Multi-state detection device and method for suspended section of submarine pipeline

Abstract

The invention discloses a multi-state detection device and method for a suspended section of a submarine pipeline, and relates to the technical field of submarine pipeline detection. A first plugging structure and a second plugging structure are both used for being in contact with the inner wall of a to-be-detected pipeline to form a closed space; the first suspended detection structure and the second suspended detection structure are both used for detecting whether the to-be-detected pipeline is suspended or not; the internal suction structure is used for sucking liquid in the closed space to the outside of the closed space; the strain gauge pasting structure is used for pasting a strain gauge on the inner wall of the to-be-detected pipeline; the telescopic structure can stretch out and draw back to change the distance between the first suspended detection structure and the second suspended detection structure; the excitation structure is used for performing excitation detection on the inner wall of the to-be-detected pipeline; the driving structure adopts liquid as a power source, and the driving structure can drive the strain gauge pasting structure, the internal suction structure, the telescopic structure and the excitation structure. The device can detect the span of the suspended section of the pipeline, the weld strength and the stress state of the pipeline.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of submarine pipeline detection, in particular to a submarine pipeline overhanging section multi-state detection device and method. BACKGROUND

[0002] With the expansion of the development scale of deep-sea oil and gas resources, the safety problem of submarine pipeline overhanging section is increasingly prominent. At present, the inspection of submarine pipeline overhanging section mainly adopts traditional sonar, ROV inspection and manual inspection, but the sonar inspection is easily affected by the marine environment, and the manual inspection is time-consuming and laborious, so it is very important to develop a device that is highly adaptable and can realize automatic inspection. SUMMARY

[0003] The purpose of the present application is to provide a submarine pipeline overhanging section multi-state detection device and method, which can detect the span, weld strength and pipeline stress state of the overhanging section of the pipeline, and provide great convenience for the safety detection of submarine pipelines.

[0004] To achieve the above purpose, the present application provides the following scheme:

[0005] The present application provides a submarine pipeline overhanging section multi-state detection device, comprising: first sealing structure, first overhanging detection structure, driving structure, strain gauge pasting structure, telescopic structure, excitation structure, internal suction structure, second overhanging detection structure and second sealing structure connected in sequence.

[0006] The first sealing structure and the second sealing structure are used to contact the inner wall of the pipeline to be detected to form a closed space between the first sealing structure and the second sealing structure.

[0007] The first overhanging detection structure and the second overhanging detection structure are used to detect whether the pipeline to be detected is overhanging.

[0008] The internal suction structure is used to suck the liquid inside the closed space to the outside of the closed space.

[0009] The strain gauge pasting structure is used to paste strain gauges to the inner wall of the pipeline to be detected.

[0010] The telescopic structure can be telescopic to change the distance between the first overhanging detection structure and the second overhanging detection structure.

[0011] The excitation structure is used for excitation detection of the inner wall of the pipeline to be detected.

[0012] The driving structure adopts liquid as a power source, and the driving structure can drive the strain gauge sticking structure to stick strain gauges to the inner wall of a pipeline to be detected, can cooperate with the internal suction structure to discharge liquid in a closed space, can drive the telescopic structure to telescope to change the distance between the first suspended detection structure and the second suspended detection structure, and can drive the excitation structure to perform excitation detection on the inner wall of the pipeline to be detected.

[0013] In some specific solutions, the first starting shaft, the output shaft, the fourth rotating shaft, the fifth rotating shaft, the second starting shaft, the first drainage tube, and the second drainage tube are further included, the first starting shaft is in transmission connection with the first blocking structure and the first suspended detection structure respectively, the second starting shaft is in transmission connection with the second blocking structure and the second suspended detection structure respectively, the output shaft, the fourth rotating shaft, and the fifth rotating shaft are in transmission connection in sequence, the output shaft is a power output shaft of the driving structure, the fourth rotating shaft is in transmission connection with the strain gauge sticking structure and the telescopic structure respectively, and the fifth rotating shaft is in transmission connection with the excitation structure and the internal suction structure respectively.

[0014] The first starting shaft, the fourth rotating shaft, the fifth rotating shaft, and the second starting shaft are internally provided with flow channels, a plurality of first liquid flow holes are formed on the first blocking structure, a plurality of second liquid flow holes are formed on the second blocking structure, the first liquid flow holes, the first starting shaft, the first drainage tube, the fourth rotating shaft, the fifth rotating shaft, the second drainage tube, the second starting shaft, and the second liquid flow holes are in communication in sequence, and the internal suction structure, the second starting shaft, and the second liquid flow holes are in communication in sequence.

[0015] When liquid is adopted as the power source of the driving structure, the liquid sequentially passes through the first liquid flow holes, the first starting shaft, and acts on the driving structure, so that the power generated by the driving structure is transmitted through the output shaft, the fourth rotating shaft, and the fifth rotating shaft in sequence, and at the same time, the liquid sequentially enters the first drainage tube, the fourth rotating shaft, the fifth rotating shaft, the second drainage tube, and the second starting shaft, and is discharged from the second liquid flow holes.

[0016] When the internal suction structure is adopted to suck liquid inside a closed space to the outside of the closed space, the liquid enters the second starting shaft and is discharged from the second liquid flow holes after entering the internal suction structure.

[0017] In some specific solutions, the first blocking structure and the second blocking structure are the same in structure, and the first blocking structure and the second blocking structure are symmetrically arranged.

[0018] The first starting shaft and the second starting shaft are identical in structure, and each of the first starting shaft and the second starting shaft comprises a first rotating shaft, a second rotating shaft and a third rotating shaft, and the second rotating shaft is in transmission connection with the third rotating shaft;

[0019] The first sealing structure and the second sealing structure each comprise a first motor, a first sealing assembly and a second sealing assembly, the first sealing assembly and the second sealing assembly are identical in structure, the first sealing assembly and the second sealing assembly are symmetrically arranged, and the second sealing assembly is arranged close to the first overhanging detection structure or the second overhanging detection structure;

[0020] The first sealing assembly and the second sealing assembly each comprise a sealing base, a leather cup, a rotating disc and a plurality of arm structures, the sealing base of the second sealing assembly is connected with the first overhanging detection structure or the second overhanging detection structure, the rotating disc is located at the center position of the sealing base, the leather cup is arranged on the sealing base, the leather cup of the first sealing assembly and the leather cup of the second sealing assembly are in contact, the plurality of arm structures are uniformly arranged along the circumference of the sealing base, the arm structure comprises a sliding rail, a sliding block, a first connecting rod, a second connecting rod and a supporting rod, the first wedge-shaped block is arranged on the sliding block, the sliding rail is arranged on the sealing base, the sliding block is in sliding connection with the sliding rail, one end of the first connecting rod is in rotary connection with the sealing base, the other end of the first connecting rod is provided with the supporting rod, the supporting rod is in contact with the leather cup, the supporting rod is in arc shape, the centers of the supporting rods of the arm structures are the same, the supporting rods of the first sealing assembly and the second sealing assembly are arranged in a circumferential staggered manner, one end of the second connecting rod is in rotary connection with the sliding block, and the other end of the second connecting rod is in rotary connection with the middle part of the first connecting rod;

[0021] The first motor is in transmission connection with the rotating disc, the rotating disc is connected with the third rotating shaft, the third rotating shaft is in transmission connection with the first overhanging detection structure or the second overhanging detection structure, the first baffle and the second baffle are arranged in the rotating disc, the rotating disc is arranged on the outside of the first rotating shaft and is in rotary connection with the first rotating shaft, the rotating disc is in transmission connection with the first rotating shaft through the first baffle, the first protrusion is arranged on the outside of the first rotating shaft and can be in contact with the first wedge-shaped block of the second sealing assembly, the second protrusion is arranged on the outside of the second rotating shaft and can be in contact with the first wedge-shaped block of the first sealing assembly, the second rotating shaft extends into the first rotating shaft, the second baffle can be in contact with the third baffle on the second rotating shaft to realize the transmission connection between the rotating disc and the second rotating shaft;

[0022] The first motor drives the rotating disc to rotate, and then drives the first rotating shaft and the first protrusion to rotate. The first protrusion is in contact with the first wedge block of the second blocking assembly. The sliding block of the second blocking assembly moves along the sliding rail of the second blocking assembly, and then the supporting rod of the second blocking assembly moves radially to expand or contract the leather cup of the second blocking assembly. With the rotation of the rotating disc, the second rotating shaft and the first protrusion of the first blocking assembly rotate. The first protrusion of the first blocking assembly is in contact with the first wedge block of the first blocking assembly. The sliding block of the first blocking assembly moves along the sliding rail of the first blocking assembly, and then the supporting rod of the first blocking assembly moves radially to expand or contract the leather cup of the first blocking assembly.

[0023] In some specific solutions, the first and second overhanging detection structures are identical in structure and symmetrically arranged;

[0024] The first and second overhanging detection structures each include an overhanging detection support and a plurality of vibration and knocking assemblies. The overhanging detection support is used to connect with the first or second blocking structure. The plurality of vibration and knocking assemblies are uniformly arranged along the circumference of the overhanging detection support. The vibration and knocking assembly includes a first knocking connecting rod, a second knocking connecting rod, a knocking base plate, a driven wheel, a sound sensor, a protruding block, a third knocking connecting rod, a second wedge block and a knocking hammer. One end of the first knocking connecting rod is rotationally connected with the overhanging detection support. The other end of the first knocking connecting rod is rotationally connected with one end of the knocking base plate, and a first torsional spring is arranged at the connection between the other end of the first knocking connecting rod and one end of the knocking base plate. One end of the second knocking connecting rod is used to drivingly connect with the first or second starting shaft. The other end of the second knocking connecting rod is rotationally connected with the middle part of the knocking base plate. The sound sensor is arranged on the knocking base plate. The driven wheel is rotationally connected with the knocking base plate. The protruding block is connected with the driven wheel. The middle part of the third knocking connecting rod is rotationally connected with the knocking base plate. The second wedge block is connected with the knocking hammer. The protruding block can be in contact with one end of the third knocking connecting rod. The second wedge block can be in contact with the other end of the third knocking connecting rod.

[0025] The second knock connecting rod moves from inside to outside along the radial direction of the overhanging detection bracket, pushes the first knock connecting rod, and the first knock connecting rod drives the knock base plate to move until the driven wheel is in contact with the inner wall of the pipeline to be detected; with rotation of the driven wheel, the protruding block pushes one end of the third knock connecting rod to move, and the other end of the third knock connecting rod drives the second wedge-shaped block to move, and the second wedge-shaped block drives the knocking hammer to be in contact with the inner wall of the pipeline to be detected, so as to realize knocking; the sound sensor detects the sound signal generated by knocking, and is used for judging whether it is overhanging.

[0026] In some specific solutions, the driving structure comprises a first driving cover, a flow distribution disc, a second driving cover, an impeller structure and an output shaft, the flow distribution disc is located between the first driving cover and the second driving cover, the first driving cover is connected with the first starting shaft, a valve is arranged on the first starting shaft, a plurality of flow distribution holes are arranged on the flow distribution disc, the impeller structure is located in a space formed between the flow distribution disc and the second driving cover, the second driving cover is connected with the fourth rotating shaft through a first drainage pipe, the impeller structure comprises a rotor, a second motor, a first bevel gear, a plurality of blades and a plurality of second bevel gears, the rotor is connected with the output shaft, the output shaft passes through the second driving cover and is in transmission and rotary connection with the fourth rotating shaft, the plurality of blades are uniformly arranged along the circumferential direction of the rotor and are in rotary connection with the rotor, the second motor is located in the rotor, a power output end of the second motor is connected with the first bevel gear, the first bevel gear is in meshing connection with each second bevel gear, and the second bevel gear is connected with the blade;

[0027] The second motor drives the first bevel gear to rotate, drives each second bevel gear to rotate, and further drives the blade to rotate, so as to realize adjustment of the angle of the blade.

[0028] When the driving structure works, the valve is opened, liquid enters between the first driving cover and the flow distribution disc, enters between the flow distribution disc and the second driving cover through the flow distribution hole, and the liquid acts on the blade to drive the impeller structure to rotate, and further drives the output shaft to rotate.

[0029] In some specific embodiments, the strain gauge sticking structure comprises a strain gauge sticking shell, a strain gauge sticking base, a connecting base, a first push rod, a first locking wheel, a second gear, a threaded shaft and a plurality of strain gauge sticking assemblies, the strain gauge sticking shell and the strain gauge sticking base form a space for arranging the strain gauge sticking assemblies, the strain gauge sticking shell is provided with a blocking door, the plurality of strain gauge sticking assemblies are evenly arranged along the circumference of the strain gauge sticking shell, the first push rod is arranged on the strain gauge sticking base, one end of the first push rod is provided with a first locking wheel, the first locking wheel can be engaged with a first gear on the fourth rotating shaft, the fourth rotating shaft is externally sleeved with the threaded shaft, the connecting base is sleeved on the threaded shaft and is threadedly connected with the threaded shaft, and the second gear is sleeved on the threaded shaft, and the fourth rotating shaft is provided with a first gear;

[0030] The strain gauge sticking assembly comprises a strain gauge sticking support, a strain gauge sticking connecting rod, a sticking base, a touch rod, a glue tank, a nozzle and a strain gauge, each strain gauge sticking support is arranged on the strain gauge sticking base, one end of the strain gauge sticking connecting rod is rotationally connected with the connecting base, the middle part of the strain gauge sticking connecting rod is rotationally connected with the strain gauge sticking support, the sticking base is rotationally connected with the other end of the strain gauge sticking connecting rod, and a second torsional spring is arranged at the connection between the sticking base and the other end of the strain gauge sticking connecting rod, the touch rod is slidingly connected with the sticking base, the glue tank and the nozzle are both arranged on the sticking base, the glue tank is connected with the nozzle, the strain gauge is slidingly connected with the sticking base, and the nozzle is located on one side of the strain gauge;

[0031] The first push rod acts to push the first locking wheel to move along the axial direction of the fourth rotating shaft, the first locking wheel synchronously locks the first gear and the second gear, the fourth rotating shaft rotates to drive the first gear, the second gear and the threaded shaft to rotate, and in turn drives the connecting base to move along the axial direction of the threaded shaft, so that the strain gauge sticking assembly can be extended out of the blocking door, the touch rod is in contact with the inner wall of the pipe to be detected, the touch rod can extrude the glue in the glue tank from the nozzle to the inner wall of the pipe to be detected, and the strain gauge is bonded to the inner wall to be detected through the glue.

[0032] In some specific embodiments, the telescopic structure comprises a telescopic base, a bearing cover, a second push rod, a second locking wheel, a fourth gear, a fifth gear, a plurality of sixth gears and a plurality of second threaded rods, the telescopic base is connected with the strain piece sticking structure, the bearing cover is connected with the telescopic base, the second push rod is arranged on the telescopic base, one end of the second push rod is connected with the second locking wheel, the second locking wheel is capable of engaging with the third gear on the fourth rotating shaft, the fourth gear and the sixth gear are both arranged on the bearing cover and are rotationally connected with the bearing cover, the fifth gear is arranged on one side of the third gear, the fifth gear and the fourth gear are coaxial and fixedly connected, the sixth gear engages with the fourth gear, each second threaded rod passes through one sixth gear and engages with the sixth gear, one end of the second threaded rod is connected with the excitation structure, the second threaded rod is rotationally connected with the telescopic base, the other end of the second threaded rod extends into the strain piece sticking structure; the second push rod moves to push the second locking wheel to move along the axial direction of the fourth rotating shaft, the second locking wheel synchronously locks the third gear and the fifth gear, the fourth rotating shaft rotates to drive the third gear, the fourth gear and the fifth gear to rotate, thereby driving the sixth gear to rotate, and the second threaded rod moves along the axial direction thereof.

[0033] In some specific embodiments, the excitation structure comprises an excitation base, a fifth rotating shaft, a third push rod, a partition plate, a first friction plate, a second friction plate, a friction support, a grinding head and an excitation module, the excitation base is connected with the telescopic structure, the fifth rotating shaft passes through the excitation base and is rotationally connected with the excitation base, the fifth rotating shaft is connected with the fourth rotating shaft, the first friction plate is connected with the fifth rotating shaft, the third push rod is arranged on the excitation base, one end of the third push rod is provided with the partition plate, the partition plate is rotationally connected with the fifth rotating shaft, the second friction plate is arranged on the partition plate, the friction support is connected with the second friction plate, and the grinding head and the excitation module are both arranged on a connecting rod which is slidingly connected with the friction support; the third push rod moves to make the first friction plate and the second friction plate contact, the fourth rotating shaft drives the fifth rotating shaft, the first friction plate, the second friction plate, the partition plate and the friction support to rotate, the grinding head contacts the inner wall of the pipe to be detected to realize grinding, and the excitation module performs excitation detection on the inner wall of the pipe to be detected.

[0034] In some specific solutions, the internal suction structure comprises a liquid collecting structure, a suction structure, a groove wheel, a piston and a cylinder, the liquid collecting structure is formed with a liquid collecting cavity, the suction structure is telescopic, the suction structure is rotationally connected with the liquid collecting structure, the suction structure is provided with a suction inlet, and the suction inlet is communicated with the liquid collecting cavity, the groove wheel is rotationally connected with the liquid collecting structure, the groove wheel is connected with the fifth rotating shaft, one end of the piston is provided with a sliding protrusion, the sliding protrusion is located in a groove of the groove wheel and can slide in the groove, the other end of the piston extends into the cylinder, the piston and the cylinder form a liquid storage cavity, the liquid collecting cavity, the liquid storage cavity, the second starting shaft and the second liquid flow hole are communicated in sequence, and the liquid storage cavity is communicated with the liquid inlet pipeline;

[0035] The driving structure drives the output shaft, the fourth rotating shaft and the fifth rotating shaft to rotate, and further drives the groove wheel to rotate, so that the piston reciprocates along the axial direction, liquid in the closed space can enter the liquid collecting cavity and the liquid storage cavity in sequence through the suction inlet, and liquid in the liquid storage cavity enters the second starting shaft and is discharged through the second liquid flow hole.

[0036] The application further discloses a detection method of the submarine pipeline suspension section multi-state detection device.

[0037] The submarine pipeline suspension section multi-state detection device is put into the pipeline to be detected, under the action of liquid, the submarine pipeline suspension section multi-state detection device moves in the pipeline to be detected, the front-end second suspension detection structure is used for suspension detection, when the suspension position is detected, the suspension position is marked as a first suspension position, with the continuous movement of the submarine pipeline suspension section multi-state detection device in the pipeline to be detected, when the first suspension detection structure at the rear end detects the first suspension position, the first sealing structure works and is in contact with the inner wall of the pipeline to be detected to seal, liquid enters the driving structure to provide power for the driving structure, the driving structure drives the telescopic structure to telescope, so that the second suspension detection structure and the second sealing structure continue to move forward for suspension detection until the suspension section stops, and the length of the suspension section of the pipeline to be detected can be obtained by calculating the distance between the first suspension detection structure and the second suspension detection structure.

[0038] When the strain gauges are pasted on the inner wall of the pipeline to be detected and excitation detection is performed, the submarine pipeline overhanging section multi-state detection device moves to the position to be detected, the first blocking structure and the second blocking structure work, the first blocking structure and the second blocking structure are in contact with the inner wall of the pipeline to be detected for blocking, so that the pipeline to be detected between the first blocking structure and the second blocking structure forms a closed space, the internal suction structure is used to discharge the liquid inside the closed space to the outside of the closed space, and then the strain gauge pasting structure is used to paste strain gauges on the inner wall of the pipeline to be detected and the excitation structure is used to perform excitation detection on the inner wall of the pipeline to be detected.

[0039] The present application has the following technical effects relative to the prior art:

[0040] The submarine pipeline overhanging section multi-state detection device of the present application is arranged in the pipeline to be detected, and the pressure difference before and after the device enables the liquid to push the device to move, so that the device can move by itself without external force. After the first blocking structure blocks the inner wall of the pipeline to be detected, the liquid can only pass through the driving structure, so that the driving structure is powered by the liquid, and the output shaft of the driving structure outputs power to power the strain gauge pasting structure, the telescopic structure, the excitation structure and the internal suction structure. The present application can also detect the overhanging state and the length of the overhanging section through the first overhanging detection structure and the second overhanging detection structure, detect the weld state through the excitation structure, and detect the stress state of the pipeline through the strain gauge pasting structure. BRIEF DESCRIPTION OF DRAWINGS

[0041] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed in the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative effort.

[0042] Figure 1 The submarine pipeline overhanging section multi-state detection device in some embodiments of the present application is shown in an isometric view.

[0043] Figure 2 The submarine pipeline overhanging section multi-state detection device in some embodiments of the present application is shown in a front view.

[0044] Figure 3 The first blocking structure or the second blocking structure in some embodiments of the present application is shown in an isometric view.

[0045] Figure 4 The first blocking structure or the second blocking structure in some embodiments of the present application is shown in an exploded view. Figure 1

[0046] ​Figure 5 exploded view of the first occlusion structure or the second occlusion structure in some embodiments of the present application Figure 2 ;

[0047] Figure 6 exploded view of the second occlusion assembly and the first motor in some embodiments of the present application

[0048] Figure 7 exploded view of the second occlusion assembly in some embodiments of the present application

[0049] Figure 8 schematic view of the occlusion base and the arm structure in some embodiments of the present application

[0050] Figure 9 exploded view of the turntable, the first rotating shaft and the second rotating shaft in some embodiments of the present application

[0051] Figure 10 schematic view of the turntable in some embodiments of the present application

[0052] Figure 11 schematic view of the first or second floating detection structure in some embodiments of the present application

[0053] Figure 12 side view of the first or second floating detection structure in some embodiments of the present application

[0054] Figure 13 schematic view of the vibration and knocking assembly in some embodiments of the present application

[0055] Figure 14 exploded view of the driving structure in some embodiments of the present application

[0056] Figure 15 exploded view of the impeller structure in some embodiments of the present application Figure 1 ;

[0057] Figure 16 exploded view of the impeller structure in some embodiments of the present application Figure 2 ;

[0058] Figure 17 schematic view of the strain paste structure, the telescopic structure and the excitation structure in some embodiments of the present application

[0059] Figure 18 exploded view of the strain paste structure, the telescopic structure and the excitation structure in some embodiments of the present application Figure 1 ;

[0060] Figure 19 exploded view of the strain paste structure, the telescopic structure and the excitation structure in some embodiments of the present applicationFigure 1 ;

[0061] Figure 20 Strain gauge sticking assembly for some embodiments of the present application;

[0062] Figure 21 Strain gauge sticking cross-sectional view for some embodiments of the present application;

[0063] Figure 22 Fourth and fifth gear schematic for some embodiments of the present application;

[0064] Figure 23 Excitation structure schematic for some embodiments of the present application;

[0065] Figure 24 Internal pumping structure schematic for some embodiments of the present application;

[0066] Figure 25 Internal pumping structure exploded view for some embodiments of the present application;

[0067] Figure 26 Liquid flow schematic for some embodiments of the present application when liquid is used as a power source for the driving structure;

[0068] Figure 27 Liquid flow schematic for some embodiments of the present application when the internal pumping structure pumps liquid;

[0069] In the figure: 1 - first blocking structure, 2 - first overhanging detection structure, 3 - driving structure, 4 - strain gauge sticking structure, 5 - telescopic structure, 6 - excitation structure, 7 - internal suction structure, 8 - second overhanging detection structure, 9 - second blocking structure, 10 - first motor, 11 - first blocking assembly, 12 - second blocking assembly, 13 - leather cup, 14 - arm structure, 15 - second rotating shaft, 16 - third blocking piece, 17 - first protrusion, 18 - first rotating shaft, 19 - first spring, 20 - rotating disc, 21 - first blocking piece, 22 - second blocking piece, 23 - blocking base, 24 - first connecting rod, 25 - strut, 26 - second connecting rod, 27 - sliding block, 28 - first wedge block, 29 - sliding rail, 30 - second spring, 31 - compression spring, 32 - pull rod, 33 - fifth gear, 35 - vibration knocking assembly, 36 - third rotating shaft, 37 - overhanging detection support, 38 - first knocking connecting rod, 39 - second knocking connecting rod, 40 - fifth spring, 41 - fourth spring, 42 - third wedge block, 43 - second protrusion, 44 - sound sensor, 45 - knocking hammer, 46 - third spring, 47 - knocking base plate, 48 - first torsional spring, 49 - driven wheel, 50 - protruding block, 51 - third connecting rod, 52 - second wedge block, 53 - valve, 54 - flow distribution disc, 55 - impeller mechanism, 56 - rotor, 57 - blade, 58 - first bevel gear, 59 - second motor, 60 - output shaft, 61 - strain gauge sticking shell, 62 - blocking door, 63 - bearing cover, 64 - friction support, 65 - strain gauge sticking base, 66 - rotating block, 67 - strain gauge sticking connecting rod, 68 - connecting base, 69 - sticking base, 70 - strain gauge, 71 - sixth spring, 72 - nozzle, 73 - touch rod, 74 - glue tank, 75 - first one-way valve, 76 - first push rod, 77 - first mounting plate, 78 - first locking wheel, 79 - first gear, 80 - second gear, 81 - threaded shaft, 82 - fourth rotating shaft, 83 - first liquid guide hole, 84 - third gear, 85 - telescopic base, 86 - second push rod, 87 - second locking wheel, 88 - fourth gear, 89 - second threaded rod, 90 - sixth gear, 91 - excitation base, 92 - fifth rotating shaft, 93 - first friction plate, 94 - third push rod, 95 - partition plate, 97 - second friction plate, 98 - seventh spring, 99 - grinding head, 100 - excitation module, 101 - second liquid guide hole, 102 - grooved wheel, 103 - sliding protrusion, 104 - piston, 105 - suction inlet, 106 - circular ring, 107 - second drainage tube, 108 - liquid collecting cavity, 109 - cylinder body, 110 - liquid inlet channel, 111 - third one-way valve, 112 - second one-way valve, 113 - liquid outlet channel, 114 - threaded groove, 116 - first drainage tube, 117 - strain gauge sticking assembly. DETAILED DESCRIPTION

[0070] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0071] The purpose of this invention is to provide a multi-state detection device and method for suspended sections of subsea pipelines, which can detect the span, weld strength and stress state of the suspended sections of the pipeline, thus greatly facilitating the safety inspection of subsea pipelines.

[0072] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0073] Example 1

[0074] like Figures 1 to 27 As shown, this embodiment provides a multi-state detection device for suspended sections of subsea pipelines, including: a first sealing structure 1, a first suspension detection structure 2, a driving structure 3, a strain gauge bonding structure 4, a telescopic structure 5, an excitation structure 6, an internal suction structure 7, a second suspension detection structure 8, and a second sealing structure 9 connected in sequence; both the first sealing structure 1 and the second sealing structure 9 are used to contact the inner wall of the pipeline to be tested, forming a closed space between the first sealing structure 1 and the second sealing structure 9; both the first suspension detection structure 2 and the second suspension detection structure 8 are used to detect whether the pipeline to be tested is suspended; the internal suction structure 7 is used to draw liquid from inside the closed space into the closed space. The external structure of the pipeline is as follows: the strain gauge bonding structure 4 is used to bond strain gauges 70 to the inner wall of the pipeline to be tested; the telescopic structure 5 can extend and retract to change the distance between the first suspended detection structure 2 and the second suspended detection structure 8; the excitation structure 6 is used to perform excitation detection on the inner wall of the pipeline to be tested; the driving structure 3 uses liquid as a power source, and can drive the strain gauge bonding structure 4 to bond strain gauges 70 to the inner wall of the pipeline to be tested, can cooperate with the internal suction structure 7 to discharge the liquid in the enclosed space, can drive the telescopic structure 5 to extend and retract to change the distance between the first suspended detection structure 2 and the second suspended detection structure 8, and can drive the excitation structure 6 to perform excitation detection on the inner wall of the pipeline to be tested.

[0075] In this embodiment, the multi-state detection device for suspended sections of submarine pipelines is placed inside the pipeline to be detected. The first suspended detection structure 2 and the second suspended detection structure 8 abut against the inner wall of the pipeline. The first sealing structure 1 is in a semi-open state. Driven by the internal liquid, the device moves along the pipeline. During this movement, the second suspended detection structure 8 at the front taps the inner wall of the pipeline, generating a sound. The sound sensor 44 at the rear determines whether there is a suspended section. When the second suspended detection structure 8 detects a suspended section, it continues to move. When the first suspended detection structure 2 at the rear detects the same position again, it controls the first sealing structure 1 to seal the pipeline. At the same time, the valve 53 at the drive structure 3 is opened, allowing liquid to enter the drive structure 3. The drive structure 3 then drives the extension... The shrinking structure 5 extends, driving the second suspended detection structure 8 and the second sealing structure 9 to continue moving until the suspended section is detected and stops. At this time, the length of the suspended section of the pipeline to be tested can be obtained by calculating the distance between the first suspended detection structure 2 and the second suspended detection structure 8. When it is necessary to perform weld grinding excitation and pipeline strength testing, when the device moves to the position to be tested, the first sealing structure 1 and the second sealing structure 9 are activated to seal the pipeline to be tested. After sealing, the drive structure 3 is activated, and through power transmission, the internal suction structure 7 is activated to drain the liquid in the closed space. At this time, through power transmission again, the power of the drive structure 3 is transmitted to the strain gauge pasting structure 4 and the excitation structure 6 respectively, so that the relevant parameters can be detected.

[0076] In some embodiments, the multi-state detection device for the suspended section of the subsea pipeline in this embodiment further includes a first starting shaft, an output shaft 60, a fourth rotating shaft 82, a fifth rotating shaft 92, a second starting shaft, a first drainage pipe 116, and a second drainage pipe 107. The first starting shaft is drivenly connected to the first sealing structure 1 and the first suspended detection structure 2, respectively. The second starting shaft is drivenly connected to the second sealing structure 9 and the second suspended detection structure 8, respectively. The output shaft 60, the fourth rotating shaft 82, and the fifth rotating shaft 92 are drivenly connected in sequence. The output shaft 60 is the power output shaft 60 of the drive structure 3. The fourth rotating shaft 82 is drivenly connected to the strain gauge bonding structure 4 and the telescopic structure 5, respectively. The fifth rotating shaft 92 is drivenly connected to the excitation structure 6 and the internal suction structure 7, respectively.

[0077] The first starting shaft, the fourth rotating shaft 82, the fifth rotating shaft 92, and the second starting shaft are all provided with flow channels inside. The first sealing structure 1 is provided with a number of first liquid flow holes, and the second sealing structure 9 is provided with a number of second liquid flow holes. The first liquid flow holes, the first starting shaft, the first drainage pipe 116, the fourth rotating shaft 82, the fifth rotating shaft 92, the second drainage pipe 107, the second starting shaft, and the second liquid flow holes are connected in sequence. The internal suction structure 7, the second starting shaft, and the second liquid flow holes are connected in sequence.

[0078] When liquid is used as the power source of drive structure 3, the liquid passes through the first liquid flow hole and the first starting shaft in sequence, and acts on drive structure 3, so that the power generated by drive structure 3 is transmitted through output shaft 60, fourth rotating shaft 82 and fifth rotating shaft 92 in sequence. At the same time, the liquid enters the first drainage pipe 116, the fourth rotating shaft 82, the fifth rotating shaft 92, the second drainage pipe 107 and the second starting shaft in sequence, and is discharged from the second liquid flow hole.

[0079] When the internal suction structure 7 is used to draw the liquid inside the enclosed space to the outside of the enclosed space, the liquid enters the internal suction structure 7, enters the second starting shaft, and is discharged through the second liquid flow hole.

[0080] In some embodiments, the first sealing structure 1 and the second sealing structure 9 have the same structure, and the first sealing structure 1 and the second sealing structure 9 are arranged symmetrically.

[0081] The first start shaft and the second start shaft have the same structure. Both the first start shaft and the second start shaft include a first rotating shaft 18, a second rotating shaft 15 and a third rotating shaft 36.

[0082] Both the first blocking structure 1 and the second blocking structure 9 include a first motor 10, a first blocking component 11 and a second blocking component 12. The first blocking component 11 and the second blocking component 12 have the same structure and are symmetrically arranged. The second blocking component 12 is located close to the first suspended detection structure 2 or the second suspended detection structure 8.

[0083] Both the first sealing assembly 11 and the second sealing assembly 12 include a sealing base 23, a cup 13, a turntable 20, and several support arm structures 14. The sealing base 23 of the second sealing assembly 12 is connected to the first suspended detection structure 2 or the second suspended detection structure 8. The turntable 20 is located at the center of the sealing base 23. The first or second starting shaft extends out from the center of the sealing base 23. The cup 13 is mounted on the sealing base 23. Several pull rods 32 are arranged circumferentially along the sealing base 23. The pull rods 32 pass sequentially through the cup 13 of the first sealing assembly 11 and the second sealing assembly 12. The diaphragm cup 13 and the pull rod 32 are both provided with limiting parts at both ends. The pull rod 32 is slidably connected to the diaphragm cup 13 of the first sealing component 11 and the diaphragm cup 13 of the second sealing component 12, respectively. One end of the pull rod 32 is limited to the diaphragm cup 13 of the second sealing component 12 by the limiting part, and the other end of the pull rod 32 is connected to the sealing base 23 of the first sealing component 11. A compression spring 31 is provided between the limiting part of the other end of the pull rod 32 and the diaphragm cup 13 of the first sealing component 11. The compression spring 31 is provided to keep the diaphragm cup 13 of the first sealing component 11 and the diaphragm cup 13 of the second sealing component 12 connected. A plurality of support arm structures 14 are evenly arranged circumferentially along the sealing base 23. Preferably, there are eight support arm structures 14. Each support arm structure 14 includes a slide rail 29, a slider 27, a first connecting rod 24, a second connecting rod 26, and a support rod 25. The slide rail 29 is mounted on the sealing base 23. A first wedge block 28 is mounted on the slider 27, which is slidably connected to the slide rail 29. A second spring 30 is provided between the slider 27 and the sealing base 23, assisting the support arm structure 14 in resetting. One end of the first connecting rod 24 is rotatably connected to the sealing base 23, and the other end of the first connecting rod 24... A support rod 25 is provided, which contacts the cup 13. The support rod 25 is arc-shaped, and the centers of the support rods 25 of each support arm structure 14 are the same. The support rods 25 of the first sealing component 11 and the second sealing component 12 are staggered in the circumferential direction to solve the problem of missing corners caused by the support rod 25 driving the cup 13 to expand outward. This allows the cup 13 of the first sealing component 11 and the cup 13 of the second sealing component 12 to continuously contact the pipe to be tested in order to achieve sealing. One end of the second connecting rod 26 is rotatably connected to the slider 27, and the other end of the second connecting rod 26 is rotatably connected to the middle part of the first connecting rod 24.

[0084] The first motor 10 is externally protected by a protective cover. The first motor 10 is connected to the turntable 20 via a transmission connection. The turntable 20 is rigidly connected to the third rotating shaft 36. The third rotating shaft 36 is connected to either the first suspended detection structure 2 or the second suspended detection structure 8 via a transmission connection. The turntable 20 is internally provided with a first baffle 21 and a second baffle 22. The first baffle 21 is located outside the second baffle 22. The turntable 20 is sleeved on the outside of the first rotating shaft 18 and is rotatably connected to the first rotating shaft 18. The end of the first rotating shaft 18 is provided with a first spring 19 that matches the first baffle 21. When the turntable 20 drives the first baffle 21 to rotate, the first baffle 21 compresses the spring. The first spring 19 causes the first rotating shaft 18 to rotate. The first spring 19 can also buffer the activation of the first sealing assembly 11 and the second sealing assembly 12. The outer side of the first rotating shaft 18 is provided with a first protrusion 17, which can contact the first wedge block 28 of the second sealing assembly 12. The outer side of the second rotating shaft 15 is provided with a second protrusion 43, which can contact the first wedge block 28 of the first sealing assembly 11. The second rotating shaft 15 extends into the first rotating shaft 18. The second baffle 22 can contact the third baffle 16 on the second rotating shaft 15 to realize the transmission connection between the turntable 20 and the second rotating shaft 15.

[0085] The first motor 10 drives the turntable 20 to rotate. The first baffle 21 of the turntable 20 compresses the first spring 19, thereby driving the first rotating shaft 18 and the first protrusion 17 to rotate. The first protrusion 17 contacts the first wedge block 28 of the second sealing assembly 12. The slider 27 of the second sealing assembly 12 moves along the slide rail 29 of the second sealing assembly 12. Then, through the first connecting rod 24 and the second connecting rod 26, the support rod 25 of the second sealing assembly 12 moves radially, realizing the outer... As the turntable 20 rotates, the second rotating shaft 15 and the first protrusion 17 of the first sealing assembly 11 rotate. The first protrusion 17 of the first sealing assembly 11 contacts the first wedge block 28 of the first sealing assembly 11. The slider 27 of the first sealing assembly 11 moves along the slide rail 29 of the first sealing assembly 11, which in turn causes the support rod 25 of the first sealing assembly 11 to move radially through the first connecting rod 24 and the second connecting rod 26, thereby realizing the expansion or contraction of the cup 13 of the first sealing assembly 11. The expansion of the cup 13 can realize the sealing of the pipeline to be tested, and the contraction of the cup 13 can release the sealing.

[0086] In some embodiments, the first suspended detection structure 2 and the second suspended detection structure 8 have the same structure, and the first suspended detection structure 2 and the second suspended detection structure 8 are arranged symmetrically.

[0087] Both the first suspended detection structure 2 and the second suspended detection structure 8 include a suspended detection bracket 37 and several vibration and striking components 35. Preferably, there are eight vibration and striking components 35. The suspended detection bracket 37 is used to connect to the sealing base 23 of the first sealing structure 1 or the second sealing structure 9. The several vibration and striking components 35 are evenly arranged along the circumference of the suspended detection bracket 37. Each vibration and striking component 35 includes a first striking link 38, a second striking link 39, a striking base plate 47, a driven wheel 49, and a sound... The system comprises a sound sensor 44, a protrusion 50, a third striking link, a second wedge block 52, and a striking hammer 45. One end of the first striking link 38 is rotatably connected to the suspended detection bracket 37, and the other end of the first striking link 38 is rotatably connected to one end of the striking base plate 47. A first torsion spring 48 is provided at the connection between the other end of the first striking link 38 and the end of the striking base plate 47. Using the first torsion spring 48, the vibrating striking assembly 35 can travel parallel to the pipe wall of the pipe to be detected. The second striking link... The second striking rod 39 passes through the guide portion provided on the suspended detection bracket 37. A fourth spring 41 is provided between one end of the second striking rod 39 and the guide portion, and a fifth spring 40 is provided between the other end of the second striking rod 39 and the guide portion. A third wedge block 42 is provided at one end of the second striking rod 39, which is used to contact the second protrusion 43 on the outer side of the third rotating shaft 36. The other end of the second striking rod 39 is rotatably connected to the middle of the striking base plate 47. A sound sensor 44 is provided. On the striking base plate 47, the driven wheel 49 is rotatably connected to the striking base plate 47, the protrusion 50 is connected to the driven wheel 49, the middle part of the third striking link is rotatably connected to the striking base plate 47, the striking hammer 45 is slidably connected to the striking base plate 47 and a third spring 46 is provided between the striking hammer 45 and the striking base plate 47, the second wedge block 52 is connected to the striking hammer 45, the protrusion 50 can contact one end of the third striking link, and the second wedge block 52 can contact the other end of the third striking link;

[0088] When the first motor 10 is driven to rotate, the first motor 10 will drive the third rotating shaft 36 to rotate. When the third rotating shaft 36 rotates, the second protrusion 43 on the surface of the third rotating shaft 36 will push the third wedge block 42 below the second striking link 39 to move, so that the second striking link 39 moves from the inside to the outside along the radial direction of the suspended detection bracket 37, pushing the first striking link 38. The first striking link 38 drives the striking base plate 47 to move until the driven wheel 49 contacts the inner wall of the pipe to be tested. When the vibration striking component 35 contacts the pipe wall, as the driven wheel 49 rotates close to the pipe wall, the protrusion block 50 pushes one end of the third striking link to move. The other end of the third striking link repeatedly pushes up the second wedge block 52. The second wedge block 52 drives the striking hammer 45 to repeatedly strike the inner wall of the pipe to be tested to produce sound. The sound sensor 44 detects the sound signal generated by the striking to determine whether it is suspended.

[0089] In some embodiments, the drive structure 3 includes a first drive cover, a diverter plate 54, a second drive cover, an impeller structure, and an output shaft 60. The diverter plate 54 is located between the first drive cover and the second drive cover. The first drive cover is connected to a third rotating shaft 36 of the first starting shaft. A valve 53 is provided on the third rotating shaft 36. The diverter plate 54 has several diverter holes. The impeller structure is located in the space formed between the diverter plate 54 and the second drive cover. The second drive cover is connected to a first liquid guide hole 83 on the fourth rotating shaft 82 through a first drain pipe 116. The impeller structure includes a rotor 56, a first... The rotor 56 is connected to the output shaft 60, which passes through the second drive cover and is rotatably connected to the fourth rotating shaft 82. The output shaft 60 and the fourth rotating shaft 82 are connected by a universal joint. The blades 57 are evenly arranged along the circumference of the rotor 56 and are rotatably connected to the rotor 56. The second motor 59 is located in the rotor 56. The power output end of the second motor 59 is connected to the first bevel gear 58. The first bevel gear 58 meshes with each of the second bevel gears. The second bevel gears are connected to the blades 57.

[0090] The second motor 59 drives the first bevel gear 58 to rotate, which in turn drives each second bevel gear to rotate, thereby driving the blade 57 to rotate, thus achieving the adjustment of the blade 57 angle.

[0091] When the drive structure 3 is working, the valve 53 is opened, and the liquid flows from the flow channel of the second rotating shaft 15 to the flow channel of the third rotating shaft 36, enters between the first drive cover and the diverter plate 54, and enters between the diverter plate 54 and the second drive cover through the diverter hole. The liquid interacts with the blades 57 to drive the impeller structure to rotate, which in turn drives the output shaft 60 to rotate. The output shaft 60 is used for the output of subsequent power. The liquid is discharged from the equipment through the first drain pipe 116, the fourth rotating shaft 82, the fifth rotating shaft 92, the second drain pipe 107 and the second starter shaft.

[0092] In some embodiments, the strain gauge bonding structure 4 includes a strain gauge bonding housing 61, a strain gauge bonding base 65, a connecting base 68, a first push rod, a first locking wheel 78, a second gear 80, a threaded shaft 81, and several strain gauge bonding assemblies 117. Several connecting rods are provided on the strain gauge bonding base 65, one end of which is connected to the strain gauge bonding base 65, and the other end of which is connected to a second drive cover via a ball joint. A spring is provided on the connecting rod. The strain gauge bonding housing 61 and the strain gauge bonding base 65 form a space for mounting the strain gauge bonding assemblies 117. A stop 62 is provided on the strain gauge bonding housing 61. Several strain gauge bonding assemblies... The components 117 are evenly arranged around the circumference of the strain gauge bonding housing 61. Preferably, there are four strain gauge bonding components 117. The first push rod is set on the strain gauge bonding base 65. One end of the first push rod is provided with a first mounting plate 77. The first mounting plate 77 is provided with a first locking wheel 78. The first locking wheel 78 can mesh with the first gear 79 on the fourth rotating shaft 82. The outer side of the fourth rotating shaft 82 is fitted with a threaded shaft 81. The outer side of the threaded shaft 81 is provided with a threaded groove 114. The connecting base 68 is fitted on the threaded shaft 81 and threadedly connected to the threaded shaft 81. The second gear 80 is fitted on the threaded shaft 81. The first gear 79 is provided on the fourth rotating shaft 82.

[0093] The strain gauge bonding assembly 117 includes a strain gauge bonding bracket, a strain gauge bonding link 67, a bonding base 69, a contact rod 73, an adhesive container 74, a nozzle 72, and a strain gauge 70. Each strain gauge bonding bracket is mounted on the strain gauge bonding base 65. One end of the strain gauge bonding link 67 is rotatably connected to a connecting base 68, and the middle part of the strain gauge bonding link 67 is rotatably connected to a strain gauge bonding bracket. A rotating block 66 is provided on the strain gauge bonding link 67, which is used to contact and push open a stop gate 62. The bonding base 69 is rotatably connected to the other end of the strain gauge bonding link 67. A second torsion spring is provided at the connection between the adhesive base 69 and the other end of the strain gauge adhesive rod 67. The contact rod 73 is slidably connected to the adhesive base 69 and extends into the spraying chamber. A first one-way valve 75 is provided between the spraying chamber and the nozzle 72. The glue tank 74 and the nozzle 72 are both provided on the adhesive base 69. The glue tank 74 is connected to the nozzle 72. The nozzle 72 is located on one side of the strain gauge 70. The strain gauge 70 is provided on the support rod 25. The support rod 25 is slidably connected to the adhesive base 69. The sixth spring 71 is sleeved on the support rod 25 and located between the support rod 25 and the adhesive base 69.

[0094] The first push rod actuates, pushing the first locking wheel 78 to move axially along the fourth rotating shaft 82. The first locking wheel 78 locks the first gear 79 and the second gear 80 synchronously, allowing the threaded shaft 81 to rotate together with the fourth rotating shaft 82. The drive structure 3 drives the fourth rotating shaft 82 to rotate through the output shaft 60, which in turn drives the first gear 79, the second gear 80, and the threaded shaft 81 to rotate, thereby driving the connecting base 68 to move axially along the threaded shaft 81. This, in turn, moves the strain gauge bonding rod 67, which in turn moves the rotating block 66, allowing the strain gauge bonding assembly 117 to extend from the stop gate 62. When the contact rod 73 contacts the inner wall of the pipe to be tested, the contact rod 73 compresses the spraying chamber. The gas in the spraying chamber enters the glue tank 74, which can squeeze the glue in the glue tank 74 out through the nozzle 72 onto the inner wall of the pipe to be tested. This continues to push the strain gauge bonding assembly 117, and the strain gauge 70 is bonded to the inner wall of the pipe to be tested through the glue.

[0095] In some embodiments, the telescopic structure 5 includes a telescopic base 85, a bearing cover 63, a second push rod 86, a second locking wheel 87, a fourth gear 88, a fifth gear 33, several sixth gears 90, and several second threaded rods 89. The telescopic base 85 is connected to the strain gauge bonding structure 4, the bearing cover 63 is connected to the telescopic base 85, the second push rod 86 is disposed on the telescopic base 85, one end of the second push rod 86 is connected to the second locking wheel 87, the second locking wheel 87 can mesh with the third gear 84 on the fourth rotating shaft 82, and the fourth gear... Both the 88 and the sixth gear 90 are mounted on the bearing cover 63 and are rotatably connected to the bearing cover 63. The fifth gear 33 is mounted on one side of the third gear 84. The fifth gear 33 and the fourth gear 88 are coaxial and fixedly connected. The sixth gear 90 meshes with the fourth gear 88. Each second threaded rod 89 passes through a sixth gear 90 and meshes with the sixth gear 90. One end of the second threaded rod 89 is connected to the excitation structure 6. The second threaded rod 89 is rotatably connected to the telescopic base 85. The other end of the second threaded rod 89 extends into the strain gauge bonding structure 4.

[0096] The second push rod 86 is activated, pushing the second locking wheel 87 to move axially along the fourth rotating shaft 82. The second locking wheel 87 locks the third gear 84 and the fifth gear 33 synchronously. The drive structure 3 drives the fourth rotating shaft 82 to rotate through the output shaft 60, which in turn drives the third gear 84, the fourth gear 88 and the fifth gear 33 to rotate, thereby driving the sixth gear 90 to rotate. The second threaded rod 89 moves axially along the sixth gear, realizing extension and retraction.

[0097] In some embodiments, the excitation structure 6 includes an excitation base 91, a fifth rotating shaft 92, a third push rod 94, a partition 95, a first friction plate 93, a second friction plate 97, a friction bracket 64, a grinding head 99, and an excitation module 100. The excitation base 91 is connected to the telescopic structure 5. The fifth rotating shaft 92 passes through the excitation base 91 and is rotatably connected to it. The fifth rotating shaft 92 is inserted into the center of the fourth rotating shaft 82 and is connected to it. The first friction plate 93 is connected to the fifth rotating shaft 92. The third push rod 94... The third push rod 94 is mounted on the excitation base 91. One end of the third push rod 94 is provided with a partition 95. The partition 95 is rotatably connected to the fifth rotating shaft 92. The second friction plate 97 is mounted on the partition 95. The friction bracket 64 is connected to the second friction plate 97. The friction bracket 64 is provided with a connecting rod that is slidably connected to the friction bracket 64. A seventh spring 98 is sleeved on the connecting rod. The seventh spring 98 is located between the connecting rod and the friction bracket 64. The grinding head 99 and the excitation module 100 are both mounted on the outer end of the connecting rod. The excitation module 100 is preferably an excitation sensor.

[0098] The third push rod 94 moves, pulling back the partition 95, causing the first friction plate 93 and the second friction plate 97 to contact. The drive structure 3 drives the fourth rotating shaft 82 to rotate through the output shaft 60. The fourth rotating shaft 82 drives the fifth rotating shaft 92, the first friction plate 93, the second friction plate 97, the partition 95, and the friction bracket 64 to rotate. Under the influence of centrifugal force, the grinding head 99 and the excitation module 100 are thrown out. The grinding head 99 grinds the pipe wall of the pipe to be tested. The grinding head 99 can grind away the dirt, rust spots, and other stains on the inner wall of the pipe that affect the detection effect of the sensor. At the same time, grinding can also provide good contact conditions for the subsequent bonding of the strain gauge 70. The excitation module 100 performs excitation detection on the pipe wall.

[0099] In some embodiments, the internal suction structure 7 includes a liquid collecting structure, a suction structure, a grooved wheel 102, a piston 104, and a cylinder 109. The liquid collecting structure forms a liquid collecting cavity 108. The suction structure is telescopic and preferably a bellows. The suction structure is mounted on a ring 106, which is rotatably connected to the liquid collecting structure. The suction structure remains downward due to gravity, facilitating the absorption of liquid inside the device. The suction structure has a suction port 105 that communicates with the liquid collecting cavity 108. The grooved wheel 102 is rotatably connected to the liquid collecting structure and is connected to a fifth rotating shaft 92. The grooved wheel 102 has a second liquid guiding hole 101. 01 is connected to the drain pipe 113 through the second drain pipe 107. One end of the piston 104 is provided with a sliding protrusion 103, which is located in the groove of the groove wheel 102 and can slide in the groove. The other end of the piston 104 extends into the cylinder 109. The piston 104 and the cylinder 109 form a liquid storage cavity. The liquid collection cavity 108, the liquid storage cavity, the second start shaft and the second liquid flow hole are connected in sequence. A third one-way valve 111 is provided between the liquid storage cavity and the second start shaft, which only allows liquid to flow out of the liquid storage cavity. The liquid storage cavity is connected to the inlet pipe 110. A second one-way valve 112 is provided on the inlet pipe 110, which only allows liquid to enter the liquid storage cavity.

[0100] The drive structure 3 drives the output shaft 60, the fourth rotating shaft 82, and the fifth rotating shaft 92 to rotate, which in turn drives the groove wheel 102 to rotate, causing the piston 104 to reciprocate along its axial direction. This allows the liquid in the enclosed space to enter the liquid collection chamber 108 and the liquid inlet pipe 110 sequentially through the suction port 105. In conjunction with the third one-way valve 111, the liquid is drawn into the liquid storage chamber, and then through the second one-way valve 112, the liquid in the liquid storage chamber enters the second start-up shaft and is discharged through the second liquid flow hole.

[0101] In this embodiment, the multi-state detection device for the suspended section of the subsea pipeline is installed in the pipeline to be tested. Utilizing the pressure difference before and after the device, the liquid can propel the device forward, allowing it to move on its own without external force. When the first sealing structure 1 seals the inner wall of the pipeline to be tested, the liquid can only pass through the driving structure 3, thereby using the liquid to provide power to the driving structure 3. This causes the output shaft 60 of the driving structure 3 to output power, providing power to the strain gauge bonding structure 4, the telescopic structure 5, the excitation structure 6, and the internal suction structure 7. In this embodiment, the suspended state and the length of the suspended section can also be detected through the first suspended detection structure 2 and the second suspended detection structure 8, the weld state can be detected through the excitation structure 6, and the pipeline stress state can be detected by bonding strain gauges 70 through the strain gauge bonding structure 4.

[0102] Example 2

[0103] This embodiment provides a detection method using the multi-state detection device for suspended sections of subsea pipelines according to Embodiment 1, including:

[0104] The multi-state detection device for the suspended section of the subsea pipeline is placed into the pipeline to be tested. Under the action of the liquid, the multi-state detection device for the suspended section of the subsea pipeline moves in the pipeline to be tested. The first motor 10 corresponding to the second suspension detection structure 8 is activated. The second suspension detection structure 8 located at the front end is used for suspension detection. The first motor 10 drives the third rotating shaft 36 to rotate. When the third rotating shaft 36 rotates, the second protrusion 43 on the surface of the third rotating shaft 36 pushes the third wedge block 42 below the second striking link 39 to move upward, thereby driving the first striking link 38 to drive the vibration striking component 35 to rise until it contacts the pipe wall. When the vibration striking component 35 contacts the pipe wall, the driven wheel 49 rotates close to the pipe wall. Since the device is placed inside the pipeline, it is affected by the water flow inside the pipeline and moves with the water flow, thereby causing the protrusion block 50 to rotate, driving the third link 51 to repeatedly push up the second wedge block 52 at the bottom of the striking hammer 45, causing the striking hammer 45 to repeatedly strike the pipe wall and produce sound, which is detected by the sound sensor 44 to determine whether it is suspended.Once a suspended position is detected, this suspended position is marked as the first suspended position. As the multi-state detection device for suspended sections of the subsea pipeline continues to move within the pipeline to be inspected, when the first suspended detection structure 2 at the rear end detects the first suspended position, the first sealing structure 1 activates, starting the first motor 10. The first motor 10 drives the turntable 20 to rotate. Inside the turntable 20 are a first baffle 21 and a second baffle 22. When the turntable 20 rotates, the second baffle 22 pushes the first spring 19 to compress, thereby pushing the first rotating shaft 18 to rotate. When the rotating shaft 18 rotates, the first protrusion 17 on the left pushes the first wedge block 28 to move backward, driving the second connecting rod 26 to expand the support rod 25 outward, thereby expanding the cup 13 and sealing the pipe. Since the expansion of the support rod 25 will create a notch, the rotating disk 20 continues to rotate until the second baffle 22 inside the rotating disk 20 contacts the third baffle 16 of the second rotating shaft 15. Continuing to rotate the rotating disk 20 will push the third baffle 16 to rotate, thereby driving the first sealing assembly 11 to expand and seal (the first sealing assembly 11 and the second...). The sealing components 12 are installed at a certain angle (to seal off the missing corners of each other), sealing the end of the equipment. The drive structure 3 is then activated again (to open valve 53; when valve 53 is open, the liquid at the tail of the equipment flows through the central channel of the second rotating shaft 15 to the central channel of the third rotating shaft 36, and flows to the diversion plate 54. Through the diversion holes on the surface of the diversion plate 54, it impacts the impeller mechanism 55. The power generated by the impeller mechanism 55 is output backward through the output shaft 60). The telescopic structure 5 is activated, the second push rod 86 is activated, and the second locking wheel 87 is pushed axially. As the device moves, it is pre-engaged with the third gear 84 of the fourth shaft 82. When it continues to push, the second locking wheel 87 engages with the fifth gear 33 at the center of the fourth gear 88, locking the third gear 84, the fourth gear 88, and the fifth gear 33 synchronously. When the fourth gear 88 rotates, it drives the sixth gear 90 around it to rotate. When the sixth gear 90 rotates, the second threaded rod 89 will synchronously extend and retract, thereby completing the extension and retraction of the entire device and pushing the first end of the device to the end of the suspended pipe section. At this time, the distance of the suspended section can be calculated.

[0105] When the strain gauge 70 is attached to the inner wall of the pipeline to be tested and the excitation test is performed, the internal suction structure 7 needs to be activated to empty the liquid inside the closed space. The multi-state detection device for the suspended section of the submarine pipeline moves to the position to be tested, and the first sealing structure 1 and the second sealing structure 9 work. Both the first sealing structure 1 and the second sealing structure 9 contact the inner wall of the pipeline to be tested to seal it, so that the pipeline to be tested between the first sealing structure 1 and the second sealing structure 9 forms a closed space. The internal suction structure 7 is used to discharge the liquid inside the closed space to the outside of the closed space.

[0106] If strain gauge 70 needs to be attached and energized, the internal suction structure 7 needs to be activated to empty the liquid inside the equipment, and the drive structure 3 needs to be activated to ensure that the output shaft 60 has power output. The fourth rotating shaft 82 is welded to the output shaft 60, and the fifth rotating shaft 92 is inserted into the center of the fourth rotating shaft 82 and can rotate synchronously with the fourth rotating shaft 82. When the fifth rotating shaft 92 rotates, the grooved wheel 102 rotates synchronously, driving the piston 104 to reciprocate. When the piston 104 reciprocates, the liquid inside the pipe can enter the liquid inlet pipe 110 through the suction port 105, and with the cooperation of the third one-way valve 111, it is sucked into the cylinder 1. Inside 09, after the liquid is finally discharged from the equipment via the second one-way valve 112 and the liquid inside the closed space is emptied, the third push rod 94 is activated, and the partition 95 is pulled back. When the partition 95 is pulled back, it causes the second friction plate 97 to contact the first friction plate 93. Since the first friction plate 93 and the fifth rotating shaft 92 are integrated and in a rotating state, the second friction plate 97 will also rotate synchronously. When rotating, under the influence of centrifugal force, the grinding head 99 is thrown out and grinds the pipe wall. After grinding, the telescopic structure 5 is activated, the first second sealing structure 9 is temporarily closed, and the excitation module 100 is moved to the position after grinding to perform the excitation operation.

[0107] If strain gauge 70 needs to be attached, the internal suction structure 7 needs to be activated to empty the liquid inside the equipment. The first push rod pushes the baffle and the first locking wheel 78 to move along the fourth rotating shaft 82. When the first locking wheel 78 moves, its internal spline is engaged with the first gear 79 by default. When the first locking wheel 78 continues to advance, its internal spline engages with the gear groove of the second gear 80 at the end of the threaded shaft 81, thereby causing the threaded shaft 81 to rotate together with the fourth rotating shaft 82. When the threaded shaft 81 rotates, the thread groove 11 on its surface... 4 engages with the thread in the center hole of the connecting base 68, driving the connecting base 68 to move with the fourth rotating shaft 82, thereby driving the strain gauge bonding rod 67 to move, thereby driving the rotating block 66 to rotate, thereby pushing the strain gauge bonding assembly 117 out through the stop gate 62. When the strain gauge bonding assembly 117 is about to contact the pipe wall, the contact rod 73 is pressed down by the pipe wall, like the glue can 74 being pressurized inside. The glue inside is sprayed onto the pipe wall through the nozzle 72, and the strain gauge 70 bonding mechanism continues to be pushed out, bonding the strain gauge 70 to the pipe wall.

[0108] Specific examples have been used to illustrate the principles and implementation methods of this invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this invention. Furthermore, those skilled in the art will recognize that, based on the ideas of this invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this invention.

Claims

1. A multi-state detection device for suspended sections of subsea pipelines, characterized in that: include: The first sealing structure, the first suspended detection structure, the driving structure, the strain gauge bonding structure, the telescopic structure, the excitation structure, the internal suction structure, the second suspended detection structure, and the second sealing structure are connected in sequence. Both the first sealing structure and the second sealing structure are used to contact the inner wall of the pipeline to be tested, so that the pipeline to be tested between the first sealing structure and the second sealing structure forms a closed space; Both the first and second suspension detection structures are used to detect whether the pipeline to be detected is suspended. The internal suction structure is used to draw liquid from inside the enclosed space to the outside of the enclosed space; The strain gauge bonding structure is used to bond strain gauges to the inner wall of the pipe to be tested; The telescopic structure can extend and retract to change the distance between the first suspended detection structure and the second suspended detection structure; The excitation structure is used to perform excitation detection on the inner wall of the pipeline to be tested; The driving structure uses liquid as a power source. The driving structure can drive the strain gauge bonding structure to bond strain gauges to the inner wall of the pipe to be tested, can cooperate with the internal suction structure to discharge liquid in the closed space, can drive the telescopic structure to extend and retract to change the distance between the first suspended detection structure and the second suspended detection structure, and can drive the excitation structure to perform excitation detection on the inner wall of the pipe to be tested.

2. The multi-state detection device for suspended sections of subsea pipelines according to claim 1, characterized in that: It also includes a first starting shaft, an output shaft, a fourth rotating shaft, a fifth rotating shaft, a second starting shaft, a first drain pipe, and a second drain pipe. The first starting shaft is drivenly connected to the first sealing structure and the first suspended detection structure, respectively. The second starting shaft is drivenly connected to the second sealing structure and the second suspended detection structure, respectively. The output shaft, the fourth rotating shaft, and the fifth rotating shaft are drivenly connected in sequence. The output shaft is the power output shaft of the drive structure. The fourth rotating shaft is drivenly connected to the strain gauge bonding structure and the telescopic structure, respectively. The fifth rotating shaft is drivenly connected to the excitation structure and the internal suction structure, respectively. The first starting shaft, the fourth rotating shaft, the fifth rotating shaft, and the second starting shaft are all provided with flow channels inside. The first sealing structure is provided with a plurality of first liquid flow holes, and the second sealing structure is provided with a plurality of second liquid flow holes. The first liquid flow holes, the first starting shaft, the first drainage pipe, the fourth rotating shaft, the fifth rotating shaft, the second drainage pipe, the second starting shaft, and the second liquid flow holes are connected in sequence. The internal suction structure, the second starting shaft, and the second liquid flow holes are connected in sequence. When liquid is used as the power source of the drive structure, the liquid passes through the first liquid flow hole and the first starting shaft in sequence, and acts on the drive structure, so that the power generated by the drive structure is transmitted through the output shaft, the fourth rotating shaft and the fifth rotating shaft in sequence. At the same time, the liquid enters the first drainage pipe, the fourth rotating shaft, the fifth rotating shaft, the second drainage pipe and the second starting shaft in sequence, and is discharged from the second liquid flow hole. When the internal suction structure is used to draw liquid from inside the enclosed space to the outside of the enclosed space, the liquid enters the internal suction structure, then enters the second starting shaft, and is discharged through the second liquid flow hole.

3. The multi-state detection device for suspended sections of subsea pipelines according to claim 2, characterized in that: The first sealing structure and the second sealing structure have the same structure and are arranged symmetrically. The first start-up shaft and the second start-up shaft have the same structure. Both the first start-up shaft and the second start-up shaft include a first rotating shaft, a second rotating shaft and a third rotating shaft. The second rotating shaft is connected to the third rotating shaft in a transmission manner. Both the first blocking structure and the second blocking structure include a first motor, a first blocking component, and a second blocking component. The first blocking component and the second blocking component have the same structure and are symmetrically arranged. The second blocking component is located close to either the first suspended detection structure or the second suspended detection structure. Both the first and second sealing components include a sealing base, a cup, a turntable, and several support arm structures. The sealing base of the second sealing component is connected to either the first or second suspended detection structure. The turntable is located at the center of the sealing base. The cup is disposed on the sealing base, and the cups of the first and second sealing components are in contact. Several support arm structures are evenly arranged along the circumference of the sealing base. Each support arm structure includes a slide rail, a slider, a first connecting rod, a second connecting rod, and a strut. A first wedge-shaped block is provided on the block, the slide rail is provided on the sealing base, the slider is slidably connected to the slide rail, one end of the first connecting rod is rotatably connected to the sealing base, the other end of the first connecting rod is provided with the support rod, the support rod is in contact with the diaphragm, the support rod is arc-shaped, the centers of the support rods of each of the support arm structures are the same, the support rods of the first sealing assembly and the second sealing assembly are offset in the circumferential direction, one end of the second connecting rod is rotatably connected to the slider, and the other end of the second connecting rod is rotatably connected to the middle of the first connecting rod; The first motor is driven to the turntable, the turntable is connected to the third rotating shaft, and the third rotating shaft is driven to the first suspended detection structure or the second suspended detection structure. The turntable is provided with a first baffle and a second baffle. The turntable is sleeved on the outside of the first rotating shaft and is rotatably connected to the first rotating shaft. The turntable is driven to the first rotating shaft through the first baffle. The outside of the first rotating shaft is provided with a first protrusion that can contact the first wedge block of the second sealing component. The outside of the second rotating shaft is provided with a second protrusion that can contact the first wedge block of the first sealing component. The second rotating shaft extends into the first rotating shaft. The second baffle can contact the third baffle on the second rotating shaft to realize the drive connection between the turntable and the second rotating shaft. The first motor drives the turntable to rotate, which in turn drives the first rotating shaft and the first protrusion to rotate. The first protrusion contacts the first wedge block of the second sealing assembly. The slider of the second sealing assembly moves along the slide rail of the second sealing assembly, thereby causing the support rod of the second sealing assembly to move radially, realizing the expansion or contraction of the cup of the second sealing assembly. As the turntable rotates, the second rotating shaft and the first protrusion of the first sealing assembly rotate. The first protrusion of the first sealing assembly contacts the first wedge block of the first sealing assembly. The slider of the first sealing assembly moves along the slide rail of the first sealing assembly, thereby causing the support rod of the first sealing assembly to move radially, realizing the expansion or contraction of the cup of the first sealing assembly.

4. The multi-state detection device for suspended sections of subsea pipelines according to claim 2, characterized in that: The first suspended detection structure and the second suspended detection structure have the same structure and are arranged symmetrically. Both the first and second suspended detection structures include a suspended detection bracket and several vibration impact components. The suspended detection bracket is used to connect with the first or second sealing structure. The several vibration impact components are evenly arranged along the circumference of the suspended detection bracket. Each vibration impact component includes a first impact link, a second impact link, an impact base plate, a driven wheel, a sound sensor, a protrusion, a third impact link, a second wedge block, and an impact hammer. One end of the first impact link is rotatably connected to the suspended detection bracket, and the other end of the first impact link is rotatably connected to one end of the impact base plate. A first torsion spring is provided at the connection between the end of the second striking rod and one end of the striking base plate. One end of the second striking rod is used for transmission connection with the first starting shaft or the second starting shaft. The other end of the second striking rod is rotatably connected to the middle of the striking base plate. The sound sensor is provided on the striking base plate. The driven wheel is rotatably connected to the striking base plate. The protrusion is connected to the driven wheel. The middle of the third striking rod is rotatably connected to the striking base plate. The second wedge is connected to the striking hammer. The protrusion can contact one end of the third striking rod. The second wedge can contact the other end of the third striking rod. The second striking link moves radially from the inside to the outside along the suspended detection bracket, pushing the first striking link. The first striking link drives the striking base plate to move until the driven wheel contacts the inner wall of the pipe to be tested. As the driven wheel rotates, the protrusion pushes one end of the third striking link to move. The other end of the third striking link drives the second wedge block to move. The second wedge block drives the striking hammer to contact the inner wall of the pipe to be tested, thus achieving a strike. The sound sensor detects the sound signal generated by the strike to determine whether the pipe is suspended.

5. The multi-state detection device for suspended sections of subsea pipelines according to claim 2, characterized in that: The drive structure includes a first drive cover, a flow divider, a second drive cover, an impeller structure, and an output shaft. The flow divider is located between the first drive cover and the second drive cover. The first drive cover is connected to the first start-up shaft, and a valve is provided on the first start-up shaft. The flow divider has several flow divider holes. The impeller structure is located in the space formed between the flow divider and the second drive cover. The second drive cover is connected to the fourth rotating shaft through a first drain pipe. The impeller structure includes a rotor, a second motor, a first bevel gear, several blades, and several second bevel gears. The rotor is connected to the output shaft. The output shaft passes through the second drive cover and is rotatably connected to the fourth rotating shaft. Several blades are evenly arranged along the circumference of the rotor and are rotatably connected to the rotor. The second motor is located in the rotor. The power output end of the second motor is connected to the first bevel gear. The first bevel gear meshes with each of the second bevel gears. The second bevel gears are connected to the blades. The second motor drives the first bevel gear to rotate, which in turn drives each of the second bevel gears to rotate, thereby driving the blades to rotate and achieving the adjustment of the blade angle; When the drive structure is working, the valve opens, and liquid enters between the first drive cover and the diverter plate. It then enters between the diverter plate and the second drive cover through the diverter hole. The liquid interacts with the blades, driving the impeller structure to rotate, which in turn drives the output shaft to rotate.

6. The multi-state detection device for suspended sections of subsea pipelines according to claim 2, characterized in that: The strain gauge bonding structure includes a strain gauge bonding shell, a strain gauge bonding base, a connecting base, a first push rod, a first locking wheel, a second gear, a threaded shaft, and several strain gauge bonding assemblies. The strain gauge bonding shell and the strain gauge bonding base form a space for setting the strain gauge bonding assemblies. The strain gauge bonding shell is provided with a baffle. Several strain gauge bonding assemblies are evenly arranged along the circumference of the strain gauge bonding shell. The first push rod is disposed on the strain gauge bonding base. One end of the first push rod is provided with a first locking wheel. The first locking wheel can mesh with a first gear on the fourth rotating shaft. The threaded shaft is sleeved on the outer side of the fourth rotating shaft. The connecting base is sleeved on the threaded shaft and threadedly connected to the threaded shaft. The second gear is sleeved on the threaded shaft. The first gear is disposed on the fourth rotating shaft. The strain gauge bonding assembly includes a strain gauge bonding bracket, a strain gauge bonding rod, a bonding base, a contact rod, an adhesive container, a nozzle, and a strain gauge. Each strain gauge bonding bracket is disposed on the strain gauge bonding base. One end of the strain gauge bonding rod is rotatably connected to the bonding base, and the middle part of the strain gauge bonding rod is rotatably connected to the strain gauge bonding bracket. The bonding base is rotatably connected to the other end of the strain gauge bonding rod, and a second torsion spring is provided at the connection between the bonding base and the other end of the strain gauge bonding rod. The contact rod is slidably connected to the bonding base. The adhesive container and the nozzle are both disposed on the bonding base, and the adhesive container is connected to the nozzle. The strain gauge is slidably connected to the bonding base, and the nozzle is located on one side of the strain gauge. When the first push rod is activated, it pushes the first locking wheel to move axially along the fourth rotating shaft. The first locking wheel locks the first gear and the second gear synchronously. The fourth rotating shaft rotates, causing the first gear, the second gear, and the threaded shaft to rotate, which in turn causes the connecting base to move axially along the threaded shaft. This allows the strain gauge bonding assembly to extend from the stop gate. The contact rod contacts the inner wall of the pipe to be tested. The contact rod can squeeze the glue in the glue tank through the nozzle onto the inner wall of the pipe to be tested. The strain gauge is bonded to the inner wall of the pipe to be tested through the glue.

7. The multi-state detection device for suspended sections of subsea pipelines according to claim 2, characterized in that: The telescopic structure includes a telescopic base, a bearing cover, a second push rod, a second locking wheel, a fourth gear, a fifth gear, several sixth gears, and several second threaded rods. The telescopic base is connected to the strain gauge bonding structure. The bearing cover is connected to the telescopic base. The second push rod is disposed on the telescopic base, and one end of the second push rod is connected to the second locking wheel. The second locking wheel can mesh with the third gear on the fourth rotating shaft. The fourth gear and the sixth gear are both disposed on the bearing cover and rotatably connected to the bearing cover. The fifth gear is disposed on one side of the third gear. The fifth gear and the fourth gear are coaxial and fixedly connected. The sixth gear meshes with the fourth gear, and each of the second threaded rods passes through and meshes with the sixth gear. One end of the second threaded rod is connected to the excitation structure, and the second threaded rod is rotatably connected to the telescopic base. The other end of the second threaded rod extends into the strain gauge bonding structure. The second push rod actuates, pushing the second locking wheel to move axially along the fourth rotating shaft. The second locking wheel locks the third gear and the fifth gear synchronously. The fourth rotating shaft rotates, causing the third gear, the fourth gear, and the fifth gear to rotate, which in turn causes the sixth gear to rotate, and the second threaded rod moves axially along it.

8. The multi-state detection device for suspended sections of subsea pipelines according to claim 2, characterized in that: The excitation structure includes an excitation base, a fifth rotating shaft, a third push rod, a partition plate, a first friction plate, a second friction plate, a friction bracket, a grinding head, and an excitation module. The excitation base is connected to the telescopic structure. The fifth rotating shaft passes through the excitation base and is rotatably connected to it. The fifth rotating shaft is connected to a fourth rotating shaft. The first friction plate is connected to the fifth rotating shaft. The third push rod is mounted on the excitation base, and one end of the third push rod is provided with the partition plate. The partition plate is rotatably connected to the fifth rotating shaft. The second friction plate is mounted on the partition plate. The friction bracket is connected to the second friction plate. The grinding head and the excitation module are both mounted on a connecting rod slidably connected to the friction bracket. When the third push rod moves, the first and second friction plates come into contact. The fourth rotating shaft drives the fifth rotating shaft, the first friction plate, the second friction plate, the partition plate, and the friction bracket to rotate. The grinding head contacts the inner wall of the pipe to be tested to perform grinding. The excitation module performs excitation detection on the inner wall of the pipe to be tested.

9. The multi-state detection device for suspended sections of subsea pipelines according to claim 2, characterized in that: The internal suction structure includes a liquid collection structure, a suction structure, a grooved wheel, a piston, and a cylinder. The liquid collection structure forms a liquid collection cavity. The suction structure is telescopic and rotatably connected to the liquid collection structure. The suction structure has a suction port that communicates with the liquid collection cavity. The grooved wheel is rotatably connected to the liquid collection structure and is connected to the fifth rotating shaft. One end of the piston has a sliding protrusion located in the groove of the grooved wheel and capable of sliding within the groove. The other end of the piston extends into the cylinder. The piston and the cylinder form a liquid storage cavity. The liquid collection cavity, the liquid storage cavity, the second starting shaft, and the second liquid flow hole are sequentially connected. The liquid storage cavity is connected to an inlet pipe. The drive structure drives the output shaft, the fourth rotating shaft, and the fifth rotating shaft to rotate, which in turn drives the grooved wheel to rotate, causing the piston to reciprocate along its axial direction. This allows the liquid in the enclosed space to enter the liquid collection chamber and the liquid storage chamber sequentially from the suction port, and the liquid in the liquid storage chamber to enter the second start-up shaft and be discharged from the second liquid flow hole.

10. A detection method using the multi-state detection device for suspended sections of subsea pipelines as described in any one of claims 1-9, characterized in that: include: The multi-state detection device for suspended sections of the subsea pipeline is placed in the pipeline to be inspected. Under the action of the liquid, the multi-state detection device for suspended sections of the subsea pipeline moves in the pipeline to be inspected. The second suspended detection structure at the front end is used for suspension detection. When a suspended position is detected, this suspended position is marked as the first suspended position. As the multi-state detection device for suspended sections of the subsea pipeline continues to move in the pipeline to be inspected, when the first suspended detection structure at the rear end detects the first suspended position, the first sealing structure is activated. The first sealing structure contacts the inner wall of the pipeline to be inspected to seal it. The liquid enters the driving structure to provide power to the driving structure. The driving structure drives the telescopic structure to extend and retract, so that the second suspended detection structure and the second sealing structure continue to move forward to perform suspension detection until a suspended section is detected and then stop. The length of the suspended section of the pipeline to be inspected can be obtained by calculating the distance between the first suspended detection structure and the second suspended detection structure. When strain gauges are attached to the inner wall of the pipeline under test and magnetic excitation testing is performed, the multi-state testing device for the suspended section of the subsea pipeline moves to the test position. The first and second sealing structures operate, and both the first and second sealing structures contact the inner wall of the pipeline under test to seal it, forming a closed space between the first and second sealing structures. The internal suction structure is used to discharge the liquid inside the closed space to the outside of the closed space. Then, the strain gauge attachment structure is used to attach strain gauges to the inner wall of the pipeline under test, and the magnetic excitation structure is used to perform magnetic excitation testing on the inner wall of the pipeline under test.

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