Fractured pipeline inner wall detection device and detection method

Abstract

The invention relates to the technical field of pipeline detection, in particular to a fractured pipeline inner wall detection device and method.The fractured pipeline inner wall detection device comprises an upper computer and a crawling robot connected with the upper computer, and the crawling robot comprises a mounting base, a first driving assembly, a second driving assembly, a supporting assembly, a laser receiver, a laser transmitter, an image acquisition module and a control unit. The device is reasonable and compact in structure and convenient to use, the first driving assembly and the supporting assembly can enable the crawling robot to advance or hover in a detected pipeline, the laser transmitter and the laser receiver can measure the thickness of multiple detected points on the inner wall of the detected pipeline, and the detection accuracy is improved. The image acquisition module can shoot image information of the inner wall of the detected pipeline in real time, assists on-site operators in observing the quality of the inner wall of the detected pipeline, obtains a change diagram of abrasion of a rubber layer in the detected pipeline, and can predict the abrasion trend of the rubber layer of the detected pipeline in combination with on-site use construction data of the flexible fracturing pipeline.

Description

Technical Field

[0001] The invention relates to the technical field of pipeline detection, and relates to a device and a method for detecting the inner wall of a fracturing pipeline. Background Art

[0002] With the large-scale development of unconventional oil and gas reservoirs, cluster well volume fracturing has become the new normal for reservoir transformation. With the increasing scale of fracturing construction, due to the limitations of the well site and construction scale, the operation site needs to connect multiple rigid high-pressure pipelines to complete the layout and connection of the fracturing manifold. Especially at the cluster well operation site, the economy and timeliness of the manifold connection have seriously restricted the speed and efficiency of fracturing construction. The use of a large number of high-pressure pipe valves has led to an increase in the cost of fracturing construction; the complex high-pressure pipelines make it easy for operators to make mistakes when switching gates, resulting in construction quality accidents; the numerous high-pressure pipeline connection points also bring a higher risk of pipeline high-pressure puncture leakage; at the same time, the increase in pipeline connection time and pipeline layout space has also increased the difficulty of fracturing construction site layout and operation. Normally, the bending stiffness of a hose is much lower than its tensile stiffness. Under the same pressure conditions, the curvature radius of a hose is smaller than that of an ordinary homogeneous steel pipe. At the same time, due to its special structure, it has special properties superior to other conventional rigid pipes. Flexible fracturing pipelines are used to replace rigid high-pressure pipelines in fracturing construction. Their excellent bending properties and processing length that are not limited by materials can fully meet the efficient, fast and diversified connection requirements of different well sites. At the same time, since there is no need for rigid elbows for connection, when large-diameter flexible pipes are used to replace rigid high-pressure pipelines for fracturing construction, it can not only fully meet the requirements of the construction scale of the fracturing site, but also greatly reduce the number of high-pressure pipe valves used, thereby reducing the labor intensity of personnel.

[0003] As a new type of fracturing pipeline, flexible fracturing pipeline can significantly reduce the number of connections of pipelines at the fracturing site due to its flexible connection characteristics, reducing the number of connection points by more than 60%, and can effectively improve the efficiency of pipeline connection during fracturing operations. However, flexible fracturing pipelines also have many problems. For example, the pressure bearing capacity of flexible fracturing pipelines is not as good as that of rigid pipes, flexible hoses are prone to corrosion and wear, have a short service life, and are difficult to detect wear conditions.

[0004] Compared with the rigid fracturing manifold, the flexible fracturing manifold has four advantages: simplifying the layout of the fracturing pipeline, reducing the difficulty of pipeline assembly and disassembly, reducing the installation prestress and adopting a streamlined pipeline layout. It can effectively improve the operation efficiency and reduce the labor intensity. The flexible fracturing manifold system can effectively realize the safe, fast and efficient connection of the high-pressure manifold at the fracturing construction site. So far, the flexible fracturing manifold system has been constructed in 20 wells and 421 layers in Dagang Oilfield, Xinjiang Oilfield, Changqing Oilfield and Daqing Oilfield. Field applications show that compared with the traditional rigid high-pressure pipeline connection, when the flexible fracturing manifold is used for connection, the number of high-pressure pipe fittings used is only 1 / 3 of the conventional union connection, the number of on-site connection points is reduced by 60%, and the pipeline connection time is reduced by 50%. All performance indicators meet the requirements of fracturing construction, and the effect of improving quality and efficiency is significant.

[0005] At present, there is no testing process for the production of flexible fracturing manifolds for field use. When working, high-pressure manifolds are often under high pressure, corrosive fluid corrosion and huge tensile stress, so they are very susceptible to erosion defects. Regular non-destructive testing of manifold erosion is an important means to ensure the safe operation of high-pressure manifolds.

[0006] At present, there are two main methods for testing flexible fracturing manifolds: static pressure test and appearance inspection. The main purpose of the static pressure test is to test whether the fracturing manifold can still maintain its good sealing under the working pressure, to ensure that the manifold has sufficient strength to continue working. However, with the continuous use of the manifold, the wear degree of the inner rubber layer of the manifold and the deformation of the pressure-bearing skeleton layer cannot be effectively detected by the existing detection methods. Summary of the invention

[0007] The present invention provides a fracturing pipe inner wall detection device and detection method, which overcomes the shortcomings of the above-mentioned prior art and can effectively solve the problem that the existing flexible fracturing manifold detection method cannot effectively detect the wear degree of the inner rubber layer of the manifold and the deformation of the pressure-bearing skeleton layer.

[0008] One of the technical solutions of the present invention is achieved through the following measures: a fracturing pipe inner wall detection device, including a host computer and a crawling robot connected to the host computer, the crawling robot including a mounting seat, a first drive component, a second drive component, a support component, a laser receiver, a laser transmitter, an image acquisition module and a control unit, a first drive component for driving the mounting seat to move along the length direction in the inspected pipe is provided at the left end of the mounting seat, a fixed seat is provided on the outer side of the middle part of the mounting seat, a laser receiver and a laser transmitter are provided on the left and right sides of the outer side of the fixed seat, a second drive component capable of driving the fixed seat to rotate in the longitudinal section of the inspected pipe is provided on the outer side of the right part of the mounting seat, a support component capable of supporting the right end of the mounting seat is provided on the right end of the mounting seat, an image acquisition module for collecting image information of the inner wall of the inspected pipe is provided on the right end of the support component, a control unit is provided on the inner side of the left part of the mounting seat, the first drive component, the second drive component, the laser receiver, the laser transmitter, and the image acquisition module are all connected to the control unit, and the control unit is connected to the host computer.

[0009] The following is a further optimization and / or improvement of one of the above-mentioned technical solutions: The above-mentioned first driving assembly may include a mounting plate, a first servo motor and a driving wheel. A plurality of L-shaped mounting plates are evenly spaced along the circumference on the outer side of the left end of the mounting seat. A first servo motor is installed on the left part of each mounting plate. A driving wheel is fixedly installed on the outer side of the output shaft end of each first servo motor. When the driving wheel rotates, the mounting seat can move along the length direction in the inspected pipeline. Each first servo motor is connected to the control unit.

[0010] The above-mentioned support assembly may include a support seat, a support frame, a support wheel and an elastic reset member. A support seat is provided on the right side of the mounting seat, and a support frame is fixedly installed on the outer side of the left part of the support seat corresponding to each mounting plate position. A support wheel corresponding to the driving wheel is rotatably installed on the support frame. The image acquisition module is fixedly installed on the right end of the support seat, and a number of elastic reset members are distributed along the circumference between the left end of the support seat and the right end of the mounting seat.

[0011] The above-mentioned image acquisition module is a CCD image sensor.

[0012] The above-mentioned second drive assembly may include a second servo motor, a driving gear and a ring gear. The second servo motor is fixedly installed on the front side of the right part of the mounting seat, the driving gear is fixedly installed on the outer side of the right part of the output shaft of the second servo motor, and a ring gear is rotatably installed on the outer side of the right end of the mounting seat on the inner side of the left part and meshing with the driving gear. The right side of the fixed seat and the left end of the ring gear are fixedly installed together, and the second servo motor is connected to the control unit.

[0013] A light-transmitting protective cover which is sleeved on the outside of the laser receiver and the laser transmitter can be fixedly mounted on the outside of the mounting seat.

[0014] The second technical solution of the present invention is achieved by the following measures: a detection method, comprising the following steps: Step 1: Install the crawling robot into the inner side of the pipeline to be inspected; Step 2: Setting the detection parameters through the host computer; Step 3: After the first servo motor starts working, it drives the crawling robot to move in the inspected pipeline. The laser receiver receives the laser signal emitted by the laser transmitter to multiple measuring points on the inner wall of the inspected pipeline and uploads it to the control unit. The control unit processes the laser signal and uploads it to the host computer. Step 4: Observe the image information of the inner wall of the inspected pipeline through the image acquisition module transmitted back to the host computer via the control unit, and continuously control the operation of the first servo motor; Step 5: When the crawling robot reaches a predetermined detection distance, the first servo motor stops working, and the host computer saves the detected data; Step 6: After the first servo motor rotates in the direction, it drives the crawling robot to move in the opposite direction in the inspected pipeline until it reaches the entrance of the inspected pipeline.

[0015] The following is a further optimization and / or improvement of the second technical solution of the above invention: The above step three includes: after the first servo motor starts working, it drives the crawling robot to move in the inspected pipe, and the host computer continuously measures the inner wall of the inspected pipe according to the information of multiple measurement points obtained by the laser receiver, and calculates the ellipticity of the inner wall of the inspected pipe.

[0016] The calculation of the ovality of the inner wall of the inspected pipe in the above step 3 includes: Obtain a series of coordinate points along the spiral line on the inner wall of the inspected pipe ,That is the travel distance of the crawling robot, is the rotation angle of the laser transmitter, The horizontal axis, As the ordinate, bicubic interpolation is performed in the axial direction of the inspected pipeline to obtain the matrix ,in ,in is the horizontal length of the pipeline under inspection, is the length of the crawling robot, is the vertical distance between the outer side of the laser receiver and the central axis of the crawling robot, is the distance between the outer side of the laser emitter and the measurement point, and They are the minimum and maximum values ​​of the effective detection range of the laser receiver and laser transmitter respectively.

[0017] The detection parameters in the above step 2 include the traveling speed of the crawling robot and the acquisition parameters of the image acquisition module, and the acquisition parameters include the shooting resolution and the shooting frame rate.

[0018] The present invention has a reasonable and compact structure and is easy to use. The first driving component and the supporting component can enable the crawling robot to move or hover in the inspected pipeline. The laser transmitter and the laser receiver can measure the thickness of multiple measured points on the inner wall of the inspected pipeline. The image acquisition module can capture image information of the inner wall of the inspected pipeline in real time, assist on-site operators in observing the quality of the inner wall of the inspected pipeline, realize three-dimensional flattening comparison of the inspected flexible fracturing pipeline, obtain a change diagram of the wear of the rubber layer inside the inspected pipeline, and can predict the wear trend of the rubber layer of the inspected pipeline in combination with the on-site construction data of the flexible fracturing pipeline. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Attached Figure 1 This is a schematic diagram of the main structure of the first embodiment.

[0020] Attached Figure 2 This is a circuit block diagram of Embodiment 1.

[0021] The codes in the accompanying drawings are: 1 is a mounting seat, 2 is a laser receiver, 3 is a laser transmitter, 4 is an image acquisition module, 5 is a mounting plate, 6 is a first servo motor, 7 is a driving wheel, 8 is a supporting seat, 9 is a supporting frame, 10 is a supporting wheel, 11 is an elastic reset member, 12 is a gear ring, 13 is a fixed seat, and 14 is the inspected pipeline. DETAILED DESCRIPTION

[0022] The present invention is not limited by the following embodiments, and specific implementation methods can be determined based on the technical solution of the present invention and actual conditions.

[0023] In the present invention, for the convenience of description, the relative position relationship of each component is described according to the attached Figure 1 The positional relationships such as front, back, top, bottom, left, and right are described according to the layout directions of the drawings in the specification.

[0024] The present invention will be further described below in conjunction with embodiments and drawings: Embodiment 1: As shown in the attached Figure 1 , 2As shown, the fracturing pipe inner wall detection device includes a host computer and a crawling robot connected to the host computer, the crawling robot includes a mounting seat 1, a first driving component, a second driving component, a supporting component, a laser receiver 2, a laser transmitter 3, an image acquisition module 4 and a control unit, a first driving component for driving the mounting seat 1 to move along the length direction in the inspected pipe 14 is provided at the left end of the mounting seat 1, a fixed seat 13 is provided on the outer side of the middle part of the mounting seat 1, a laser receiver 2 and a laser transmitter 3 are provided on the left and right sides of the outer side of the fixed seat 13, a second driving component capable of driving the fixed seat 13 to rotate in the longitudinal section of the inspected pipe is provided on the outer side of the right part of the mounting seat 1, a supporting component capable of supporting the right end of the mounting seat 1 is provided on the right end of the mounting seat 1, an image acquisition module 4 for collecting image information of the inner wall of the inspected pipe 14 is provided on the right end of the supporting component, a control unit is provided on the inner side of the left part of the mounting seat 1, the first driving component, the second driving component, the laser receiver 2, the laser transmitter 3, and the image acquisition module 4 are all connected to the control unit, and the control unit is connected to the host computer.

[0025] According to the requirements, the laser receiver 2 and the laser transmitter 3 are existing well-known technologies, and the laser receiver 2 and the laser transmitter 3 constitute the existing well-known AR100 laser triangulation sensor, the control unit is the existing well-known PLC programmable controller, and the host computer is the existing well-known computer. During use, through such a setting, the first drive component and the support component can enable the crawling robot to move or hover in the inspected pipeline 14, the laser transmitter 3 and the laser receiver 2 can measure the thickness of multiple measured points on the inner wall of the inspected pipeline 14, and the image acquisition module 4 can capture the image information of the inner wall of the inspected pipeline 14 in real time, assisting the on-site operator to observe the quality of the inner wall of the inspected pipeline 14, and realize the three-dimensional flattening comparison of the inspected pipeline 14. The present invention has the characteristics of high inspection efficiency, convenient disassembly and assembly, low maintenance cost, and easy control and operation interaction. It is particularly suitable for the automated detection requirements of the scouring, corrosion and wear degree assessment of the inner rubber layer of the manifold of the flexible fracturing pipeline and the deformation degree measurement of the pressure-bearing skeleton layer.

[0026] The above-mentioned fracturing pipe inner wall detection device and detection method can be further optimized and / or improved according to actual needs: Embodiment 2: As an optimization of the above embodiment, as shown in the attached Figure 1 , 2 As shown, the first driving assembly includes a mounting plate 5, a first servo motor 6 and a driving wheel 7. A plurality of L-shaped mounting plates 5 are evenly spaced along the circumference on the outer side of the left end of the mounting seat 1. A first servo motor 6 is installed on the left part of each mounting plate 5. A driving wheel 7 is fixedly installed on the outer side of the output shaft end of each first servo motor 6. When the driving wheel 7 rotates, the mounting seat 1 can move along the length direction in the inspected pipe 14. Each first servo motor 6 is connected to the control unit.

[0027] According to the requirements, the first servo motor 6 is an existing well-known technology, such as a brushless DC servo motor. During use, through such a setting, the first servo motor 6 can make the crawling robot travel and hover in the inspected pipe 14, so as to obtain the inner wall information of the inspected pipe 14 through the laser receiver 2, the laser transmitter 3 and the image acquisition module 4, and the control unit calculates the rotation data of the output shaft of all the first servo motors 6, and can obtain the travel distance of the crawling robot in the inspected pipe 14.

[0028] Embodiment 3: As an optimization of the above embodiment, as shown in the attached Figure 1 As shown, the support assembly includes a support seat 8, a support frame 9, a support wheel 10 and an elastic reset member 11. A support seat 8 is provided on the right side of the mounting seat 1, and a support frame 9 is fixedly installed on the outer side of the left part of the support seat 8 corresponding to the position of each mounting plate 5. A support wheel 10 corresponding to the driving wheel 7 is rotatably installed on the support frame 9. The image acquisition module 4 is fixedly installed on the right end of the support seat 8, and a plurality of elastic reset members 11 are distributed along the circumference between the left end of the support seat 8 and the right end of the mounting seat 1.

[0029] According to the requirements, the outer side of the driving wheel 7 and the outer side of the supporting wheel 10 are provided with anti-skid patterns, and the elastic reset member 11 is a known technology, such as a compression spring, each compression spring is equipped with a connecting rod installed on the right end of the mounting seat 1 and the left end of the supporting seat 8, and the right end of the compression spring is against the left end of the supporting seat 8, so as to prevent the driving wheel 7 from continuing to rotate after the supporting wheel 10 is blocked by an obstacle, so that the supporting wheel 10 will impact the mounting seat 1 after crossing the obstacle, affecting the measurement accuracy. During use, through such a setting, the driving wheel 7 and the supporting wheel 10 can fit the inner wall of the inspected pipe 14 with a pipe diameter adaptation range of 130 to 180 mm, so that the crawling robot can flexibly move and hover in the inspected pipe 14, and by setting the elastic reset member 11, the crawling robot can move smoothly at the bend of the inspected pipe 14, thereby improving the efficiency of the detection operation.

[0030] Embodiment 4: As an optimization of the above embodiment, as shown in the attached Figure 1 As shown, the image acquisition module 4 is a CCD image sensor.

[0031] According to the requirements, the CCD image sensor is a known technology, the lens field of view of the CCD image sensor is 180°, the video recording resolution of the CCD image sensor is ≥2K, and the photo pixel is ≥5 million pixels. During use, through such a setting, a clear image and video information of the inner wall of the inspected pipe 14 can be obtained.

[0032] Embodiment 5: As an optimization of the above embodiment, as shown in the attached Figure 1As shown, the second drive assembly includes a second servo motor, a driving gear and a ring gear 12. The second servo motor is fixedly installed on the front right side of the mounting seat 1, and the driving gear is fixedly installed on the right outer side of the output shaft of the second servo motor. The ring gear 12 meshing with the driving gear on the inner left side is rotatably installed on the outer right end of the mounting seat 1. The right side of the fixed seat 13 is fixedly installed with the left end of the ring gear 12, and the second servo motor is connected to the control unit.

[0033] According to the requirements, the second servo motor is an existing well-known technology, such as a brushless DC servo motor. Four guide wheels are evenly spaced along the circumference on the outer side of the right end or the inner side of the right end of the gear ring 12 to support the gear ring 12, or a bearing is set between the inner side of the right part of the gear ring 12 and the outer side of the mounting seat 1. During use, through such a setting, the laser receiver 2 can be driven to obtain data of 4096 measurement points of the inner wall of the inspected pipe 14 in a 360° circumferential direction. After processing by the host computer, the ellipticity measurement resolution is 0.1mm and the wear depth measurement resolution is 0.2mm. When the crawling robot moves in the inspected pipe 14, it can obtain the inner diameter of the inner wall of the inspected pipe 14.

[0034] Embodiment 6: As an optimization of the above embodiment, as shown in the attached Figure 1 As shown, a light-transmitting protective cover is fixedly mounted on the outside of the mounting base 1 and is sleeved on the outside of the laser receiver 2 and the laser transmitter 3. During use, the laser receiver 2 and the laser transmitter 3 can be protected by such an arrangement.

[0035] Embodiment 7: As attached Figure 1 , 2 As shown, the detection method comprises the following steps: Step 1: Install the crawling robot into the inner side of the inspected pipe 14; Step 2: Setting the detection parameters through the host computer; Step 3: After the first servo motor 6 starts working, it drives the crawling robot to move in the inspected pipe 14. At the same time, after the second servo motor starts working, it drives the laser transmitter 3 to rotate in the inspected pipe 14. The laser receiver 2 receives the laser signal emitted by the laser transmitter 3 to multiple measuring points on the inner wall of the inspected pipe 14 and uploads it to the control unit. The control unit processes the laser signal and uploads it to the host computer. Step 4: Observe the image information of the inner wall surface of the inspected pipe 14 through the image acquisition module 4 transmitted back to the host computer via the control unit, and continuously control the first servo motor 6 to work; Step 5: When the crawling robot reaches the predetermined detection distance, the first servo motor 6 stops working, and the host computer saves the detected data; Step 6: The first servo motor 6 rotates in the opposite direction to drive the crawling robot to move in the inspected pipe 14 in the opposite direction until it reaches the entrance of the inspected pipe 14.

[0036] The above-mentioned fracturing pipe inner wall detection device and detection method can be further optimized and / or improved according to actual needs: Embodiment 8: As an optimization of the above embodiment, as shown in the attached Figure 1 , 2 As shown, step three includes: after the first servo motor 6 starts working, it drives the crawling robot to move in the inspected pipe 14, and the host computer continuously measures the inner wall of the inspected pipe 14 according to the information of multiple measurement points obtained by the laser receiver 2, and calculates the ellipticity of the inner wall of the inspected pipe 14.

[0037] Embodiment 9: As an optimization of the above embodiment, the calculation of the ellipticity of the inner wall of the inspected pipe 14 in step 3 includes: Acquire a series of coordinate points along the spiral line on the inner wall of the inspected pipe 14 ,in is the travel distance of the crawling robot, is the rotation angle of the laser emitter 3, is the horizontal axis, As the ordinate, bicubic interpolation is performed in the axial direction of the inspected pipe 14 to obtain the matrix ,in ,in is the length of the inspected pipeline 14, is the length of the crawling robot, is the distance between the outer side of the laser emitter and the measurement point, is the vertical distance between the outer side of the laser receiver 2 and the central axis of the crawling robot, and They are respectively the minimum and maximum values ​​of the effective detection range of the laser receiver 2 and the laser transmitter 3.

[0038] Embodiment 10: As an optimization of the above embodiment, the detection parameters in step 2 include the traveling speed of the crawling robot and the acquisition parameters of the image acquisition module 4, and the acquisition parameters include the shooting resolution and the shooting frame rate.

[0039] The specific process of measuring the inspected pipeline 14 is as follows: The first step is to connect the host computer and the control unit with power cables and communication cables, and select appropriate specifications of the driving wheel 7 and the supporting wheel 10 according to the inner diameter of the inspected pipe 14. When the crawling robot is placed in the inspected pipe 14, the outer side of the driving wheel 7 and the outer side of the supporting wheel 10 can fit tightly against the inner wall of the inspected pipe 14; The second step is to set the crawling speed of the crawling robot and the shooting parameters of the CCD camera according to the on-site inspection requirements after the installation is completed. The shooting parameters include resolution and frame rate, and the parameters set for this inspection are synchronously saved in the host computer to achieve traceability of the inspection process. The third step is to control the crawling robot through the host computer: the first servo motor 6 is used to control the precise control of the crawling robot's travel distance, and the second servo motor is used to make the laser transmitter 3 emit lasers to multiple measuring points on the inner wall of the inspected pipe 14. After the laser receiver 2 receives the laser, it is transmitted to the host computer through the control unit, and the laser receiver 2 obtains the data of 4096 measuring points on the inner wall section of the inspected pipe 14 in real time, continuously measures the inner wall of the inspected pipe 14, and performs ellipticity fitting calculation on the inner wall of the inspected pipe 14. Due to data transmission delay, the original data is a series of spiral sampling points, that is, a series of coordinate points Data based on travel distance is the horizontal axis, with the wrap angle As the ordinate, bicubic interpolation is performed in the axial direction of the inspected pipe 14 to obtain the matrix ,in ,in is the horizontal length of the inspected pipeline 14, is the length of the crawling robot, is the distance between the outer side of the laser emitter and the measurement point, is the vertical distance between the outer side of the laser receiver 2 and the central axis of the crawling robot, and are the minimum and maximum values ​​of the effective detection range of the laser receiver 2, respectively; In order to adapt to the detection distance changes encountered during the surround scanning, that is, the detection surface distance fluctuations of the inspected pipeline 14 caused by erosion corrosion, residual dirt, mechanical assembly errors, etc., the initial fixed positions of the laser transmitter 3 and the laser receiver 2 should ensure that their initial detection surface distance is appropriate; In the fourth step, the operator observes the image information of the inner wall of the inspected pipe 14 through the image transmitted back to the host computer by the image acquisition module 4, and continuously controls the crawling robot to move forward; Step 5: When the crawling robot reaches the predetermined detection distance, the crawling robot stops moving, and the detected data is recorded and saved in the host computer; In the sixth step, after the inner wall of the inspected pipe 14 is inspected, the crawling robot is controlled to move in the opposite direction until it reaches the entrance of the inspected pipe 14. The on-site operator removes the power cable and communication cable and stores the equipment.

[0040] The above technical features constitute the embodiments of the present invention, which have strong adaptability and implementation effect. Non-essential technical features can be added or reduced according to actual needs to meet the requirements of different situations.

Claims

1. A fracturing pipe inner wall detection device, characterized in that The invention comprises a host computer and a crawling robot connected to the host computer, wherein the crawling robot comprises a mounting seat, a first driving component, a second driving component, a supporting component, a laser receiver, a laser transmitter, an image acquisition module and a control unit, wherein a first driving component for driving the mounting seat to move along the length direction in the inspected pipe is arranged at the left end of the mounting seat, a fixed seat is arranged outside the middle part of the mounting seat, a laser receiver and a laser transmitter are arranged at intervals on the left and right sides of the outer side of the fixed seat, a second driving component capable of driving the fixed seat to rotate in the longitudinal section of the inspected pipe is arranged outside the right part of the mounting seat, a supporting component capable of supporting the right end of the mounting seat is arranged at the right end of the mounting seat, an image acquisition module for acquiring image information of the inner wall of the inspected pipe is arranged at the right end of the supporting component, a control unit is arranged inside the left part of the mounting seat, the first driving component, the second driving component, the laser receiver, the laser transmitter, and the image acquisition module are all connected to the control unit, and the control unit is connected to the host computer.

2. The fracturing pipe inner wall detection device according to claim 1, characterized in that The first driving assembly includes a mounting plate, a first servo motor and a driving wheel. A plurality of L-shaped mounting plates are evenly spaced along the circumference on the outer side of the left end of the mounting seat. A first servo motor is installed on the left part of each mounting plate. A driving wheel is fixedly installed on the outer side of the output shaft end of each first servo motor. When the driving wheel rotates, the mounting seat can move along the length direction in the inspected pipeline. Each first servo motor is connected to the control unit.

3. The fracturing pipe inner wall detection device according to claim 2, characterized in that The support assembly includes a support seat, a support frame, a support wheel and an elastic reset member. A support seat is provided on the right side of the mounting seat. A support frame is fixedly installed on the outer side of the left part of the support seat corresponding to each mounting plate position. A support wheel corresponding to the driving wheel is rotatably installed on the support frame. The image acquisition module is fixedly installed on the right end of the support seat. Several elastic reset members are distributed along the circumference between the left end of the support seat and the right end of the mounting seat.

4. The fracturing pipe inner wall detection device according to claim 1, 2 or 3, characterized in that The image acquisition module is a CCD image sensor.

5. The fracturing pipe inner wall detection device according to claim 1, 2 or 3, characterized in that The second driving assembly includes a second servo motor, a driving gear and a ring gear. The second servo motor is fixedly installed on the front right side of the mounting seat, the driving gear is fixedly installed on the right outer side of the output shaft of the second servo motor, the ring gear on the left inner side of the right end of the mounting seat is rotatably installed on the outer side, and the right side of the fixed seat and the left end of the ring gear are fixedly installed together, and the second servo motor is connected to the control unit; or / and, a light-transmitting protective cover mounted on the outer side of the laser receiver and the laser transmitter is fixedly installed on the outer side of the mounting seat.

6. The fracturing pipe inner wall detection device according to claim 3, characterized in that The second driving assembly includes a second servo motor, a driving gear and a ring gear. The second servo motor is fixedly installed on the front right side of the mounting seat, the driving gear is fixedly installed on the right outer side of the output shaft of the second servo motor, the ring gear on the left inner side of the right end of the mounting seat is rotatably installed on the outer side, and the right side of the fixed seat and the left end of the ring gear are fixedly installed together, and the second servo motor is connected to the control unit; or / and, a light-transmitting protective cover mounted on the outer side of the laser receiver and the laser transmitter is fixedly installed on the outer side of the mounting seat.

7. A detection method using the fracturing pipe inner wall detection device according to any one of claims 1 to 6, characterized in that The steps include: Step 1: Install the crawling robot into the inner side of the pipeline to be inspected; Step 2: Setting the detection parameters through the host computer; Step 3: After the first servo motor starts working, it drives the crawling robot to move in the inspected pipeline. The laser receiver receives the laser signal emitted by the laser transmitter to multiple measuring points on the inner wall of the inspected pipeline and uploads it to the control unit. The control unit processes the laser signal and uploads it to the host computer. Step 4: Observe the image information of the inner wall of the inspected pipeline through the image acquisition module transmitted back to the host computer via the control unit, and continuously control the operation of the first servo motor; Step 5: When the crawling robot reaches a predetermined detection distance, the first servo motor stops working, and the host computer saves the detected data; Step 6: After the first servo motor rotates in the direction, it drives the crawling robot to move in the opposite direction in the inspected pipeline until it reaches the entrance of the inspected pipeline.

8. The detection method according to claim 7, characterized in that Step three includes: After the first servo motor starts working, it drives the crawling robot to move in the inspected pipe. The host computer continuously measures the inner wall of the inspected pipe based on the information of multiple measuring points obtained by the laser receiver, and calculates the ellipticity of the inner wall of the inspected pipe.

9. The detection method according to claim 8, characterized in that The calculation of the ovality of the inner wall of the inspected pipe in step 3 includes: Obtain a series of coordinate points along the spiral line on the inner wall of the inspected pipe ,in is the travel distance of the crawling robot, is the rotation angle of the laser transmitter, is the horizontal axis, As the ordinate, bicubic interpolation is performed in the axial direction of the inspected pipeline to obtain the matrix ,in ,in is the horizontal length of the pipeline under inspection, is the length of the crawling robot, is the vertical distance between the outer side of the laser receiver and the central axis of the crawling robot, is the distance between the outer side of the laser emitter and the measurement point, and They are the minimum and maximum values ​​of the effective detection range of the laser receiver and laser transmitter respectively.

10. The detection method according to claim 7, 8 or 9, characterized in that The detection parameters in step 2 include the traveling speed of the crawling robot and the acquisition parameters of the image acquisition module, and the acquisition parameters include the shooting resolution and the shooting frame rate.

Images