect the first control module 12 and the central control module 2 , and the other rotating shaft 8 is used to connect the second control module 13 and the central control module 2 .

[0067] In this embodiment, by setting the rotating shaft 8 to connect the first control module 12 and the central control module 2, and to connect the second control module 13 and the central control module 2, the pipeline detection device can facilitate the bending of the elastic connection component 7 when passing through the curved part of the pipeline, and control the first control module 12 and the second control module 13 to keep in contact with the pipeline, so that the magnetic sensor array 11 can be attached to the pipeline 14. Figure 7 shown.

[0068] In some embodiments, there are a plurality of magnetic field excitation coils, and the plurality of magnetic field excitation coils are disposed on the second surfaces of the first control module and the second control module.

[0069] When implementing it, Figure 5 , Figure 6 , Fig. 9 As shown, the magnetic field of the pipeline detection device may include a first magnetic field excitation coil 3 and a second magnetic field excitation coil 4. The first magnetic field excitation coil 3 is arranged on the lower surface of the first control module 12, and the second magnetic field excitation coil 4 is arranged on the lower surface of the second control module 13.

[0070] In this embodiment, by setting up multiple magnetic field excitation coils, different magnetic field excitation coils can be used for magnetic excitation at different positions of the pipeline, which can reduce the power of the magnetic field excitation coil and thus reduce the energy required for the magnetic field excitation coil to work.

[0071] In some embodiments, the pipeline detection device includes multiple filter circuit modules; each filter circuit module is set on a manipulator, and the filter circuit module is connected to the magnetic sensor array to filter the pipeline electromagnetic signal detected by the magnetic sensor array.

[0072] When implementing it, Figure 5 , Figure 7-9 As shown, the pipeline detection device includes a plurality of filter circuit modules 5 and a filter circuit module 6; the filter circuit module 5 can be arranged on a manipulator connected to the first control module 12 and the filter circuit module 6 can be arranged on a manipulator connected to the second control module 13.

[0073] More specifically, the filter circuit module on the manipulator can be connected to multiple mechanical arms through multiple mechanical joints, so that the manipulator can be connected to multiple mechanical arms through multiple mechanical joints. Figure 5 , Figure 8 As shown, the central control unit may include a central control module 2, a first control module 12 and a second control module 13; the pipeline detection device includes a filter circuit module 5 and a filter circuit module 6. Figure 5As shown, the filter circuit module 5 and the filter circuit module 6 can be set on the corresponding manipulator, and the filter circuit module 5 and the filter circuit module 6 are respectively connected to the multiple manipulator arms 9 through multiple mechanical joints 10, so that the manipulator is connected to the multiple manipulator arms 9 through multiple mechanical joints 10, and the multiple manipulator arms connected to each manipulator are connected to the first control module 12 or the second control module 13 of the central control unit through the corresponding mechanical joints.

[0074] In this embodiment, by providing a filter circuit module, it is possible to filter the pipeline electromagnetic signal and improve the accuracy of the detection result.

[0075] In some embodiments, Figure 1-6 and Figure 8 As shown, the pipeline detection device also includes:

[0076] The connection module 1 is used for connecting with an external mobile device.

[0077] In this embodiment, the external mobile device includes but is not limited to a mobile robot.

[0078] In some embodiments, the connection module can be connected to a robotic arm of an external mobile device.

[0079] In this embodiment, by providing a connection module, the pipeline detection device can be connected to an external moving device, and the pipeline detection device can be driven to move along the pipeline direction by the external moving device.

[0080] In some embodiments, the central control unit is also used to store the electromagnetic signal of the pipeline. In this way, the central control unit does not need to transmit the electromagnetic signal to the user in real time, thereby avoiding the loss of the electromagnetic signal.

[0081] The present application also provides an electronic device, including:

[0082] The pipeline detection device as in any of the above embodiments; and a mobile robot;

[0083] The mobile robot is connected to the pipeline detection device and is used to drive the pipeline detection device to move.

[0084] In some embodiments, the mobile robot may send a first instruction, a second instruction, and a third instruction to the pipeline detection device, and drive the pipeline detection device to move, so that the pipeline detection device detects the pipeline.

[0085] The electronic device provided in the embodiment of the present application is provided with a central control unit, at least one magnetic field excitation coil, multiple magnetic sensor arrays and multiple mechanical components; the multiple mechanical components are arranged on both sides of the central control unit; each mechanical component includes multiple mechanical arms, mechanical hands and multiple mechanical joints; the multiple mechanical arms are connected to the central control unit through multiple mechanical joints, and the multiple mechanical arms are connected to the mechanical hands through multiple mechanical joints; a magnetic sensor array is arranged on each mechanical hand; the magnetic field excitation coil is arranged on the central control unit; the central control unit is used to receive a first instruction, and control the magnetic field excitation coil to excite the magnetic field based on the first instruction so that the pipeline generates an electromagnetic signal; it is also used to receive a second instruction, and control the mechanical arm to open based on the second instruction so that the mechanical hand is placed on the pipeline; it is also used to receive a third Instruction, based on the third instruction, control the manipulator to close its fingers so that the magnetic sensor array fits on the pipeline; the magnetic sensor array is used to detect the electromagnetic signal of the pipeline to detect the pipeline; in this way, the magnetic sensor array of the pipeline detection device can fit the pipeline more closely, and has a better collection effect on the magnetic eddy current data of the pipeline; and, since the structure of the manipulator and the manipulator is simple, the mechanical transmission energy consumption is low; and since the manipulator and the manipulator can form an openable and closable mechanical claw-like structure, the pipeline detection device can be suitable for pipeline detection of different sizes; and it can realize detection of different parts on both sides of the pipeline, thereby improving the accuracy of detection; and each manipulator is connected to the central control unit through multiple manipulators, which can ensure that the manipulator and the central control unit are stably connected to prevent the loss of the magnetic sensor array.

[0086] The present application also provides a pipeline detection method for use in the pipeline detection device in any of the above embodiments. The pipeline detection method is as follows: Fig.10 As shown, including:

[0087] S100, obtaining a first instruction, and controlling the magnetic field excitation coil to excite a magnetic field based on the first instruction, so that the pipeline generates an electromagnetic signal.

[0088] S200, obtaining a second instruction, and controlling the robot arm to open based on the second instruction so that the robot arm is placed on the pipeline.

[0089] S300, obtaining a third instruction, and based on the third instruction, controlling the robot arm to close its fingers so that the magnetic sensor array fits onto the pipe.

[0090] S400, detecting electromagnetic signals of the pipeline by means of a magnetic sensor array.

[0091] The pipeline detection method provided by the embodiment of the present application is provided with a central control unit, at least one magnetic field excitation coil, multiple magnetic sensor arrays and multiple mechanical components; the multiple mechanical components are arranged on both sides of the central control unit; each mechanical component includes multiple mechanical arms, mechanical hands and multiple mechanical joints; the multiple mechanical arms are connected to the central control unit through multiple mechanical joints, and the multiple mechanical arms are connected to the mechanical hands through multiple mechanical joints; a magnetic sensor array is arranged on each mechanical hand; the magnetic field excitation coil is arranged on the central control unit; the central control unit is used to receive a first instruction, and control the magnetic field excitation coil to excite the magnetic field based on the first instruction so that the pipeline generates an electromagnetic signal; it is also used to receive a second instruction, and control the mechanical arm to open based on the second instruction so that the mechanical hand is placed on the pipeline; it is also used to receive a second instruction, and control the mechanical arm to open based on the second instruction so that the mechanical hand is placed on the pipeline; it is also used to receive a second instruction Three instructions, based on the third instruction, control the manipulator to close its fingers so that the magnetic sensor array fits on the pipeline; the magnetic sensor array is used to detect the electromagnetic signal of the pipeline to detect the pipeline; in this way, the magnetic sensor array of the pipeline detection device can fit the pipeline more closely, and has a better collection effect on the magnetic eddy current data of the pipeline; and, since the structure of the manipulator and the manipulator is simple, the mechanical transmission energy consumption is low; and since the manipulator and the manipulator can form an openable and closable mechanical claw-like structure, the pipeline detection device can be suitable for pipeline detection of different sizes; and it can realize detection of different parts on both sides of the pipeline, thereby improving the accuracy of detection; and each manipulator is connected to the central control unit through multiple manipulators, which can ensure that the manipulator and the central control unit are stably connected to prevent the loss of the magnetic sensor array.

[0092] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps recorded in this disclosure can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution disclosed in this application can be achieved, and this document is not limited here.

[0093] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0094] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A pipeline detection device, characterized in that: include: A central control unit, at least one magnetic field excitation coil, a plurality of magnetic sensor arrays, and a plurality of mechanical components; A plurality of the mechanical components are arranged on both sides of the central control unit; each of the mechanical components includes a plurality of mechanical arms, a mechanical hand and a plurality of mechanical joints; A plurality of the mechanical arms are connected to the central control unit via a plurality of the mechanical joints, and a plurality of the mechanical arms are connected to the manipulator via a plurality of the mechanical joints; and a magnetic sensor array is arranged on each of the manipulators; The magnetic field excitation coil is arranged on the central control unit; The central control unit is used to receive a first instruction, and based on the first instruction, control the magnetic field excitation coil to excite the magnetic field so that the pipeline generates an electromagnetic signal; it is also used to receive a second instruction, and based on the second instruction, control the mechanical arm to open so that the mechanical hand is placed on the pipeline; it is also used to receive a third instruction, and based on the third instruction, control the mechanical hand to close its fingers so that the magnetic sensor array fits on the pipeline; The magnetic sensor array is used to detect the electromagnetic signal of the pipeline to detect the pipeline.

2. The pipeline detection device according to claim 1, characterized in that: The central control unit includes a central control module, a first control module and a second control module; The central control module is arranged on the first surfaces of the first control module and the second control module, and the first control module and the second control module are connected by an elastic connecting component; the plurality of mechanical components are arranged on both sides of the first control module and the second control module; The central control module is used to receive the first instruction, the second instruction and the third instruction, and send the first instruction, the second instruction and the third instruction to the first control module and the second control module; The first control module and the second control module are used to control the magnetic field excitation coil to excite the magnetic field based on the first instruction so that the pipeline generates an electromagnetic signal; control the robotic arm to open based on the second instruction so that the robotic arm is placed on the pipeline; and control the robotic arm to retract its fingers based on the third instruction so that the magnetic sensor array fits onto the pipeline.

3. The pipeline detection device according to claim 2, characterized in that: Also includes: Two rotating shafts are respectively arranged on the first control module and the second control module, one of the rotating shafts is used to connect the first control module and the central control module, and the other rotating shaft is used to connect the second control module and the central control module.

4. The pipeline detection device according to claim 2, characterized in that: There are a plurality of magnetic field excitation coils, and the plurality of magnetic field excitation coils are arranged on the second surfaces of the first control module and the second control module.

5. The pipeline detection device according to claim 1, characterized in that: Also includes: Multiple filter circuit modules; Each of the filter circuit modules is disposed on one of the manipulators, and the filter circuit module is connected to the magnetic sensor array and is used to filter the pipeline electromagnetic signal detected by the magnetic sensor array.

6. The pipeline detection device according to claim 1, characterized in that: Also includes: The connection module is used for connecting with an external mobile device.

7. The pipeline detection device according to claim 1, characterized in that: The central control unit is also used to store the electromagnetic signal of the pipeline.

8. An electronic device, characterized in that: include: The pipeline detection device according to any one of claims 1 to 7; as well as Mobile robots; The mobile robot is connected to the pipeline detection device and is used to drive the pipeline detection device to move.

9. The electronic device according to claim 8, characterized in that: The mobile robot is also used to send a first instruction, a second instruction and a third instruction to the pipeline detection device.

10. A pipeline detection method, characterized in that: For use in a pipeline detection device according to any one of claims 1 to 7, the method comprises: Obtaining a first instruction, and controlling the magnetic field excitation coil to excite the magnetic field based on the first instruction, so that the pipeline generates an electromagnetic signal; Obtaining a second instruction, and controlling the robot arm to open based on the second instruction so that the robot arm is placed on the pipeline; Obtaining a third instruction, and based on the third instruction, controlling the manipulator to close its fingers so that the magnetic sensor array fits on the pipeline; The electromagnetic signal of the pipeline is detected by the magnetic sensor array.

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