Portable endoscope annular wall observation device and method for pipeline within boiler range

Abstract

The invention belongs to the technical field of boiler pipeline maintenance, and relates to a portable endoscope annular wall observation device and method for pipelines within the range of a boiler. Comprising a flexible telescopic probe rod, two coil fixing units, a plurality of crawling units, an image acquisition and transmission unit and a lighting unit. The flexible telescopic probe rod has the telescopic function and the bendable function so as to adapt to inspection of pipelines with different pipe diameters. The crawling unit can drive the device to move in the pipeline in the radial direction and the axial direction. The multiple crawling units are distributed on the periphery of the annular structure and matched with the magnetic attraction units to attract the inner wall of the pipeline, and it is guaranteed that the device has good stability when crawling in the pipeline. Meanwhile, the image acquisition and transmission unit is matched with the illumination unit to be used for acquiring image data in the pipeline in real time and transmitting the image data to the outside in real time, so that the quality condition of the whole inner wall of the pipeline can be completely observed, and accurate inspection of internal defects of different pipe diameters can be realized.

Description

Technical Field

[0001] The present invention belongs to the technical field of boiler pipeline maintenance, and relates to a portable endoscope circumferential wall observation device and method for pipelines within the boiler scope. Background Art

[0002] Pipelines within the boiler scope are crucial components of the boiler system, mainly used for transporting water, steam, fuel, or flue gas. Their operating conditions directly affect the safety, energy efficiency, and service life of the boiler. Among them, key pipelines such as water wall tubes, superheater tubes, reheater tubes, and economizer tubes undertake the functions of heat transfer, pressure bearing, and medium transportation, ensuring the stable and efficient operation of the boiler.

[0003] Endoscope inspection is carried out on pipelines within the boiler scope before installation, aiming to comprehensively evaluate the manufacturing defects, welding quality, foreign matter residues, rust conditions, and surface finish inside the pipelines through high-definition endoscope technology, so as to ensure that there are no blockages, burrs, welding spatter, and other potential hazards that may affect fluid flow and equipment operation inside the pipelines, thereby improving the installation quality and operation reliability of the boiler system, reducing the later maintenance costs and safety accident risks caused by pipeline defects, and at the same time meeting industry standards and engineering acceptance specifications, laying a solid foundation for the efficient, safe, and long-term stable operation of the boiler system. However, ordinary endoscopes can only observe the welding and finish conditions of the inner wall at the bottom of the pipeline, and cannot completely observe the quality of the overall inner wall of the pipeline. Summary of the Invention

[0004] The purpose of the present invention is to provide a portable endoscope circumferential wall observation device and method for pipelines within the boiler scope to solve the technical problem that the endoscope inspection cannot completely observe the quality of the overall inner wall of the pipeline.

[0005] To achieve the above purpose, the present invention adopts the following technical solutions: The present invention discloses a portable endoscope circumferential wall observation device for pipelines within the boiler scope, including: A flexible and telescopic probe; Two coil fixing units, both connected to the flexible and telescopic probe, and the two coil fixing units are detachably and fixedly connected to each other; A number of crawling units, movably connected to the flexible and telescopic probe, and a magnetic attraction unit is provided on the crawling unit; An image acquisition and transmission unit, arranged on the flexible and telescopic probe; A lighting unit, arranged on the image acquisition and transmission unit.

[0006] Furthermore, the flexible and telescopic probe is a strip-shaped shape memory alloy or a strip-shaped flexible mechanical structure.

[0007] Furthermore, the two coil fixing units are detachably and fixedly connected to the flexible telescopic probe; Magnetic components are provided on both of the two coil fixing units, and the magnetic components are used for magnetic fixing of the two coil fixing units.

[0008] Furthermore, the coil fixing unit and the flexible telescopic probe are connected by a buckle.

[0009] Furthermore, several of the crawling units are located between the two coil fixing units.

[0010] Furthermore, the crawling unit includes an electric pulley and a power source. The power source is electrically connected to the electric pulley. The electric pulley is connected to the flexible telescopic probe through a universal shaft, and the power source is integrated in the flexible telescopic probe.

[0011] Furthermore, the image acquisition and transmission unit includes a variable-focus wide-angle lens and a data transmission unit. The data transmission unit is used to transmit the data acquired by the variable-focus wide-angle lens to the outside. The variable-focus wide-angle lens is connected to the flexible telescopic probe through a 360° rotation module.

[0012] Furthermore, the lighting unit includes an LED lighting lamp, a conductive optical fiber, and a light source. The LED lighting lamp is attached to the image acquisition and transmission unit. The light source is connected to the LED lighting lamp through the conductive optical fiber, and the light source is integrated in the flexible telescopic probe.

[0013] Furthermore, a high-temperature resistant protective shell is attached to the image acquisition and transmission unit and the lighting unit.

[0014] Based on the above structure, the present invention also discloses a method for observing the inner wall of a pipe within the boiler range, including the following steps: Adjust the distance between the two coil fixing units according to the inner diameter of the pipe; Fix the two coil fixing units so that the flexible telescopic probe forms an annular structure, and ensure that several of the crawling units can all contact the inner wall of the pipe; Place the device on the inner wall of the pipe, make the crawling unit contact the inner wall of the pipe, and drive the device to move radially and axially in the pipe through the crawling unit; Provide a light source through the lighting unit, acquire the image data of the inner wall of the pipe through the image acquisition and transmission unit, and transmit and send the data to the outside.

[0015] Compared with the prior art, the present invention has the following beneficial effects: The flexible and telescopic probe rod of the present invention serves as the main support structure for other components. At the same time, the flexible and telescopic probe rod has two functions: being telescopic and bendable, and it can adjust its length according to the inner diameter of the pipeline to adapt to the inspection of pipelines with different diameters. After the two coil fixing units are fixed, the flexible and telescopic probe rod forms an annular structure matching the inner diameter of the pipeline, which facilitates the crawling unit to directly contact the inner wall of the pipeline. The crawling unit can drive the device to move radially and axially in the pipeline, ensuring that the image acquisition and transmission unit can obtain the internal image data of the pipeline in all directions. After the flexible and telescopic probe rod forms an annular structure, several crawling units are distributed around the annular structure, and cooperate with the magnetic adsorption unit to adsorb the inner wall of the pipeline, ensuring that there are crawling units in contact with the inner wall of the pipeline in all directions of the device, and ensuring that the device has good stability when crawling inside the pipeline. At the same time, the image acquisition and transmission unit cooperates with the lighting unit to obtain the internal image data of the pipeline in real time and transmit the image data to the outside in real time, facilitating the real-time monitoring and inspection of the welding condition and surface finish inside the pipeline, and is conducive to the timely discovery of pipeline defects. The lighting unit is used to provide a light source to assist the image acquisition and transmission unit in obtaining the internal image data of the pipeline and ensure the clarity of the data. The present invention can completely observe the quality of the entire inner wall of the pipeline and can accurately inspect the internal defects of different pipe diameters.

[0016] In the present invention, the coil fixing unit and the flexible and telescopic probe rod are connected by a buckle, which facilitates the quick disassembly and assembly of the coil fixing unit. When the length of the flexible and telescopic probe rod is adjusted to the limit and still cannot match the inner diameter of the pipeline, the distance between the two coil fixing units can be adjusted by adjusting the position of the coil fixing unit on the flexible and telescopic probe rod, further enhancing the adaptability of the device.

[0017] In the present invention, the variable-focus wide-angle lens is connected to the flexible and telescopic probe rod through a 360° rotation module. The 360° rotation module is used to adjust the angle of the variable-focus wide-angle lens, facilitating the acquisition of internal image data of the pipeline in all directions.

[0018] The LED lighting lamp of the present invention adopts optical fiber light guiding technology, which is beneficial to reducing the influence of equipment heating and improving the imaging quality.

[0019] In the present invention, the image acquisition and transmission unit and the lighting unit are attached with a high-temperature resistant protective shell. The high-temperature resistant protective shell is made of a special alloy or ceramic coating with high temperature resistance and corrosion resistance to ensure the long-term stable operation of the equipment in the boiler environment.

[0020] The method of the present invention adjusts the distance between two coil fixing units according to the inner diameter of the pipeline; fixes the two coil fixing units to form an annular structure of the flexible telescopic probe rod, and ensures that several of the crawling units can contact the inner wall of the pipeline, which is beneficial to the stable crawling of the device on the pipeline. Place the device on the inner wall of the pipeline, make the crawling unit contact the inner wall of the pipeline, and drive the device to move radially and axially in the pipeline through the crawling unit, so as to facilitate the image acquisition and transmission unit to obtain accurate image data; provide a light source through the lighting unit, obtain the image data of the inner wall of the pipeline through the image acquisition and transmission unit and transmit the data to the outside, and analyze the inner wall condition in real time according to the image data of the inner wall of the pipeline to achieve accurate inspection of the internal defects of the pipeline. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 is a schematic diagram of the overall structure of an embodiment of the present invention; Figure 2 is a schematic diagram of the working condition after fixing two coil fixing units in an embodiment of the present invention; Figure 3 is a flowchart of the method of an embodiment of the present invention.

[0022] Among them: 1. Image acquisition and transmission unit; 2. Lighting unit; 3. Coil fixing unit; 4. Crawling unit; 5. Flexible telescopic probe rod. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0023] In order to enable those skilled in the art to better understand the solution of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.

[0024] It should be noted that the terms "first", "second", etc. in the specification of the present invention and the above-mentioned drawings are used to distinguish similar objects, and do not have to be used to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device including a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0025] The present invention will be further described in detail below in conjunction with the accompanying drawings: See Figure 1 , the present invention discloses a portable endoscope circumferential wall observation device for pipes within the boiler range, including: a flexible telescopic probe 5, two coil fixing units 3, a plurality of crawling units 4, an image acquisition and transmission unit 1, and a lighting unit 2; Both of the two coil fixing units 3 are connected to the flexible telescopic probe 5, and a detachable fixed connection is provided between the two coil fixing units 3. The flexible telescopic probe 5 is the main support structure for other components. At the same time, the flexible telescopic probe 5 has two functions of being telescopic and bendable, and can adjust its length according to the inner diameter of the pipe to adapt to the inspection of pipes with different pipe diameters. After the two coil fixing units 3 are fixed, the flexible telescopic probe 5 forms an annular structure matching the inner diameter of the pipe, facilitating the direct contact between the crawling units 4 and the inner wall of the pipe. See Figure 2 .

[0026] A plurality of crawling units 4 are movably connected to the flexible telescopic probe 5, and a magnetic adsorption unit is provided on the crawling unit 4. The crawling units 4 can drive the device to move radially and axially in the pipe, ensuring that the image acquisition and transmission unit 1 can obtain the internal image data of the pipe in all directions. After the flexible telescopic probe 5 forms an annular structure, a plurality of crawling units 4 are distributed around the annular structure, and cooperate with the magnetic adsorption unit to adsorb the inner wall of the pipe, ensuring that there are crawling units 4 in contact with the inner wall of the pipe in all directions of the device, and ensuring good stability of the device when crawling inside the pipe.

[0027] The image acquisition and transmission unit 1 is arranged on the flexible telescopic probe 5. During the process of the crawling units 4 driving the device to crawl inside the pipe, the image acquisition and transmission unit 1 is used to obtain the internal image data of the pipe in real time and transmit the image data to the outside in real time, facilitating the real-time monitoring and inspection of the welding condition and smoothness condition inside the pipe, and being conducive to the timely discovery of pipe defects.

[0028] The lighting unit 2 is arranged on the image acquisition and transmission unit 1. The lighting unit 2 is used to provide a light source to assist the image acquisition and transmission unit 1 in obtaining the internal image data of the pipe and ensure the clarity of the data.

[0029] The present invention can completely observe the quality condition of the entire inner wall of the pipe and can achieve precise inspection of internal defects with different pipe diameters.

[0030] Embodiment 1: See Figure 1 , the present invention discloses a portable endoscope circumferential wall observation device for pipes within the boiler range, including: a flexible telescopic probe 5, two coil fixing units 3, a plurality of crawling units 4, an image acquisition and transmission unit 1, and a lighting unit 2; The flexible and telescopic probe rod 5 serves as the main support structure for other components. At the same time, the flexible and telescopic probe rod 5 has two functions: being telescopic and bendable, and it can adjust its length according to the inner diameter of the pipeline to adapt to the inspection of pipelines with different diameters.

[0031] In the embodiment of the present invention, the flexible and telescopic probe rod 5 is a strip-shaped shape memory alloy or a strip-shaped flexible mechanical structure.

[0032] Preferably, the strip-shaped flexible mechanical structure includes a plurality of telescopic parts and a plurality of flexible connecting parts. The two telescopic parts are connected by the flexible connecting parts. The flexible connecting parts are used to realize the bending and folding function, and the telescopic parts are used to realize the length adjustment function. The two cooperate to realize the adaptation of the device to different pipe diameters.

[0033] Preferably, the telescopic part can adopt a nested sleeve or other rod-shaped structural components that can realize the telescopic function.

[0034] Both of the two coil fixing units 3 are connected to the flexible and telescopic probe rod 5, and the two coil fixing units 3 are detachably and fixedly connected; after the two coil fixing units 3 are fixed, the flexible and telescopic probe rod 5 forms an annular structure matching the inner diameter of the pipeline, which is convenient for the crawling unit 4 to directly contact the inner wall of the pipeline. See Figure 2 .

[0035] In the embodiment of the present invention, the two coil fixing units 3 and the flexible and telescopic probe rod 5 are detachably and fixedly connected.

[0036] Both of the two coil fixing units 3 are provided with magnetic components, and the magnetic components are used for the magnetic fixation of the two coil fixing units 3.

[0037] Preferably, the coil fixing unit 3 and the flexible and telescopic probe rod 5 are connected by a buckle, which is convenient for the quick disassembly and assembly of the coil fixing unit 3. In addition, when the length of the flexible and telescopic probe rod 5 is adjusted to the limit and still cannot match the inner diameter of the pipeline, the distance between the two coil fixing units 3 can be adjusted by adjusting the position of the coil fixing unit 3 on the flexible and telescopic probe rod 5, further enhancing the adaptability of the device.

[0038] A plurality of crawling units 4 are movably connected to the flexible and telescopic probe rod 5, and the crawling units 4 are provided with magnetic units; the crawling units 4 can drive the device to move radially and axially in the pipeline to ensure that the image acquisition and transmission unit 1 can obtain the internal image data of the pipeline in all directions. After the flexible and telescopic probe rod 5 forms an annular structure, a plurality of crawling units 4 are distributed around the annular structure, and cooperate with the magnetic units to adsorb the inner wall of the pipeline, ensuring that there are crawling units 4 in contact with the inner wall of the pipeline in all directions of the device, and ensuring that the device has good stability when crawling inside the pipeline.

[0039] Preferably, several of the crawling units 4 are located between the two coil fixing units 3.

[0040] In an embodiment of the present invention, the crawling unit 4 includes an electric pulley and a power source. The power source is electrically connected to the electric pulley. The electric pulley is connected to the flexible telescopic probe 5 through a universal shaft. The power source is integrated in the flexible telescopic probe 5. The power source is also used to supply power to other components. A control unit is integrated in the flexible telescopic probe 5, which is beneficial to realizing the automatic control and remote control of the device.

[0041] The image acquisition and transmission unit 1 is arranged on the flexible telescopic probe 5; during the process of the crawling unit 4 driving the device to crawl inside the pipeline, the image acquisition and transmission unit 1 is used to acquire the internal image data of the pipeline in real time and transmit the image data to the outside in real time, which is convenient for real-time monitoring and inspection of the welding condition and smoothness condition inside the pipeline, and is beneficial to the timely discovery of pipeline defects.

[0042] In an embodiment of the present invention, the image acquisition and transmission unit 1 includes a variable-focus wide-angle lens and a data transmission unit. The data transmission unit is used to transmit the data acquired by the variable-focus wide-angle lens to the outside. The variable-focus wide-angle lens is connected to the flexible telescopic probe 5 through a 360° rotation module. The 360° rotation module is used to adjust the angle of the variable-focus wide-angle lens, which is convenient for acquiring the internal image data of the pipeline in all directions.

[0043] The lighting unit 2 is arranged on the image acquisition and transmission unit 1. The lighting unit 2 is used to provide a light source to assist the image acquisition and transmission unit 1 in acquiring the internal image data of the pipeline and ensure the clarity of the data.

[0044] In an embodiment of the present invention, the lighting unit 2 includes an LED lighting lamp, a conducting optical fiber and a light source. The LED lighting lamp is arranged on the image acquisition and transmission unit 1. The light source is connected to the LED lighting lamp through the conducting optical fiber. The light source is integrated in the flexible telescopic probe 5. The LED lighting lamp adopts the optical fiber light guiding technology, which is beneficial to reducing the influence of equipment heating and improving the imaging quality.

[0045] In an embodiment of the present invention, a high-temperature resistant protective shell is attached to the image acquisition and transmission unit 1 and the lighting unit 2. The high-temperature resistant protective shell is made of a special alloy or ceramic coating with high temperature resistance and corrosion resistance to ensure the long-term stable operation of the equipment in the boiler environment.

[0046] See Figure 3 , this embodiment also discloses a method for observing the inner wall of a pipeline within the scope of a boiler, based on a portable endoscope for circumferential wall observation of a pipeline within the scope of a boiler, including the following steps: S1. Adjust the distance between the two coil fixing units 3 according to the inner diameter of the pipeline; S2. Refer to Figure 2 , fix the two coil fixing units 3 to form an annular structure of the flexible telescopic probe 5, and ensure that several of the crawling units 4 can contact the inner wall of the pipeline, which is beneficial to the stable crawling of the device on the pipeline.

[0047] S3. Place the device on the inner wall of the pipeline, make the crawling unit 4 contact the inner wall of the pipeline, and drive the device to move along the radial and axial directions in the pipeline through the crawling unit 4, so as to facilitate the image acquisition and transmission unit 1 to obtain accurate image data; S4. Provide a light source through the lighting unit 2, obtain the image data of the inner wall of the pipeline through the image acquisition and transmission unit 1 and transmit the data to the outside, and analyze the inner wall condition in real time according to the image data of the inner wall of the pipeline to achieve accurate inspection of the internal defects of the pipeline.

[0048] The present invention can completely observe the quality of the overall inner wall of the pipeline and can achieve accurate inspection of internal defects of different pipe diameters.

[0049] Embodiment 2: As shown in the appendix Figures 1 to 2 , the present invention provides a portable endoscope circumferential wall observation device for pipelines within the boiler range, including: The crawling unit 4, the main component of which is an electric pulley, can be fixed on the surface of the flexible telescopic probe 5 of the endoscope. The electric pulley is used to adhere to the inner wall surface of the pipeline within the boiler range and drive the image acquisition and transmission unit 1 to move back and forth along the inner wall of the pipeline; The coil fixing unit 3, after measuring and determining the circumferential area of the inner wall of the pipeline, can fix the two coil fixing units 3 by magnetic attraction, and the flexible telescopic probe 5 forms a circular ring structure, which is convenient for the crawling unit 4 to move on the inner wall of the pipeline; The image acquisition and transmission unit 1, adopts a variable-focus wide-angle lens, combined with a 360° rotation module, to achieve complete circumferential wall observation. At the same time, it is equipped with an AI vision analysis system to automatically identify internal defects of the pipeline; The lighting unit 2, equipped with an LED lighting lamp with adjustable brightness, adapts to different detection environments, adopts fiber optic light guiding technology, reduces the influence of equipment heating, and improves the imaging quality; The flexible telescopic probe 5, adopts a shape memory alloy or a flexible mechanical structure, so that the probe can freely expand and contract and adapt to bent pipes; The high-temperature resistant protective shell, adopts a special alloy or ceramic coating with high temperature resistance and corrosion resistance to ensure the long-term stable operation of the equipment in the boiler environment.

[0050] Preferably, a universal joint shaft is attached inside the electric pulley, which is convenient for closely adhering to the inner wall surface of the pipeline within the boiler range, can rotate 360 degrees, prevent jamming inside the pipeline, and perform reciprocating motion.

[0051] Preferably, the coil fixing unit 3 is fixed on the flexible telescopic probe 5 by screws. According to the measurement result of the pipe wall length, the position of the coil fixing unit 3 can be adjusted at any time to make the circumference of the circular flexible telescopic probe 5 match the circumference of the pipe wall, which is convenient for complete fitting.

[0052] Preferably, one coil fixing unit 3 is fixed on each side of the electric pulley. One can adjust the position, and the other is fixed. The coil fixing units 3 are attached to each other by magnetic components to form a circular ring structure, which is convenient for disassembly.

[0053] Preferably, the image acquisition and transmission unit 1 uses a variable-focus wide-angle lens, combined with a 360° rotation module, to achieve a complete observation of the entire ring wall, and is equipped with an AI vision analysis system to automatically identify internal defects of the pipeline.

[0054] Preferably, the LED lighting lamp uses optical fiber light guiding technology to reduce the influence of equipment heating and improve the imaging quality.

[0055] Preferably, the flexible telescopic probe 5 uses shape memory alloy or flexible mechanical structure, so that the probe can freely expand and contract and adapt to the elbow pipe, and is not easy to be damaged.

[0056] Preferably, the camera and the LED lighting device use special alloys or ceramic coatings with high temperature resistance and corrosion resistance to ensure the long-term stable operation of the equipment in the boiler environment.

[0057] The present invention solves the problem that only the welding and smoothness of the bottom inner wall of the pipeline can be observed, and the overall inner wall quality cannot be completely observed. The device is portable, uses a crawling device, and the pulley structure can move along the inner wall of the pipeline. The observation angle of the weld can be adjusted arbitrarily, reducing the difficulty of manual operation and strengthening the control of the weld quality.

[0058] The above content is only to illustrate the technical idea of the present invention, and the protection scope of the present invention cannot be limited thereby. Any changes made on the basis of the technical solution according to the technical idea proposed by the present invention fall within the protection scope of the present invention.

Claims

1. A portable endoscope wall observation device for pipelines within the boiler range, characterized in that: include: A flexible and retractable probe rod (5); Two coil fixing units (3) are both connected to the flexible telescopic probe rod (5), and the two coil fixing units (3) are detachably fixedly connected; A plurality of crawling units (4) movably connected to the flexible and retractable probe rod (5), wherein the crawling units (4) are provided with magnetic suction units; An image acquisition and transmission unit (1) is arranged on the flexible and retractable probe rod (5); An illumination unit (2) is arranged on the image acquisition and transmission unit (1).

2. The portable endoscope wall observation device for pipelines within the boiler range according to claim 1 is characterized in that: The flexible and retractable probe rod (5) is a strip-shaped shape memory alloy or a strip-shaped flexible mechanical structure.

3. The portable endoscope wall observation device for pipelines within the boiler range according to claim 1 is characterized in that: The two coil fixing units (3) are detachably fixedly connected to the flexible telescopic probe rod (5); The two coil fixing units (3) are each provided with a magnetic attraction component, and the magnetic attraction component is used for magnetically fixing the two coil fixing units (3).

4. The portable endoscope wall observation device for pipelines within the boiler range according to claim 3 is characterized in that: The coil fixing unit (3) is connected to the flexible telescopic probe rod (5) via a buckle.

5. The portable endoscope wall observation device for pipelines within the boiler range according to claim 1 is characterized in that: The plurality of crawling units (4) are located between the two coil fixing units (3).

6. The portable endoscope wall observation device for pipelines within the boiler range according to claim 1 is characterized in that: The crawling unit (4) comprises an electric pulley and a power source, the power source is electrically connected to the electric pulley, the electric pulley is connected to the flexible and retractable probe rod (5) via a universal shaft, and the power source is integrated in the flexible and retractable probe rod (5).

7. The portable endoscope wall observation device for pipelines within the boiler range according to claim 1 is characterized in that: The image acquisition and transmission unit (1) comprises a variable-focus wide-angle lens and a data transmission unit, the data transmission unit being used to transmit data acquired by the variable-focus wide-angle lens to the outside world, the variable-focus wide-angle lens being connected to the flexible and retractable probe rod (5) via a 360° rotation module.

8. The portable endoscope wall observation device for pipelines within the boiler range according to claim 1 is characterized in that: The lighting unit (2) comprises an LED lighting lamp, a transmission optical fiber and a light source; the LED lighting lamp is mounted on the image acquisition and transmission unit (1); the light source is connected to the LED lighting lamp via the transmission optical fiber; and the light source is integrated into the flexible telescopic probe rod (5).

9. The portable endoscope wall observation device for pipelines within the boiler range according to claim 1 is characterized in that: The image acquisition and transmission unit (1) and the lighting unit (2) are attached with a high temperature resistant protective casing.

10. A method for observing the inner wall of a pipeline within a boiler range, based on the portable endoscope wall observation device for pipelines within a boiler range as claimed in any one of claims 1 to 9, characterized in that: The following steps are involved: Adjusting the distance between the two coil fixing units (3) according to the inner diameter of the pipeline; The two coil fixing units (3) are fixed so that the flexible and retractable probe rod (5) forms a circular ring structure, and ensures that the plurality of crawling units (4) can all contact the inner wall of the pipeline; Placing the device on the inner wall of the pipeline so that the crawling unit (4) contacts the inner wall of the pipeline, and driving the device to move radially and axially in the pipeline through the crawling unit (4); A light source is provided by the lighting unit (2), and image data of the inner wall of the pipeline is obtained by the image acquisition and transmission unit (1), and the data is transmitted to the outside.

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