A pipeline inspection device

Abstract

The application provides a pipeline detection device, comprising: a first cabin comprising a transmitting unit; the transmitting unit is used for generating a first magnetic field based on an excitation electric signal; a second cabin movably connected with the first cabin; the second cabin comprises a receiving unit; the receiving unit is used for coupling a second magnetic field induced by the energy of the first magnetic field twice crossing a pipe wall to generate a detection electric signal; a power unit arranged in the first cabin or the second cabin; the power unit is used for pushing the pipeline detection device to move in a direction away from the other cabin of the cabin where the power unit is located in a liquid environment; and a processing unit coupled with the transmitting unit and the receiving unit; the processing unit is used for acquiring at least one of a phase difference and an amplitude change between the excitation electric signal and the detection electric signal.

Description

Technical Field

[0001] This invention belongs to the field of pipeline inspection technology, and specifically relates to a pipeline inspection device. Background Technology

[0002] Currently, when inspecting pipelines with fluid flow, cup-type or powered umbrella-type pipeline robots are commonly used. These robots are typically deployed from one end of the pipeline and then propelled by the fluid to move along the direction of the fluid flow within the pipeline, before being retrieved from the other end. However, existing pipeline robots struggle to perform quantitative defect analysis and detection in pipelines containing metallic materials. Furthermore, when the fluid velocity inside the pipeline is slow, these robots find it difficult to perform normal traction and inspection, limiting their applicability. Summary of the Invention

[0003] To address the aforementioned technical problems, this invention provides a pipeline inspection device.

[0004] The pipeline inspection device includes: a first chamber, including a transmitting unit; the transmitting unit is used to generate a first magnetic field based on an excitation electrical signal; The second chamber is movably connected to the first chamber; the second chamber includes a receiving unit; the receiving unit is used to couple the energy of the first magnetic field through the tube wall to induce a second magnetic field, so as to generate a detection electrical signal; A power unit is disposed in the first compartment or the second compartment; the power unit is used to propel the pipeline detection device to move in a liquid environment along the direction away from the other compartment of the compartment where the power unit is located. A processing unit is coupled to the transmitting unit and the receiving unit; the processing unit is used to acquire at least one of the phase difference and amplitude change between the excitation electrical signal and the detection electrical signal.

[0005] In some embodiments, the transmitting unit includes a transmitting coil, and the receiving unit includes a plurality of receiving coils spaced apart circumferentially along the second cabin.

[0006] In some embodiments, the axis of the transmitting coil is parallel to the axis of the first cabin, and the axis of the receiving coil intersects the axis of the second cabin.

[0007] In some embodiments, the pipeline inspection device further includes a plurality of first support members spaced apart along the circumference of the second chamber, the angle between the first support members and the outer wall of the second chamber being adjustable; The receiving coil is located at the end of the first support member away from the outer wall of the second cabin.

[0008] In some embodiments, the first support member may deflect within the axial section of the second cabin with the connection point between the first support member and the outer wall of the second cabin as the center.

[0009] In some embodiments, the first cabin and the second cabin are movably connected by a cable, and the length of the cable is adjustable; And / or, A shield is provided between the transmitting coil and the receiving coil.

[0010] In some embodiments, the processing unit is further configured to determine the thickness of the pipe wall based on at least one of the phase difference and the amplitude change. And / or, The processing unit is also used to determine whether there is a broken wire defect in the pipeline based on at least one of the phase difference and the amplitude change.

[0011] In some embodiments, the pipeline inspection device further includes: A hydrophone is installed in the first compartment or the second compartment; the hydrophone is used to collect underwater acoustic information within the pipeline. A temperature sensor is installed in the first chamber or the second chamber; the temperature sensor is used to collect the temperature of the fluid inside the pipeline. A camera is installed in the first compartment or the second compartment; the camera is used to collect image information inside the pipeline. A locator is disposed in the first compartment or the second compartment; the locator is used to provide the position information of the pipeline detection device in the pipeline.

[0012] In some embodiments, the pipeline inspection device further includes: User terminal, used for communication and interaction with the first cabin and / or the second cabin; The processing unit is located in the first cabin, the second cabin, or the user terminal.

[0013] In some embodiments, the pipeline inspection device further includes a plurality of second support members spaced apart along the circumference of the first chamber, the angle between the second support members and the outer wall of the first chamber being adjustable.

[0014] In this invention, the transmitting unit, based on the energy of the first magnetic field emitted by the excitation electrical signal, passes through (exit and enter) the pipe wall with metallic material and couples out a second magnetic field. The receiving unit couples the second magnetic field to generate a detection electrical signal. The processing unit acquires at least one of the phase difference and amplitude change between the excitation electrical signal and the detection electrical signal. The power unit is located in either the first or second chamber and is used to propel the pipeline inspection device in a liquid environment along the direction away from the other chamber. Thus, on the one hand, the pipeline inspection device can perform quantitative defect analysis and detection on pipelines with metallic material; on the other hand, the pipeline inspection device achieves active movement in a liquid environment through the power unit; furthermore, the propulsion direction of the power unit is from the chamber where the power unit is located to the other chamber, that is, the power unit is located at the front of the pipeline inspection device's travel direction, so as to facilitate flexible turning of the pipeline inspection device during travel. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of a pipeline inspection device provided by the present invention; Figure 2 This is a schematic diagram of a detection method using an indirect coupling path provided by the present invention; Figure 3 This is a schematic diagram of another pipeline inspection device provided by the present invention; Figure 4 This is a schematic diagram of the first chamber in a pipeline inspection device provided by the present invention; Figure 5 This is a schematic diagram of the second chamber in a pipeline inspection device provided by the present invention; Figure 6 This is a schematic diagram of another pipeline inspection device provided by the present invention.

[0016] In the picture: 100-Pipeline inspection device, 101-Cable, 102-Hydrophone, 103-Temperature sensor, 104-Camera, 105-Locator, 110-First cabin, 111-Transmitting unit, 112-Transmitting coil, 113-Second support, 120-Second cabin, 121-Receiving unit, 122-Receiving coil, 123-First support, 130-Power unit, 140-Processing unit, 150-Photoelectric conversion cabin. Detailed Implementation

[0017] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. Furthermore, the technical features involved in the various embodiments of this invention described below can be combined with each other as long as they do not conflict with each other.

[0018] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0019] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0020] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0021] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0022] like Figure 1 As shown, the pipeline inspection device 100 includes: a first chamber 110, including a transmitting unit 111; the transmitting unit 111 is used to generate a first magnetic field based on an excitation electrical signal; a second chamber 120, movably connected to the first chamber 110; the second chamber 120 includes a receiving unit 121; the receiving unit 121 is used to couple the energy of the first magnetic field through the pipe wall to induce a second magnetic field, thereby generating a detection electrical signal; a power unit 130, disposed in the first chamber 110 or the second chamber 120; the power unit 130 is used to propel the pipeline inspection device 100 in a liquid environment along the direction away from the other chamber where the power unit 130 is located; and a processing unit 140, coupled to the transmitting unit 111 and the receiving unit 121; the processing unit 140 is used to acquire at least one of the phase difference and amplitude change between the excitation electrical signal and the detection electrical signal.

[0023] In this invention, the pipeline inspection device 100 includes a first compartment 110 and a second compartment 120 that are movably connected, as well as a power unit 130 and a processing unit 140. The first compartment 110 may be provided with a transmitting unit 111, the second compartment 120 may be provided with a receiving unit 121, and the processing unit 140 is coupled to the transmitting unit 111 and the receiving unit 121.

[0024] For example, refer to Figure 2 The transmitting unit 111 can generate and emit a first magnetic field based on an excitation electrical signal. The transmitting unit 111 includes, but is not limited to, coils and ferrite cores. The first magnetic field induces eddy currents in the tube wall near the transmitting unit 111. These eddy currents rapidly diffuse to the outer wall of the tube, with amplitude attenuation and phase lag. The magnetic field reaching the outer wall then diffuses outwards. Since the attenuation rate of the field strength outside the tube is much slower than that of direct coupling inside the tube, the external magnetic field induces eddy currents in the tube wall near the receiving unit 121 (far-field region). These eddy currents then diffuse through the tube wall into the tube, generating a second magnetic field with attenuated amplitude and phase lag, which is coupled to the receiving unit 121, thereby generating a detection electrical signal. The receiving unit 121 includes, but is not limited to, coils and Hall elements. It should be noted that in the far-field region, the energy of the direct coupling path (i.e., the propagation path inside the tube) is almost completely attenuated, and the detected signal almost entirely comes from the indirect coupling path (i.e., the propagation path outside the tube that passes through the tube wall twice).

[0025] The processing unit 140 can acquire at least one of the phase difference and amplitude change between the excitation electrical signal and the detection electrical signal, thereby determining the thickness of the pipe wall based on the phase difference and / or amplitude change, and further detecting information such as corrosion and defects in the pipe wall, and realizing quantitative analysis and detection. In some embodiments, the processing unit 140 includes, but is not limited to, a combination of one or more of the following: a microcontroller unit (MCU), a field-programmable gate array (FPGA), a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a radio-frequency integrated circuit (RFIC), and a graphics processing unit (GPU). In some embodiments, since the second magnetic field coupled to the receiving unit 121 is weak, a series of circuits such as a power amplifier (PA), a filter, and an analog-to-digital converter (ADC) can be set to process the directly sensed electrical signal, thereby obtaining a detection electrical signal that can be compared and calculated with the excitation electrical signal. It is understood that the aforementioned power amplifier, filter, and analog-to-digital converter can be located in either the receiving unit 121 or the processing unit 140; no further restrictions are imposed here.

[0026] The power unit 130 is located in either the first compartment 110 or the second compartment 120, and is used to propel the pipeline inspection device 100 in a liquid environment in a direction away from the other compartment along which the power unit 130 is located. For example, refer to... Figure 3 If the power unit 130 is located in the first compartment 110, then the propulsion direction of the power unit 130 is from the first compartment 110 toward the second compartment 120, and the travel direction of the pipeline detection device 100 is from the first compartment 110 away from the second compartment 120; Reference Figure 1If the power unit 130 is located in the second compartment 120, the propulsion direction of the power unit 130 is towards the first compartment 110 from the second compartment 120, and the travel direction of the pipeline detection device 100 is away from the first compartment 110 from the second compartment 120. That is, the power unit 130 is positioned at the front of the pipeline detection device 100 in its travel direction to facilitate flexible turning during travel. In some embodiments, the power unit 130 includes, but is not limited to, an open-type propeller, a ducted propeller, or a waterjet pump propulsion unit.

[0027] In some embodiments, such as Figure 4 As shown, the transmitting unit 111 includes a transmitting coil 112, such as... Figure 5 As shown, the receiving unit 121 includes a plurality of receiving coils 122 arranged circumferentially along the second cabin 120.

[0028] In this invention, the transmitting unit 111 may include a large transmitting coil 112, and the receiving unit 121 may include a plurality of receiving coils 122 arranged circumferentially along the second chamber 120. Thus, the pipe wall thickness and defects at various circumferential locations of the pipe can be detected using the plurality of circumferentially spaced receiving coils 122. In other embodiments, the transmitting unit 111 may also include a plurality of transmitting coils 112, which are arranged circumferentially along the first chamber 110, with each transmitting coil 112 corresponding to one receiving coil 122.

[0029] In some embodiments, such as Figure 4 As shown, the axis of the transmitting coil 112 is parallel to the axis of the first cabin 110, as... Figure 5 As shown, the axis of the receiving coil 122 intersects the axis of the second cabin 120.

[0030] In this invention, the axis of the transmitting coil 112 can be parallel to the axis of the first chamber 110, and the axis of the receiving coil 122 can intersect the axis of the second chamber 120. That is, the axis of the receiving coil 122 intersects the tube wall, facilitating the reception of more magnetic flux from the second magnetic field in the far-field region, which has undergone secondary amplitude attenuation and phase lag, thereby improving the sensitivity and accuracy of detection. Preferably, the axis of the receiving coil 122 is perpendicular to the axis of the second chamber 120, i.e., the receiving coil 122 faces the tube wall, further improving the sensitivity and accuracy of detection.

[0031] In some embodiments, such as Figure 5As shown, the pipeline inspection device 100 also includes a plurality of first support members 123 arranged circumferentially along the second chamber 120, the angle between the first support member 123 and the outer wall of the second chamber 120 is adjustable; the receiving coil 122 is disposed at the end of the first support member 123 away from the outer wall of the second chamber 120.

[0032] In this invention, multiple first support members 123 are spaced apart circumferentially along the second compartment 120. The first support members 123 are used to center the pipeline inspection device 100 within the pipeline, thereby improving inspection accuracy. To facilitate the deployment and retrieval of the pipeline inspection device 100 and ensure good maneuverability, the angle between the first support member 123 and the outer wall of the second compartment 120 is adjustable. The first support member 123 can be connected to the second compartment 120 via a movable connector, allowing the pipeline inspection device 100 to retract the first support member 123 or reduce the angle between the first support member 123 and the outer wall of the second compartment 120 when passing through a deployment wellhead or other locations with smaller pipe diameters. In some embodiments, the first support member 123 can be connected to the second compartment 120 via a ball joint.

[0033] In some embodiments, the first support member 123 may deflect within the axial section of the second cabin 120 with the connection point between the first support member 123 and the outer wall of the second cabin 120 as the center.

[0034] In this invention, the first support member 123 can deflect within the axial section of the second compartment 120 with the connection point between the first support member 123 and the outer wall of the second compartment 120 as the center. That is, the first support member 123 can be retracted along the axial direction of the second compartment 120 to fit against the outer wall of the second compartment 120, or the included angle between it and the outer wall of the second compartment 120 can be reduced. Exemplarily, the first support member 123 can be connected to the second compartment 120 via a planar hinge.

[0035] In some embodiments, such as Figure 1 As shown, the first cabin 110 and the second cabin 120 are movably connected by a cable 101, and the length of the cable 101 is adjustable; and / or, a shield is provided between the transmitting coil 112 and the receiving coil 122.

[0036] In this invention, the first chamber 110 and the second chamber 120 are movably connected by a cable 101, thereby ensuring that the pipeline inspection device 100 can flexibly change direction within the pipeline. It should be noted that, to ensure the accuracy of pipe wall thickness and defect detection, the receiving coil 122 and the transmitting coil 112 need to shield the portion of the magnetic field directly coupled within the pipe. Therefore, in some embodiments, the cable 101 can be configured to be of adjustable length, so that when the pipeline inspection device 100 is operating, the distance between the transmitting coil 112 and the receiving coil 122 is sufficiently large (e.g., 2-3 times the pipe diameter), shielding most of the directly coupled magnetic field through a larger spacing. In other embodiments, a shielding element can be provided between the transmitting coil 112 and the receiving coil 122 to shield the directly coupled magnetic field (the shielding element is not shown in the figures). For example, the shielding element can be located at the end of the first chamber 110 near the second chamber 120, or at the end of the second chamber 120 near the first chamber 110. In this case, the distance between the transmitting coil 112 and the receiving coil 122 can be less than 2 times the pipe diameter.

[0037] In some embodiments, the processing unit 140 is further configured to determine the thickness of the pipe wall based on at least one of the phase difference and the amplitude change; and / or, the processing unit 140 is further configured to determine whether the pipe has a broken wire defect based on at least one of the phase difference and the amplitude change.

[0038] In this invention, a large amount of experimental sample data can be collected in advance, including the phase difference and amplitude change between the excitation and detection electrical signals under different pipe wall thicknesses. The model can then be trained using machine learning, deep learning, or other methods, or mathematical laws can be established through statistical methods. Thus, the processing unit 140 can utilize the aforementioned model or mathematical laws, and based on at least one of the phase difference and amplitude change between the actually acquired excitation and detection electrical signals, determine the pipe wall thickness. This allows for the detection of pipe wall corrosion, defects, and other information, and enables quantitative analysis and detection of defects.

[0039] In some embodiments, for prestressed concrete cylinder pipe (PCCP), reinforced concrete cylinder pipe (RCCP), and bar-wound concrete cylinder pipe (Bar) For steel-concrete composite pipes such as Wrapped Pipe (BWP), the processing unit 140 can also perform quantitative analysis of wire breakage defects based on at least one of the phase difference and amplitude change between the actual acquired excitation electrical signal and the detection electrical signal, so as to accurately obtain the number of broken wires and their corresponding locations in the pipe.

[0040] In some embodiments, such as Figure 5 As shown, the pipeline detection device 100 further includes: a hydrophone 102, disposed in the first chamber 110 or the second chamber 120; the hydrophone 102 is used to collect water sound information in the pipeline; a temperature sensor 103, disposed in the first chamber 110 or the second chamber 120; the temperature sensor 103 is used to collect the fluid temperature in the pipeline; a camera 104, disposed in the first chamber 110 or the second chamber 120; the camera 104 is used to collect image information in the pipeline; and a locator 105, disposed in the first chamber 110 or the second chamber 120; the locator 105 is used to provide the position information of the pipeline detection device 100 in the pipeline.

[0041] In this invention, such as Figure 5 As shown, the pipeline inspection device 100 also includes a hydrophone 102, a temperature sensor 103, a camera 104, and a locator 105. Thus, the pipeline inspection device 100 can perform functions such as leak detection audio data acquisition, video data acquisition, temperature acquisition, and equipment location. Furthermore, the pipeline inspection device 100 can also autonomously perform cross-validation using artificial intelligence algorithms based on information such as the phase difference and amplitude change between the excitation and detection electrical signals, leak detection audio data, video data, and equipment location, to improve the accuracy of defect detection. In addition, the pipeline inspection device 100 can integrate the phase difference and amplitude change between the excitation and detection electrical signals, leak detection audio data, video data, temperature, and equipment location information to generate more comprehensive, visualized, and quantitative analysis results.

[0042] It should be noted that, Figure 5 The example shown is only exemplarily illustrated with the hydrophone 102, temperature sensor 103, camera 104, and locator 105 located in the second chamber 120. The hydrophone 102, temperature sensor 103, camera 104, and locator 105 can also be located in the first chamber 110, and the positions of the above components can be adjusted according to actual needs to meet the detection requirements in different environments.

[0043] In some embodiments, the camera 104 may be a fisheye camera, or multiple cameras 104 may be used to achieve panoramic imaging to obtain a wider field of view. The multiple cameras 104 may also be distributed at different positions on the first cabin 110 and the second cabin 120, and while collecting image data, enable the pipeline detection device 100 to perform autonomous visual obstacle avoidance.

[0044] In some embodiments, the pipeline inspection device 100 further includes: a user terminal for communicating with the first compartment 110 and / or the second compartment 120; the processing unit 140 is disposed within the first compartment 110, the second compartment 120, or the user terminal.

[0045] In this invention, the pipeline inspection device 100 also includes a user terminal located outside the pipeline, capable of wired or wireless communication with the first compartment 110 and / or the second compartment 120. The processing unit 140 can be located within the first compartment 110 or the second compartment 120 to achieve local real-time information processing; alternatively, the processing unit 140 can be located within the user terminal, where the first compartment 110 and / or the second compartment 120 only transmits the collected data to the user terminal, where data processing and quantitative analysis of pipe wall thickness and defects are performed.

[0046] In some embodiments, such as Figure 4 As shown, the pipeline inspection device 100 also includes a plurality of second support members 113 arranged circumferentially along the first chamber 110, and the angle between the second support member 113 and the outer wall of the first chamber 110 is adjustable.

[0047] In this invention, similar to the first support member 123, a plurality of second supports 113 are arranged at circumferential intervals along the first chamber 110. The second supports 113 are used to position the pipeline inspection device 100 centrally within the pipeline, thereby improving inspection accuracy. To facilitate the deployment and retrieval of the pipeline inspection device 100 and ensure good maneuverability, the angle between the second supports 113 and the outer wall of the first chamber 110 is adjustable. The second supports 113 can be connected to the first chamber 110 via a movable connector, allowing the pipeline inspection device 100 to retract the second supports 113 or reduce the angle between the second supports 113 and the outer wall of the first chamber 110 when passing through a deployment wellhead or other locations with smaller pipe diameters. In some embodiments, the second supports 113 can be connected to the first chamber 110 via a ball joint. In other embodiments, the second support member 113 can deflect within the axial section of the first compartment 110 with the connection point between the second support member 113 and the outer wall of the first compartment 110 as the center. That is, the second support member 113 can be retracted along the axial direction of the first compartment 110 to fit against the outer wall of the first compartment 110, or the included angle between it and the outer wall of the first compartment 110 can be reduced. Exemplarily, the second support member 113 can be connected to the first compartment 110 by means of a planar hinge, a ball joint, or the like.

[0048] In some embodiments, such as Figure 6As shown, the pipeline inspection device 100 also includes a photoelectric conversion chamber 150, which is used for photoelectric signal conversion between the pipeline inspection device 100 and external equipment. The photoelectric conversion chamber 150 can be located at the rear of the pipeline inspection device 100 in the direction of travel. For example, if the power unit 130 is located in the first chamber 110, the photoelectric conversion chamber 150 is connected to the end of the second chamber 120 opposite to the first chamber 110; if the power unit 130 is located in the second chamber 120, the photoelectric conversion chamber 150 is connected to the end of the first chamber 110 opposite to the second chamber 120.

[0049] In this invention, on the one hand, the pipeline inspection device 100 can perform quantitative analysis and detection of defects in pipelines containing metallic materials; on the other hand, the pipeline inspection device 100 achieves active movement in a liquid environment through the power unit 130; furthermore, the propulsion direction of the power unit 130 is from one compartment to another, that is, the power unit 130 is located at the front of the pipeline inspection device 100 in the direction of travel, so that the pipeline inspection device 100 can flexibly turn during travel.

[0050] It should be noted that, depending on the implementation needs, the various components described in this invention can be divided into more components, or two or more components or parts of the operation of components can be combined into new components to achieve the purpose of this invention.

[0051] Those skilled in the art will readily understand that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A pipeline inspection device, characterized in that, The pipeline inspection device includes: The first cabin includes a launching unit; the launching unit is used to generate a first magnetic field based on an excitation electrical signal. The second chamber is movably connected to the first chamber; the second chamber includes a receiving unit; the receiving unit is used to couple the energy of the first magnetic field through the tube wall to induce a second magnetic field, so as to generate a detection electrical signal; A power unit is disposed in the first compartment or the second compartment; the power unit is used to propel the pipeline detection device to move in a liquid environment along the direction away from the other compartment of the compartment where the power unit is located. A processing unit is coupled to the transmitting unit and the receiving unit; the processing unit is used to acquire at least one of the phase difference and amplitude change between the excitation electrical signal and the detection electrical signal.

2. The pipeline inspection device according to claim 1, characterized in that, The transmitting unit includes a transmitting coil, and the receiving unit includes a plurality of receiving coils spaced apart along the circumference of the second cabin.

3. The pipeline inspection device according to claim 2, characterized in that, The axis of the transmitting coil is parallel to the axis of the first cabin, and the axis of the receiving coil intersects the axis of the second cabin.

4. The pipeline inspection device according to claim 2, characterized in that, The pipeline inspection device also includes a plurality of first support members spaced apart along the circumference of the second chamber, and the angle between the first support members and the outer wall of the second chamber is adjustable. The receiving coil is located at the end of the first support member away from the outer wall of the second cabin.

5. The pipeline inspection device according to claim 4, characterized in that, The first support member can deflect within the axial section of the second cabin with the connection point between the first support member and the outer wall of the second cabin as the center.

6. The pipeline inspection device according to claim 2, characterized in that, The first compartment and the second compartment are movably connected by a cable, and the length of the cable is adjustable; And / or, A shield is provided between the transmitting coil and the receiving coil.

7. The pipeline inspection device according to claim 1, characterized in that, The processing unit is also used to determine the thickness of the pipe wall based on at least one of the phase difference and the amplitude change. And / or, The processing unit is also used to determine whether there is a broken wire defect in the pipeline based on at least one of the phase difference and the amplitude change.

8. The pipeline inspection device according to claim 1, characterized in that, The pipeline inspection device also includes: A hydrophone is installed in the first compartment or the second compartment; the hydrophone is used to collect underwater acoustic information within the pipeline. A temperature sensor is installed in the first chamber or the second chamber; the temperature sensor is used to collect the temperature of the fluid inside the pipeline. A camera is installed in the first compartment or the second compartment; the camera is used to collect image information inside the pipeline. A locator is disposed in the first compartment or the second compartment; the locator is used to provide the position information of the pipeline detection device in the pipeline.

9. The pipeline inspection device according to claim 1, characterized in that, The pipeline inspection device also includes: User terminal, used for communication and interaction with the first cabin and / or the second cabin; The processing unit is located in the first cabin, the second cabin, or the user terminal.

10. The pipeline inspection device according to claim 1, characterized in that, The pipeline inspection device also includes a plurality of second support members spaced apart along the circumference of the first chamber, the angle between the second support members and the outer wall of the first chamber being adjustable.

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