A pipeline inspection device

Abstract

This application provides a pipeline inspection device, belonging to the field of pipeline inspection technology. It includes a main structure, a striking structure, at least one magnetic induction structure, and at least one acoustic induction structure. The magnetic induction structure collects the magnetic field change signal generated after the pipeline is struck, and the acoustic induction structure collects the acoustic signal generated by the pipeline. This enables the analysis and judgment of pipeline defects from both magnetic and acoustic signals, thereby solving the problem that current pipeline and storage tank defect detection mainly relies on single sensing technology and is difficult to achieve multi-dimensional data complementarity.

Description

Technical Field

[0001] This application relates to the field of pipeline inspection technology, and in particular to a pipeline inspection device. Background Technology

[0002] Defect detection in pipelines and storage tanks plays a central role in industrial safety and operations. Its function is not limited to detecting surface problems, but is also a key link in preventing accidents, ensuring efficiency, reducing costs, and meeting regulations.

[0003] Currently, pipeline and storage tank defect detection relies on sensing technology, such as traditional magnetic detection using fluxgate sensors to identify abnormalities in metal structures, or using ultrasonic guided waves or traditional impact vibration signals to analyze and determine defects.

[0004] However, current pipeline and tank defect detection mainly relies on single sensing technologies, making it difficult to achieve multi-dimensional data complementarity. Summary of the Invention

[0005] This application provides a pipeline inspection device to solve the problem of difficulty in achieving multi-dimensional data complementarity.

[0006] On the one hand, this application provides a pipeline inspection device, comprising:

[0007] A main structure, the main structure being adapted to be adsorbed onto the surface of a pipe;

[0008] A striking structure is connected to the main structure; the striking structure is adapted to strike the pipe.

[0009] At least one magnetic induction structure is connected to the main structure; the magnetic induction structure is adapted to collect the magnetic field change signal generated after the pipe is struck.

[0010] At least one acoustic sensing structure is connected to the main structure; the acoustic sensing structure is adapted to collect the acoustic signal generated by the striking structure striking the pipe.

[0011] This application provides a pipeline inspection device, wherein the magnetic induction structure includes:

[0012] A fastener is rotatably connected to the main structure; the fastener is provided with at least one receiving cavity;

[0013] At least one magnetic sensor is disposed within the receiving cavity, and the magnetic sensor rotates within the receiving cavity along the axis of the fixing member; during rotation, the magnetic sensor is adapted to collect magnetic field change signals generated by the pipe being struck from different spatial positions within the receiving cavity.

[0014] The pipeline inspection device provided in this application further includes, in the case of, a magnetic induction structure:

[0015] A driving component, the output shaft of which is connected to the fixed component; the output shaft of the driving component drives the fixed component to rotate along its own axis.

[0016] This application provides a pipeline inspection device, wherein a sliding groove is provided in one of the receiving cavity and the magnetic sensor, and a slider is provided on the other, the slider being connected to the sliding groove; the magnetic sensor moves along the extension direction of the sliding groove.

[0017] This application provides a pipeline inspection device, wherein a protrusion is provided on the output shaft of the driving component; and a through hole is provided in the fixing component corresponding to the position of the protrusion.

[0018] The magnetic induction structure also includes:

[0019] A self-locking component is disposed within the through hole of the fixing component; a slot is provided on one side of the self-locking component; the slot correspondingly accommodates the protrusion.

[0020] A baffle plate is connected to the fixing member; the baffle plate blocks the end of the through hole away from the self-locking member;

[0021] An elastic element is disposed within the through hole; the first end of the elastic element abuts against the self-locking element, and the second end of the elastic element abuts against the baffle.

[0022] This application provides a pipeline inspection device, the main structure of which includes:

[0023] Main framework;

[0024] At least one ducted fan is provided, which is connected to the main frame; when the ducted fan is working, there is a negative pressure between the ducted fan and the pipe.

[0025] This application provides a pipeline inspection device, wherein the acoustic sensing structure includes:

[0026] At least one first microphone is disposed on the main frame of the striking structure near the striking structure; the first microphone collects the sound signal generated by the striking structure striking the pipe.

[0027] At least one second microphone is disposed on the main frame near the ducted fan; the second microphone collects the acoustic signals generated when the ducted fan is operating.

[0028] This application provides a pipeline inspection device, wherein the tapping structure includes:

[0029] firing pin;

[0030] An electromagnet is connected to the main structure; the electromagnet drives the striking pin to strike the pipe.

[0031] A spring is disposed between the firing pin and the electromagnet.

[0032] The pipeline inspection device provided in this application also includes:

[0033] At least one set of drive wheels, the drive wheels being connected to the main structure; the drive wheels in the same set rotate in opposite directions, and the rotational speed of each drive wheel is controlled individually; the main structure can be moved arbitrarily on the pipe surface by controlling the rotational speed of different drive wheels.

[0034] The pipeline inspection device provided in this application also includes:

[0035] At least one set of adjusting members, the number of which corresponds to the number of drive wheels; the adjusting members are connected to the drive wheels; the adjusting members slide on the main frame; each set of drive wheels adjusts the spacing between each set of drive wheels through the adjusting members.

[0036] This application provides a pipeline inspection device, including a main structure, a striking structure, at least one magnetic induction structure, and at least one acoustic induction structure. The magnetic induction structure collects the magnetic field change signal generated after the pipeline is struck, and the acoustic induction structure collects the acoustic signal generated by the pipeline. This enables the analysis and judgment of pipeline defects from both magnetic and acoustic signals, thereby solving the problem that current pipeline and storage tank defect detection mainly relies on single sensing technology and is difficult to achieve multi-dimensional data complementarity. Attached Figure Description

[0037] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0038] Figure 1 This is a schematic diagram of the overall structure of a pipeline inspection device provided in this application;

[0039] Figure 2 This is a schematic diagram of the drive wheel of a pipeline inspection device provided in this application;

[0040] Figure 3 This application provides an internal schematic diagram of a fixing component for a pipeline inspection device.

[0041] Figure 4 A schematic diagram of a self-locking component of a pipeline inspection device provided in this application;

[0042] Figure 5A schematic diagram of a protrusion in a pipeline inspection device provided in this application;

[0043] Figure 6 A schematic diagram of the receiving cavity of a pipeline inspection device provided in this application;

[0044] Figure 7 A schematic diagram of a fixing component for a pipeline inspection device provided in this application;

[0045] Figure 8 A schematic diagram of the striking structure of a pipeline inspection device provided in this application;

[0046] Figure 9 for Figure 1 Enlarged view of point A in the middle.

[0047] Figure label:

[0048] 10. Pipelines;

[0049] 100. Main structure; 110. Main frame; 120. Ducted fan; 130. Spline;

[0050] 200. Striking mechanism; 210. Strike pin; 220. Electromagnet; 230. Spring;

[0051] 300. Magnetic induction structure; 310. Fixing component; 311. Receiving cavity; 312. Slide groove; 313. Through hole; 320. Driving component; 321. Protrusion; 330. Magnetic sensor; 340. Self-locking component; 350. Baffle; 360. Elastic component;

[0052] 400. Sound sensor structure; 410. First microphone; 420. Second microphone;

[0053] 500. Drive wheel;

[0054] 600. Adjusting components;

[0055] The accompanying drawings have illustrated specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to specific embodiments. Detailed Implementation

[0056] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0057] In existing technologies, pipeline and tank defect detection relies on sensing technologies. For example, traditional magnetic detection uses fluxgate sensors to identify abnormalities in metal structures, or analyzes ultrasonic guided waves or traditional impact vibration signals to determine defects. Traditional magnetic detection lacks sensitivity to microcracks, ultrasonic guided wave detection relies on coupling agents, and traditional vibration detection uses impact hammers that rely on free fall, resulting in excessive size and difficulty in achieving multi-dimensional data complementarity when used independently. Existing fluxgate sensors are mostly fixed in installation, unable to dynamically adjust spacing and detection angle according to detection needs, thus limiting spatial resolution.

[0058] To address the aforementioned issues, this application provides a pipeline inspection device comprising a main structure, a striking structure, at least one magnetic induction structure, and at least one acoustic induction structure. The magnetic induction structure collects the magnetic field change signal generated after the pipeline is struck, and the acoustic induction structure collects the acoustic signal generated by the pipeline. This enables the analysis and judgment of pipeline defects from both magnetic and acoustic signals, thereby solving the problem that current pipeline and storage tank defect detection mainly relies on single sensing technology, making it difficult to achieve multi-dimensional data complementarity.

[0059] The technical solution of this application and how the technical solution of this application solves the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will be described below with reference to the accompanying drawings.

[0060] On the one hand, such as Figure 1 As shown, the pipeline inspection device provided in this application includes a main structure 100, a striking structure 200, at least one magnetic induction structure 300, and at least one acoustic induction structure 400. The main structure 100 is adapted to be adsorbed onto the surface of a pipeline 10. The striking structure 200 is connected to the main structure 100 and is adapted to strike the pipeline 10. The magnetic induction structure 300 is connected to the main structure 100 and is adapted to collect the magnetic field change signal generated after the pipeline 10 is struck. The acoustic induction structure 400 is connected to the main structure 100 and is adapted to collect the acoustic signal generated by the striking structure 200 striking the pipeline 10.

[0061] In this embodiment, the striking structure 200 strikes the pipe 10, and the acoustic sensing structure 400 and the magnetic sensing structure 300 collect acoustic signals and magnetic signals respectively, and analyze the acoustic signals and magnetic signals to determine the defects of the pipe 10 and prevent accidents from occurring.

[0062] It should be noted that further increasing the number of magnetic induction structures 300 and acoustic induction structures 400 can increase the amount of data collected, thereby ensuring the accuracy of data analysis.

[0063] like Figure 3 and Figure 6 As shown, the magnetic induction structure 300 further includes a fixing member 310 and at least one magnetic sensor 330, wherein the fixing member 310 is rotatably connected to the main structure 100, and at least one receiving cavity 311 is provided inside the fixing member 310; the magnetic sensor 330 is disposed in the receiving cavity 311, and the magnetic sensor 330 rotates in the receiving cavity 311 along the axis of the fixing member 310; during the rotation, the magnetic sensor 330 is adapted to collect the magnetic field change signal generated by the pipe 10 after being hit from different spatial positions in the receiving cavity 311.

[0064] It should be noted that the magnetic sensor 330 is specifically a fluxgate sensor. Most existing fluxgate sensors adopt a fixed installation mode, which cannot dynamically adjust the spacing and detection angle according to the detection needs, resulting in limited spatial resolution.

[0065] Specifically, there are two magnetic induction structures 300, which are respectively set on opposite sides of the main structure 100. The number of magnetic induction structures 300 can be reasonably increased or decreased as needed. Increasing the number of magnetic induction structures 300 can obtain more data information, thereby ensuring the accuracy of the final analysis. However, increasing the number of magnetic induction structures 300 will increase the cost.

[0066] In this embodiment, by rotating the magnetic sensor 330 within the receiving cavity 311 along the axis of the fixing member 310, the fluxgate sensor can dynamically adjust the detection angle according to the detection needs, thus avoiding spatial resolution limitations.

[0067] Specifically, such as Figure 6 As shown, the fixing member 310 has two first cavities and one second cavity. The extension direction of the two first cavities is parallel to the axial direction of the fixing member 310, and they are located on both sides of the fixing member 310. Two magnetic sensors 330 can be respectively disposed in the two first cavities as needed. The shape of the fixing member 310 is a "Z" shaped frame, wherein the extension direction of the second cavity is at 45° with the extension direction of the first cavity. A magnetic sensor 330 can be disposed in the second cavity as needed.

[0068] The fixing member 310 can rotate to drive the magnetic sensor 330 to rotate, and the magnetic sensor 330 can be rotated at different angles within the fixing member 310, which further increases the range of dynamic adjustment of the detection angle of the magnetic sensor 330 and further avoids spatial resolution limitations.

[0069] Furthermore, a sliding groove 312 is provided in one of the receiving cavity 311 and the magnetic sensor 330, and a slider is provided on the other, the slider being connected to the sliding groove 312; the magnetic sensor 330 can move along the extending direction of the sliding groove 312.

[0070] It should be noted that the magnetic sensor 330 can be moved along the extension direction of the slide groove 312. In this embodiment, the direction of the slide groove 312 is the extension direction of the receiving cavity 311. This can further increase the range of the magnetic sensor 330's dynamic adjustment of the detection angle, thereby enabling the calculation of any detected coordinate within the spatial range and further avoiding spatial resolution limitations.

[0071] As an alternative implementation, the direction of the groove 312 can be perpendicular to the extension direction of the receiving cavity 311, or set at a certain angle to the extension direction of the receiving cavity 311, which can be changed according to actual needs.

[0072] like Figure 5 As shown, the magnetic induction structure 300 further includes a driving member 320, the output shaft of the driving member 320 is connected to the fixing member 310, and the output shaft of the driving member 320 drives the fixing member 310 to rotate along its own axis.

[0073] like Figure 3 and Figure 7 As shown, specifically, the output shaft of the driving member 320 is provided with a protrusion 321; a through hole 313 is opened in the fixing member 310 corresponding to the position of the protrusion 321; the magnetic induction structure 300 also includes a self-locking member 340, a baffle 350 and an elastic member 360; the self-locking member 340 is disposed in the through hole 313 of the fixing member 310; a slot is provided on one side of the self-locking member 340; the slot corresponds to and accommodates the protrusion 321; the baffle 350 is connected to the fixing member 310; the baffle 350 blocks the end of the through hole 313 away from the self-locking member 340; the elastic member 360 is disposed in the through hole 313; the first end of the elastic member 360 abuts against the self-locking member 340, and the second end of the elastic member 360 abuts against the baffle 350.

[0074] It should be noted that the driving component 320 is specifically a motor. The output shaft of the driving component 320 typically has a cut section, thereby enabling the output shaft to drive the fixed component 310 to rotate synchronously. However, driving the fixed component 310 to rotate synchronously through the cut section is prone to slippage after wear.

[0075] In this embodiment, the elastic member 360 is in a compressed state, and by squeezing the self-locking member 340, the slot of the self-locking member 340 is tightly engaged with the protrusion 321 on the output shaft, thereby preventing slippage.

[0076] It should be noted that the self-locking component 340 generally uses thread-locking adhesive to prevent loosening, which poses a risk of difficulty in disassembly and failure of the anti-rotation mechanism after wear. In this embodiment, as... Figure 4 As shown, a rubber ring is provided at one end of the self-locking member 340 near the elastic member 360. The rubber ring can avoid the risk of difficulty in disassembly and failure after wear.

[0077] Specifically, such as Figure 9 As shown, in order to ensure that the deviation angle of the magnetic induction structure 300 is constant, the two fixing parts 310 are connected by spline 130. The connection of the two fixing parts 310 by spline 130 can avoid interference caused by possible asynchrony of the motor.

[0078] This application provides a pipeline inspection device, wherein the main structure 100 includes a main frame 110 and at least one duct fan 120, the duct fan 120 being connected to the main frame 110; when the duct fan 120 is working, there is a negative pressure between the duct fan 120 and the pipeline 10.

[0079] It should be noted that in this embodiment, there are two ducted fans 120, both of which are located in the middle of the main frame 110. The number of ducted fans 120 can be reasonably increased or decreased according to actual needs, and the position of the ducted fans 120 can also be adjusted as needed. The ducted fans 120 utilize the technology of generating adsorption force by air pressure difference. By drawing a vacuum, a low-pressure environment is formed between the adsorption surface and the adsorbed object, and a firm fixation is achieved by relying on the pressure difference of atmospheric pressure.

[0080] Furthermore, the sound sensing structure 400 includes at least one first microphone 410 and at least one second microphone 420. The first microphone 410 is disposed on the main frame 110 near the striking structure 200; the first microphone 410 collects the sound signal generated by the striking structure 200 striking the pipe 10; the second microphone 420 is disposed on the main frame 110 near the ducted fan 120; the second microphone 420 collects the sound signal generated when the ducted fan 120 is operating.

[0081] In this embodiment, there are two striking structures 200, which are respectively disposed on both sides of the main frame 110. There are four first microphones 410, with two first microphones 410 disposed on both sides of one striking structure 200. There are two second microphones 420, which are located near the two ducted fans 120.

[0082] Furthermore, such as Figure 8As shown, the striking structure 200 includes a striking pin 210, an electromagnet 220, and a spring 230. The electromagnet 220 is connected to the main structure 100. The electromagnet 220 drives the striking pin 210 to strike the pipe 10. The spring 230 is disposed between the striking pin 210 and the electromagnet 220.

[0083] Driven by the electromagnet 220, the striking pin 210 strikes the pipe 10. Subsequently, the striking pin 210 is reset by the action of the spring 230. The striking pin 210 repeatedly strikes the pipe 10 under the action of the electromagnet 220 and the spring 230. Compared with the traditional vibration detection hammer that relies on free fall, is too large, and is difficult to achieve multi-dimensional data complementarity when used alone, the striking structure 200 of this application has the advantages of small size and high controllability.

[0084] Furthermore, such as Figure 2 As shown, it also includes at least one set of drive wheels 500, which are connected to the main structure 100; the drive wheels 500 in the same set rotate in opposite directions, and the rotation speed of each drive wheel 500 is controlled individually; by controlling the rotation speed of different drive wheels 500, the main structure 100 can be controlled to move arbitrarily on the surface of the pipe 10.

[0085] In this embodiment, there are two sets of drive wheels 500, and the moving directions of the two sets of drive wheels 500 are perpendicular to each other. By adjusting the rotational speed of each set of drive wheels 500, the main structure 100 can move arbitrarily on the surface of the pipe 10.

[0086] It should be noted that, in order to ensure that the drive wheel 500 has sufficient friction with the pipe 10, the surface of the drive wheel 500 is also textured.

[0087] Furthermore, the pipeline inspection device provided in this application also includes at least one set of adjusting members 600, the number of adjusting members 600 corresponding to the number of drive wheels 500; the adjusting members 600 are connected to the drive wheels 500; the adjusting members 600 can slide on the main frame 110; each set of drive wheels 500 adjusts the spacing between each set of drive wheels 500 through the adjusting members 600.

[0088] It should be noted that the adjusting component 600 is slidably connected to the main frame 110 via the slide rail 312. When the adjusting component 600 reaches the designated position, the friction between the adjusting component and the main frame 110 is increased by tightening the bolts, thereby ensuring that the position of the adjusting component 600 does not change during the operation of the drive wheel 500.

[0089] Existing pipe inspection devices are mostly of a wraparound design, which is difficult to adapt to various pipe diameters. The wheel sets are mostly unidirectional or fixed angled designs, lacking flexible posture adjustment capabilities, and traditional magnetic wheels can only support the attraction of pipes 10 with ferromagnetic materials. By using the adjusting component 600 to drive the drive wheel 500, it is possible to adapt to pipes 10 of various sizes.

[0090] It should be noted that the ducted fan 120 generates noise during operation. Therefore, in the ducted fan 120 frequency band f1, the signal amplitude collected by the closer second microphone 420 is higher, while the signal amplitude collected by the farther second microphone 420 is lower. The resonant signal f2 or f generated by the electromagnet... 21 +f 22 Conversely, the ambient noise frequency band signal f3 collected by the six microphones all have similar amplitudes. Filtering out the f1 and f3 frequency bands, only retaining f2 or f3... 21 +f 22 Noise reduction is achieved across the frequency band. The magnetic tensor gradient for the arrangement under the undeformed standard state is:

[0091]

[0092] Despite magnetic shielding, the electromagnet 220 that excites the audio signal still interferes with the detection results. Let the first electromagnet 220 be magnet a and the second electromagnet 220 be magnet b. The magnetic interference caused by magnet a is ΔG. a The magnetic interference caused by magnet b is ΔG. b From the start of the detection, the microphones near magnet a measured the times t1 and t2, and the microphones near magnet b measured the times t3 and t4, with the speed of sound being v. v The distance from the magnet to the microphone is l.

[0093] The actual time of interference occurrence, measured by the array microphones, is as follows:

[0094]

[0095] Reduce the signal at the corresponding time position. and Compensation is performed to offset interference and suppress it.

[0096] The peak-to-peak value, magnetic field strength change rate, and abnormal signal pulse width of the measured magnetic gradient tensor signal are extracted and fused with the defect feature frequency measured by the microphone to obtain high-dimensional defect information, which is then analyzed by deep neural network clustering.

[0097] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this application are indicated by the following claims.

[0098] It should be understood that this application is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this application is limited only by the appended claims.

Claims

1. A pipeline inspection device, characterized in that, include: The main structure (100) is adapted to be adsorbed onto the surface of the pipe (10); A striking structure (200) is connected to the main structure (100); the striking structure (200) is adapted to strike the pipe (10). At least one magnetic induction structure (300) is connected to the main structure (100); the magnetic induction structure (300) is adapted to collect the magnetic field change signal generated after the pipe (10) is struck; At least one acoustic sensing structure (400) is connected to the main structure (100); the acoustic sensing structure (400) is adapted to collect the acoustic signal generated by the striking structure (200) striking the pipe (10); The magnetic induction structure (300) includes: A fastener (310) is rotatably connected to the main structure (100); the fastener (310) is provided with at least one receiving cavity (311). At least one magnetic sensor (330) is disposed in the receiving cavity (311) and rotates in the receiving cavity (311) along the axis of the fixing member (310); during the rotation, the magnetic sensor (330) is adapted to collect the magnetic field change signal generated by the pipe (10) after being hit from different spatial positions in the receiving cavity (311); The magnetic induction structure (300) also includes: A driving member (320) has its output shaft connected to the fixing member (310); the output shaft of the driving member (320) drives the fixing member (310) to rotate along its own axis. The output shaft of the drive member (320) is provided with a protrusion (321); the fixing member (310) has a through hole (313) at the position corresponding to the protrusion (321). The magnetic induction structure (300) also includes: A self-locking component (340) is disposed within the through hole (313) of the fixing component (310); a slot is provided on one side of the self-locking component (340); the slot correspondingly accommodates the protrusion (321). A baffle (350) is connected to the fixing member (310); the baffle (350) blocks the end of the through hole (313) away from the self-locking member (340); An elastic element (360) is disposed in the through hole (313); the first end of the elastic element (360) abuts against the self-locking element (340), and the second end of the elastic element (360) abuts against the baffle (350).

2. The pipeline inspection device according to claim 1, characterized in that, The receiving cavity (311) and the magnetic sensor (330) are provided with a sliding groove (312) in one and a slider on the other. The slider is connected to the sliding groove (312). The magnetic sensor (330) moves along the extension direction of the sliding groove (312).

3. The pipeline inspection device according to claim 1 or 2, characterized in that, The main structure (100) includes: Main framework (110); At least one ducted fan (120) is connected to the main frame (110); when the ducted fan (120) is working, there is a negative pressure between the ducted fan (120) and the pipe (10).

4. The pipeline inspection device according to claim 3, characterized in that, The acoustic sensing structure (400) includes: At least one first microphone (410) is disposed on the main frame (110) near the striking structure (200); the first microphone (410) collects the sound signal generated by the striking structure (200) striking the pipe; At least one second microphone (420) is disposed on the main frame (110) near the ducted fan (120); the second microphone (420) collects the acoustic signals generated when the ducted fan (120) is operating.

5. The pipeline inspection device according to claim 3, characterized in that, The striking structure (200) includes: Firing pin (210); An electromagnet (220) is connected to the main structure (100); the electromagnet (220) drives the striking pin (210) to strike the pipe (10). A spring (230) is disposed between the striker (210) and the electromagnet (220).

6. The pipeline inspection device according to claim 3, characterized in that, Also includes: At least one set of drive wheels (500) are connected to the main structure (100); the drive wheels (500) in the same set rotate in opposite directions, and the rotation speed of each drive wheel (500) is controlled individually; the main structure (100) can move arbitrarily on the surface of the pipe (10) by controlling the rotation speed of different drive wheels (500).

7. The pipeline inspection device according to claim 6, characterized in that, Also includes: At least one set of adjusting members (600), the number of which corresponds to the number of the drive wheels (500); the adjusting members (600) are connected to the drive wheels (500); the adjusting members (600) slide on the main frame (110); each set of drive wheels (500) adjusts the spacing between each set of drive wheels (500) through the adjusting members (600).

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