Elastic pressing type double-probe rotation detection device in pipeline

Abstract

The invention provides an elastic pressing type double-probe rotation detection device in a pipeline, and belongs to the technical field of pipeline detection. The detection assembly is rotatably arranged on the base; the detection assembly comprises two groups of probes respectively arranged at two opposite ends, and the probes are configured to detect the inner wall of the pipeline when being close to the inner wall of the to-be-detected pipeline. According to the elastic pressing type double-probe rotary detection device in the pipeline, the passive source weak magnetic detection probe and the active source excitation magnetic detection probe are integrated, so that full-coverage detection and accurate analysis of stress concentration and defects of the inner wall of the pipeline can be realized. A spring system designed by the robot enables the probe to automatically adjust the position and the angle according to different pipe diameters, constant contact pressure between the probe and the surface of the pipeline is ensured, and adaptability and flexibility are enhanced.

Description

Technical Field

[0001] The invention belongs to the technical field of pipeline detection, and in particular relates to a spring-loaded dual-probe rotating detection device in a pipeline. Background Art

[0002] The rapid development of modern cities has led to the rapid development of urban underground pipelines, which have become an important foundation for urban operations and the production and life of citizens. However, the complex underground environment and the medium in the pipes will have an adverse effect on the pipelines. If a pipeline fails, it will usually cause huge economic losses and even threaten people's lives and property safety. Therefore, ensuring the safe operation of urban underground pipelines has become an important part of urban management. Using robots to replace workers to enter narrow and complex underground pipelines and complete the inspection and maintenance of underground pipelines is an important means of urban pipeline maintenance. The research on underground pipeline inspection robots has obvious social benefits and great scientific value, and is increasingly valued by countries around the world.

[0003] Current world existing technologies:

[0004] Hanyang University in South Korea proposed a modular R-Track magnetic robot that can move on metal surfaces by installing rubidium magnets on the robot tracks. The robot uses magnetism to adsorb to the inner wall of the metal pipe, has a strong load capacity, and can move straight and turn on the magnetic wall. Simon Bolivar University has researched and designed a six-legged wall-climbing robot REST. The REST robot uses magnetic adsorption to provide the robot with gripping force when crawling on the wall. When crawling on the magnetic wall, the adsorption force is large, and it has a strong load capacity. The robot crawls stably and can move straight and turn on the magnetic wall.

[0005] However, in actual situations, domestic and foreign scholars have conducted corresponding research on the models and mechanisms of underground pipeline inspection robots and related inspection technologies, and have made phased progress. However, there is little research on intelligent non-destructive testing technology. When adding sensors to detect defects, there is a lack of research on fully automated and fully covered inspections during the robot's advancement. Existing pipeline robots are usually equipped with a variety of sensors (such as cameras, ultrasound, magnetism, etc.), but the number and arrangement of sensors are not flexible enough. When faced with variable pipe diameters and complex pipeline structures, sensors need to be constantly replaced and adjusted, which reduces the inspection efficiency and intelligence level. Existing pipeline robots cannot achieve full coverage inspection of the inner wall of the pipeline, and are prone to missing defects, especially in certain specific areas of the inner wall of the pipeline. In addition, the existing detection methods and sensor arrangements cannot ensure comprehensive inspection of all locations where defects may exist, which may cause potential problems to be ignored. Summary of the invention

[0006] The invention provides a pipeline spring-pressed dual-probe rotation detection device, which can effectively improve the detection performance.

[0007] The present invention is achieved through the following technical solutions:

[0008] The present invention provides a pipeline elastic pressure type double-probe rotating detection device, comprising: a base; a detection component, the detection component is rotatably arranged on the base; the detection component comprises two groups of probes respectively arranged at opposite ends, and the probes are configured to detect the inner wall of the pipeline when approaching the inner wall of the pipeline to be detected.

[0009] In some of the embodiments, the detection assembly further includes a telescopic member, and the two sets of probes are respectively disposed at opposite ends of the telescopic member in a telescopic adjustment direction.

[0010] In some of the embodiments, the detection component also includes a sensing member, which is communicatively connected with the telescopic member; the sensing member is arranged between the two groups of probes to sense the pressure given by the two groups of probes; and when it is sensed that the pressure given by the two groups of probes is within a preset range, the telescopic member is controlled to adjust the distance between the two groups of probes.

[0011] In some of the embodiments, the sensing element is a pressure sensor, and the telescopic element is a telescopic rod; the pressure sensor is disposed in the telescopic rod and connected to two sets of probes; the two sets of probes are respectively connected to opposite ends of the telescopic rod.

[0012] In some of the embodiments, the base includes a moving assembly, and the moving assembly includes a moving wheel and a driving source for driving the moving wheel.

[0013] In some of the embodiments, the driving source is a stepper motor or a servo motor.

[0014] In some of the embodiments, an obstacle avoidance component is provided on the base, and the obstacle avoidance component is configured to change the moving path of the base when a preset obstacle is detected in the moving direction of the detection device.

[0015] In some embodiments, when the obstacle avoidance component detects that there is a preset obstacle in the moving direction of the detection device, changing the moving path of the base includes the following steps:

[0016] S10, when an obstacle is detected ahead of the moving direction, capturing an image of the obstacle;

[0017] S20, determining a first area where an obstacle is located and a second area where no obstacle is located based on the obstacle image;

[0018] S30, determining whether the second area can support the detection device to pass through;

[0019] S40, when it is determined that the second area can support the detection device to pass through, obtaining the passing posture of the base;

[0020] S50, rotating the telescopic rod so that the base can achieve a passing posture;

[0021] S60, extending the telescopic rod so that the telescopic rod can support the base to continue to move in the extension direction of the pipeline at any area on the pipe wall;

[0022] S70, controlling the base to move forward in the extending direction of the pipeline.

[0023] In some of the embodiments, a camera and a control component are provided on the base, and the control component is communicatively connected with the mobile component and / or the detection component; the control component is configured to control one or more of the start and stop of the detection component, the rotation of the detection component, the distance adjustment between the two sets of probes, the start and close of the camera, and the movement of the mobile component.

[0024] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0025] The pipeline internal elastic pressure type double-probe rotating detection device of the present invention can achieve full coverage detection and accurate analysis of stress concentration and defects on the inner wall of the pipeline by integrating a passive source weak magnetic detection probe and an active source excitation magnetic detection probe.

[0026] The spring system designed by the robot enables the probe to automatically adjust its position and angle according to different pipe diameters, ensuring that the probe maintains a constant contact pressure with the pipe surface, enhancing adaptability and flexibility.

[0027] High-precision stepper motors or servo motors are used as the driving source, and the rotation speed and position are monitored and adjusted in real time through a closed-loop control system to ensure the smoothness and synchronization of rotation.

[0028] The car is equipped with high-definition cameras and obstacle avoidance sensors, which realize intelligent obstacle avoidance function, automatically adapt to various pipeline environments, and reduce the complexity of manual operation.

[0029] The probe mounting frame is designed as an adjustable structure, which facilitates the rapid installation and adjustment of the probe and reduces the cost of equipment maintenance and replacement.

[0030] In summary, the spring-loaded dual-probe rotating inspection robot of the present invention not only solves the problems of the prior art, but also helps to improve the intelligence level and practical application value of underground pipeline inspection. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0032] Figure 1 A schematic diagram of the structure of a spring-loaded dual-probe rotation detection device in a pipeline provided by some embodiments of the present invention;

[0033] Figure 2 A schematic diagram of the structure of a spring-loaded dual-probe rotation detection device in a pipeline provided by other embodiments of the present invention;

[0034] Figure 3 This is a schematic structural diagram of a spring-loaded dual-probe rotation detection device in a pipeline provided in some embodiments of the present invention.

[0035] in:

[0036] 10. Base; 101. Camera; 20. Detection component; 201. Probe; 202. Telescopic part; 203. Spring; 204. Lifting component; 205. Rotating axis; 30. Cable; 40. Cable collecting component. DETAILED DESCRIPTION

[0037] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments.

[0038] In the description of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. used to indicate the orientation or position relationship are based on the orientation or position relationship shown in the accompanying drawings, or are the orientation or position relationship where the product of the invention is usually placed when used. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0039] In addition, if the terms "horizontal" or "vertical" appear in the description of the present invention, it does not mean that the components are required to be absolutely horizontal or suspended, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0040] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0041] The terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or device that includes a series of steps or modules is not limited to the listed steps or modules, but may optionally include steps or modules that are not listed, or may optionally include other steps or modules that are inherent to these processes, methods, products, or devices.

[0042] The embodiment of the present invention provides a pipeline spring-pressed dual-probe rotation detection device, please refer to Figures 1 to 3 , including a base 10 and a detection assembly 20. The detection assembly 20 is rotatably disposed on the base 10. The detection assembly 20 may specifically include two sets of probes 201, each set of probes 201 being used to detect a side of the pipeline close to the probe 201, and the side of the pipeline close to the probe 201 refers to an area close to the probe 201 and capable of being detected by the probe 201. The two sets of probes 201 are respectively disposed at both ends of the detection assembly 20 body.

[0043] Through the above configuration, the two sets of probes 201 are arranged at opposite ends of the rotatable detection component 20 body, which can cover all areas to be detected on the inner wall of the pipeline during the detection process of the inner wall of the pipeline, thereby improving the detection performance.

[0044] In some examples, the two sets of probes 201 can be respectively configured as a passive source weak magnetic detection component and an active source excitation magnetic detection component. The passive source weak magnetic detection component is mainly used to detect stress concentration on the inner wall of the pipeline. The active source excitation magnetic detection component is mainly used to detect cracks and corrosion defects.

[0045] In some of the embodiments, the detection assembly 20 further includes a telescopic member 202 , and the two groups of probes 201 are respectively disposed on opposite sides of the telescopic member 202 in the direction in which the telescopic member 202 can be telescopically adjusted.

[0046] Through the above arrangement, the telescopic member 202 can support the distance between at least one set of probes 201 and the inner wall of the pipeline to be detected. Through the arrangement of the telescopic member 202, the detection device can be moved in the pipeline with adjustable size. On the other hand, by adjusting the distance between the probe 201 and the inner wall of the pipeline to be detected close to it in its extension direction, the probe 201 can maintain a more appropriate distance from the inner wall of the pipeline to be detected, thereby improving the detection performance. In addition, the telescopic member 202 can also enable the detection device to adapt to pipeline detection of various pipe diameters, thereby improving the adaptability of the detection device.

[0047] In some embodiments, the detection assembly 20 further includes a sensing member, which is in communication with the telescopic member 202. The sensing member is disposed between the two sets of probes 201, and is used to sense the pressure given by the two sets of probes 201. When the sensing member senses that the pressure given by the two sets of probes 201 is within a preset range, the telescopic member 202 is controlled to adjust the distance between the two sets of probes 201.

[0048] In the above embodiment, the sensing element senses the pressure given by the two sets of probes 201, and can detect the pressure value between any set of probes 201 and the inner wall of the pipeline to be detected, and by presetting the pressure value range in advance, the telescopic element 202 is controlled to adjust the distance between the two sets of probes 201, thereby adjusting the pressure value between the two sets of probes 201 and the inner wall of the pipeline to be detected. By adjusting the pressure value between the two sets of probes 201 and the inner wall of the pipeline to be detected, the friction between the probes 201 and the inner wall of the pipeline can be adjusted first, so that the detection device can move more easily on the inner wall of the pipeline. On the other hand, it can also enable the probe 201 to maintain a more appropriate distance from the inner wall of the pipeline to be detected, thereby improving the detection performance. In addition, when the sensing element senses the pressure given by the two sets of probes 201, it can determine the pressure value given by the detection device to the inner wall of the pipeline, and can realize the detection device to perform full coverage detection in a lightweight manner, avoiding the situation where the pipeline is closed and damaged due to excessive pressure on the inner wall of the pipeline.

[0049] In some embodiments, the sensing element is a pressure sensor, and the telescopic element 202 is a telescopic rod. The pressure sensor is disposed in the telescopic rod and connected to the two sets of probes 201 to sense the pressure value between the two sets of probes 201. The two sets of probes 201 are respectively connected to the opposite ends of the telescopic rod. Through this arrangement, the telescopic rod can be extended or shortened to adjust the distance between the two sets of probes 201.

[0050] In some embodiments, the base 10 includes a moving assembly. The moving assembly includes a moving wheel and a driving source for driving the moving wheel. By opening and closing the driving source, the moving wheel is driven, thereby realizing the movement of the entire detection device.

[0051] In some of the embodiments, the driving source may be a stepper motor or a servo motor.

[0052] In some embodiments, an obstacle avoidance component is provided on the base 10, and the obstacle avoidance component is used to change the moving path of the base 10 when a preset obstacle is detected in the moving direction of the detection device. The preset obstacle is determined according to the size of the obstacle. When the obstacle exceeds a certain size or exceeds a certain length in any direction, it is determined to be an obstacle. In different application scenarios, the preset size of the obstacle may be different depending on the size of the inner diameter of the pipeline, the type of the base 10 and the moving wheel.

[0053] In some embodiments, the obstacle avoidance component detects a preset obstacle in the moving direction of the detection device, and changes the moving path of the base 10 include the following steps:

[0054] S10, when an obstacle is detected ahead of the moving direction, an image of the obstacle is captured. In S10, the image of the obstacle captured is mainly an image captured outward based on the location of the detection device.

[0055] S20, based on the obstacle image, determine a first area where the obstacle is located and a second area where there is no obstacle. In S20, the first area and the second area can be distinguished by image binarization. In a specific application scenario, when the light on the inner wall of the pipeline is dark, a lighting component can be set to assist.

[0056] S30: Determine whether the second area can support the detection device to pass through.

[0057] S40, when it is determined that the second area can support the detection device to pass through, the passing posture of the base 10 is obtained. In S40, with the cross section in the extension direction of the pipeline as a reference, the passing posture of the base 10 refers to the position of the base 10 contacting the inner wall of the pipeline on the cross section. Specifically, with the direction of gravity as a reference, the detection device first adjusts the passing posture of the base 10 below the inner wall of the pipeline, so that the detection device can move along the inner wall of the pipeline, reach the side of the inner wall of the pipeline, or the top of the pipeline, and use the posture at this time as the passing posture of the base 10.

[0058] S50, rotating the telescopic rod to enable the base 10 to achieve a passing posture. In S50, the telescopic rod is rotated to prevent the telescopic rod from blocking the base 10, thereby enabling the detection device to move along the inner wall of the pipeline to reach the side of the inner wall of the pipeline, or even the top of the pipeline.

[0059] S60, extend the telescopic rod so that the telescopic rod can support the base 10 to continue to move in the direction of the extension of the pipeline in any area on the pipeline. In S60, generally speaking, when the base 10 moves to the side or top of the inner wall of the pipeline, the base 10 will fall to the bottom under the action of gravity. When the telescopic rod is extended, the opposite sides of the telescopic rod can contact the inner wall of the pipeline, and force is applied so that the base 10 will not fall to the bottom when it is on the side or top of the inner wall of the pipeline. At this time, the telescopic rod no longer rotates. Driven by the moving component of the base 10, the telescopic rod follows and moves in the direction of the extension of the pipeline. Until the current obstacle is passed, the telescopic rod is controlled to rotate. This process can be controlled manually by remote control or automatically by program.

[0060] S70, controlling the base 10 to move forward in the extending direction of the pipeline.

[0061] In some embodiments, a camera 101 and a control component are provided on the base 10, and the control component is connected in communication with the mobile component and / or the detection component 20; the control component is configured to control one or more of the start and stop of the detection component 20, the rotation of the detection component 20, the distance adjustment between the two sets of probes 201, the start and close of the camera 101, and the movement of the mobile component. Through this setting, the camera 101 can detect the image of the inner wall of the pipeline. The control component is connected in communication with at least one of the mobile component and the detection component 20. The control component realizes the start and stop of the detection component 20, the rotation of the detection component 20, the distance adjustment between the two sets of probes 201, the start and close of the camera 101, the movement of the mobile component, and the like. The control component can be controlled by a program or by remote control.

[0062] In some embodiments, a magnetic component may be provided on the base 10, and the base 10 may be adsorbed on the inner wall of the pipe through the magnetic component. In some application scenarios, the magnetic component may support the base 10 to move on the side or even the top surface of the inner wall of the pipe, which may be used as a way for the detection device to avoid obstacles. At the same time, it may also enable the detection device to climb and descend stably in a curved pipe environment.

[0063] In some of the embodiments, the detection device may use a mobile power source.

[0064] In some other embodiments, the detection device may also be in the form of a power cord. When the power cord is used, data transmission can be achieved by setting a data cord, and then assembling the data cord and the power cord to form an integral cable 30, and a cable collection component 40 may be provided at the other end of the cable 30. This arrangement can effectively avoid the situation where the wireless signal is shielded in the pipeline.

[0065] In some embodiments, the detection assembly 20 may further include a lifting assembly 204. By adjusting the lifting assembly 204, the distance between any probe in the two sets of probes 201 on both sides and the inner wall of the pipeline can be adjusted.

[0066] Overall layout:

[0067] like Figure 2 The rotating device includes a main shaft, a probe mounting frame, a drive system and a support structure. The main shaft is located at the center of the device and realizes rotational motion through the drive system. The probe mounting frame is fixed on the main shaft and is used to install the passive source weak magnetic detection component and the active source excitation magnetic detection component.

[0068] Rotary drive system:

[0069] A high-precision stepper motor or servo motor can be used as a driving source to provide stable and controllable rotational motion. A precision gear or belt drive system is used to transmit the motor's rotational motion to the spindle to ensure smooth and uniform rotation. A closed-loop control system is equipped to monitor the rotation speed and position in real time through sensors, adjust the motor output, and ensure rotation accuracy and synchronization. The detection component 20 completes its rotation through the rotating shaft 205.

[0070] Installation of probe 201:

[0071] The probe mounting frame is designed as an adjustable structure, allowing the position and angle of the probe 201 to be adjusted according to the diameter and surface shape of the object to be measured. A slide rail and a locking mechanism can be used to facilitate the rapid installation and adjustment of the probe 201. The probe 201 is fixed with a buckle or a bolt to ensure that the probe 201 is stable and does not shift during the rotation process, and it is convenient for the replacement and maintenance of the probe 201.

[0072] Spring system:

[0073] An embedded spring system can be designed on the rotating spindle, using a high-strength compression spring 203 to provide an adjustable contact pressure. The elastic force of the compression spring 203 is controlled by an adjusting nut. Spring seats are designed at both ends of the mounting frame to fix one end of the compression spring 203, such as Figure 3As shown, the other end of the spring 203 is connected to the telescopic rod, and the movement of the two probes 201 is driven by the extension and retraction of the telescopic rod, so that the probe 201 can move with the compression and release of the spring 203. An adjusting nut is designed on the spring seat, and the compression degree of the compression spring 203 can be adjusted by rotating the nut, thereby controlling the contact pressure between the probe 201 and the surface of the object to be measured. The spring system has a telescopic function, and can automatically adjust the position and angle of the probe 201 according to different pipe diameters to ensure that the probe 201 maintains a constant contact pressure with the inner surface of the pipe. A sliding mechanism is designed on the probe mounting frame to allow the probe 201 to move freely on pipes of different diameters. The sliding mechanism is linked with the spring system to realize automatic adjustment of the position of the probe 201.

[0074] Dual probe detection system:

[0075] The dual-probe detection system is supported by a spring system, and telescopic guide tubes are installed at both ends of the spring 203 to adjust the passive source weak magnetic detection component and the active source excitation magnetic detection component so that it can adapt to pipes of various diameters. The passive source weak magnetic detection component is used to detect the stress concentration of the pipe wall, and the location of the stress concentration area is determined by detecting the weak magnetic signal of the pipeline material. Its working principle is that the probe 201 receives the weak magnetic signal naturally existing in the pipe wall, and determines the location of the stress concentration area by analyzing the intensity and distribution of the signal. The active source excitation magnetic detection component is used to detect cracks and corrosion defects in the pipe wall. Its working principle is to apply an alternating current excitation to the object to be inspected, and use a magnetic sensor to collect the induced magnetic field generated by the defect, and then identify and determine the defect. By integrating passive source and active source magnetic detection technology, the dual-probe detection system can realize comprehensive detection of defects on the inner wall of the pipeline, provide high-precision detection data and detailed defect analysis, and greatly improve the accuracy and efficiency of detection.

[0076] The above description is only a preferred embodiment of the present invention and does not constitute any limitation to the present invention. Any simple modification or equivalent changes made to the above embodiments based on the technical essence of the present invention shall fall within the protection scope of the present invention.

Claims

1. A spring-loaded dual-probe rotation detection device in a pipeline, characterized in that: include: Pedestal; The detection component is rotatably arranged on the base; the detection component includes two sets of probes respectively arranged at two opposite ends, and the probes are configured to detect the inner wall of the pipeline when approaching the inner wall of the pipeline to be detected.

2. The pipeline spring-loaded dual-probe rotation detection device according to claim 1 is characterized in that: The detection component also includes a telescopic member, and the two groups of probes are respectively arranged at opposite ends of the telescopic member in the telescopic adjustment direction.

3. The pipeline spring-loaded dual-probe rotation detection device according to claim 2 is characterized in that: The detection component also includes a sensing component, which is communicatively connected with the telescopic component; the sensing component is arranged between the two groups of probes to sense the pressure given by the two groups of probes; and when it is sensed that the pressure given by the two groups of probes is within a preset range, the telescopic component is controlled to adjust the distance between the two groups of probes.

4. The pipeline spring-loaded dual-probe rotation detection device according to claim 3 is characterized in that: The sensing element is a pressure sensor, and the telescopic element is a telescopic rod; the pressure sensor is arranged in the telescopic rod and connected to the two groups of probes; the two groups of probes are respectively connected to the opposite ends of the telescopic rod.

5. The pipeline spring-loaded dual-probe rotation detection device according to claim 4 is characterized in that: The base includes a moving assembly, and the moving assembly includes a moving wheel and a driving source for driving the moving wheel.

6. The pipeline spring-loaded dual-probe rotation detection device according to claim 5, characterized in that: The driving source is a stepping motor or a servo motor.

7. The pipeline spring-loaded dual-probe rotation detection device according to claim 5, characterized in that: An obstacle avoidance component is provided on the base, and the obstacle avoidance component is configured to change the moving path of the base when a preset obstacle is detected in the moving direction of the detection device.

8. The pipeline spring-loaded dual-probe rotation detection device according to claim 7, characterized in that: When the obstacle avoidance component detects that there is a preset obstacle in the moving direction of the detection device, changing the moving path of the base includes the following steps: S10, when an obstacle is detected ahead of the moving direction, capturing an image of the obstacle; S20, determining a first area where an obstacle is located and a second area where no obstacle is located based on the obstacle image; S30, determining whether the second area can support the detection device to pass through; S40, when it is determined that the second area can support the detection device to pass through, obtaining the passing posture of the base; S50, rotating the telescopic rod so that the base can achieve a passing posture; S60, extending the telescopic rod so that the telescopic rod can support the base to continue to move in the extension direction of the pipeline at any area on the pipe wall; S70, controlling the base to move forward in the extending direction of the pipeline.

9. The pipeline spring-loaded dual-probe rotation detection device according to claim 5, characterized in that: A camera and a control component are provided on the base, and the control component is communicatively connected with the mobile component and / or the detection component; the control component is configured to control one or more of the start and stop of the detection component, the rotation of the detection component, the distance adjustment between the two groups of probes, the start and close of the camera, and the movement of the mobile component.

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