Pipeline detection carrying device and pipeline detection system

Abstract

The utility model discloses a pipeline detection carrying device and a pipeline detection system, and relates to the technical field of pipeline detection. The pipeline detection carrying device comprises a first Mecanum wheel array, a second Mecanum wheel array, a support, a driving assembly and a main control assembly, and the first Mecanum wheel array and the second Mecanum wheel array are composed of Mecanum wheels with the same number and symmetrically distributed on the two sides of a to-be-detected pipeline; the main control assembly is used for sending a control signal to the driving assembly according to the expected movement direction and speed; the driving assembly is used for driving the rotating direction and the rotating speed of each Mecanum wheel in the first Mecanum wheel array and the second Mecanum wheel array according to the control signal; and the bracket is used for fixing the first wheat wheel array, the second wheat wheel array, the main control assembly and the driving assembly, so that the first wheat wheel array and the second wheat wheel array are pressed against the outer surface of the to-be-detected pipeline. Therefore, the carrying device can stably move in all directions along the surface of the to-be-detected pipeline so as to support comprehensive detection of the to-be-detected pipeline.

Description

Technical Field

[0001] The utility model relates to the technical field of pipeline detection, in particular to a pipeline detection carrying device and a pipeline detection system. Background Art

[0002] Pipeline transportation has many advantages, such as low cost, large transportation volume, and high transportation safety. In order to reduce energy loss and improve the efficiency of the pipeline system, it is often necessary to set an insulation layer on the outside of the pipeline. Due to the corrosion of the transport medium in the pipe and many other chemicals, corrosion under the insulation layer is relatively hidden, especially the corrosion of high-altitude insulation layer pipelines or suspended insulation layer pipelines is more difficult to detect, resulting in huge hidden dangers for the stable operation and safe production of the entire device.

[0003] The installation environment of transport pipelines is relatively complex. They may need to cross mountains, rivers or other places with complex terrain. In some special cases, they may be installed in the air through pipeline bridges or suspension systems. These complex environments make it very difficult to detect pipeline defects.

[0004] Some existing pipeline inspections use manual handheld instruments, which have a high risk factor in the inspection process. Some inspection devices can only move along the axial direction of the pipeline, and have poor flexibility and stability. Utility Model Content

[0005] In order to solve the above technical problems, the embodiment of the utility model is expected to provide a pipeline detection device and a pipeline detection system. The technical solution of the utility model is implemented as follows:

[0006] In a first aspect, the present disclosure provides a pipeline detection device, the device comprising a first wheat wheel array, a second wheat wheel array, a bracket, a drive component, and a main control component, wherein:

[0007] The first Mecanum wheel array and the second Mecanum wheel array are symmetrically distributed on both sides of the pipeline to be inspected, wherein the first Mecanum wheel array and the second Mecanum wheel array are composed of the same number of Mecanum wheels;

[0008] A main control component, used to send a control signal to the drive component according to a desired direction and speed of movement;

[0009] A driving assembly, for driving the rotation direction and rotation speed of each Mecanum wheel in the first Mecanum wheel array and the second Mecanum wheel array according to the control signal;

[0010] The bracket is used to fix the first Mecwheel array, the second Mecwheel array, the main control component, and the drive component so that the first Mecwheel array and the second Mecwheel array are pressed against the outer surface of the pipeline to be inspected.

[0011] In some examples, the first Mecanum wheel array and the second Mecanum wheel array are both composed of four Mecanum wheels, and the Mecanum wheels are arranged in the same manner.

[0012] In some examples, the main control component includes a signal processing module, a communication module, and a power supply module, wherein:

[0013] The communication module is used to communicate with the remote terminal, including receiving the desired movement direction and speed information sent by the remote terminal;

[0014] The signal processing module generates the control signal according to the desired motion direction and speed information;

[0015] The power supply module is used to provide power to the components in the mounting device and perform power conversion.

[0016] In some examples, the communication module includes a long-range, low-power LoRa spread spectrum module.

[0017] In some examples, the signal processing module includes a digital signal processor and a microcontroller dsPIC minimum system.

[0018] In some examples, the drive assembly includes the same number of drive circuits as the number of Mecanum wheels, wherein each drive circuit corresponds to a Mecanum wheel.

[0019] In a second aspect, the present disclosure provides a pipeline detection system, the system comprising the pipeline detection carrying device, the detection device, and the remote terminal according to the first aspect, wherein:

[0020] The detection device is installed on the pipeline detection carrying device and is used to transmit detection signals and receive response signals;

[0021] The remote terminal communicates with the main control component in the pipeline detection device by providing a human-computer interaction interface, and is used to remotely control the movement of the pipeline detection device, control the detection start and stop of the detection device, and receive detection data.

[0022] In some examples, the detection device includes a first detection part and a second detection part with the same structure, wherein the first detection part is located on one side of the first McRae array, and the second detection part is located on one side of the second McRae array.

[0023] In some examples, the detection device is disposed on a side of the bracket close to the pipeline to be inspected.

[0024] In some examples, the detection device includes a transmitting drive circuit, a pulsed eddy current detection probe, and a giant magnetoresistance differential amplifier circuit, wherein:

[0025] The transmitting driving circuit is used to generate a bipolar pulse signal to stimulate the pulsed eddy current detection probe to generate a primary field signal;

[0026] The pulsed eddy current detection probe is made of enameled wire wound on a ferrite core, and is used to transmit a primary field signal and receive an induced secondary field signal during the interval between primary field transmissions;

[0027] The giant magnetoresistance differential amplifier circuit is used for performing differential amplification processing on the secondary field signal.

[0028] The embodiment of the utility model provides a pipeline detection carrying device and a pipeline detection system, which uses a first Mecanum wheel array and a second Mecanum wheel array formed by Mecanum wheels to contact the surface of the pipeline to be inspected, and controls the driving component to drive the Mecanum wheel to move through the main control component, so as to realize the full movement of the carrying device along the surface of the pipeline to be inspected, so as to support the comprehensive inspection of the pipeline to be inspected. The first Mecanum wheel array and the second Mecanum wheel array are symmetrically distributed on both sides of the pipeline to be inspected through a bracket, which can better balance the influence of gravity, reduce the consumption of electricity, thereby extending the working time of the battery and improving the efficiency of pipeline inspection. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 A schematic diagram of the structure of a pipeline detection device provided by the present disclosure;

[0030] Figure 2 A schematic diagram of the structure of a Mecanum wheel A provided in the present disclosure;

[0031] Figure 3 A schematic diagram of the structure of a Mecanum wheel B provided by the present invention;

[0032] Figure 4 A schematic diagram of an ABBA-style wheat wheel array provided by the present disclosure;

[0033] Figure 5 A schematic diagram of a BAAB type wheat wheel array provided by the present disclosure;

[0034] Figure 6 A top view of a carrying device and a pipeline to be inspected provided by the present disclosure;

[0035] Figure 7 A schematic diagram of a first wheat wheel array motion analysis provided by the present disclosure;

[0036] Figure 8 A schematic diagram of a second wheat wheel array motion analysis provided by the present disclosure;

[0037] Fig. 9 A left view of a carrying device and a pipeline to be inspected provided by the present disclosure;

[0038] Fig.10 A schematic diagram of a Mecanum wheel array motion analysis provided by the present disclosure;

[0039] Fig.11 A schematic diagram of another Mecanum wheel array motion analysis provided by the present disclosure;

[0040] Fig.12 A schematic diagram of the structure of a pipeline detection system provided by the present invention. DETAILED DESCRIPTION

[0041] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the technical solutions in the embodiments of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0042] In the description of the embodiments of the present application, it should be noted that the terms, "upper", "lower", "left", "right", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the embodiments of the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the embodiments of the present application. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0043] In the description of the embodiments of the present application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a replaceable connection, or an integral connection, it can be a direct connection, it can be indirectly connected through an intermediate medium, and it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present application can be understood according to specific circumstances.

[0044] The present disclosure provides a pipeline detection device 10, such as Figure 1 As shown, the detection device is carried out to carry out omnidirectional movement when detecting pipelines in complex environments, so as to solve the problem of high risk factors for operators in the process of detecting suspended or elevated pipelines. The device includes a first Mecwheel array 101, a second Mecwheel array 102, a bracket 103, a drive component 104, and a main control component 105, wherein:

[0045] The first Mecanum wheel array 101 and the second Mecanum wheel array 102 are symmetrically distributed on both sides of the pipeline to be inspected, wherein the first Mecanum wheel array 101 and the second Mecanum wheel array 102 are composed of the same number of Mecanum wheels;

[0046] The main control component 105 is used to send a control signal to the driving component 104 according to the desired movement direction and speed;

[0047] A driving component 104, configured to drive the rotation direction and rotation speed of each Mecanum wheel in the first Mecanum wheel array 101 and the second Mecanum wheel array 102 according to the control signal;

[0048] The bracket 103 is used to fix the first Microwheel array 101, the second Microwheel array 102, the main control component 105, and the driving component 104, so that the first Microwheel array 101 and the second Microwheel array 102 are pressed against the outer surface of the pipeline to be inspected.

[0049] like Figure 1 In the figure shown, the first Mecanum wheel array 101 and the second Mecanum wheel array 102 are composed of the same number of Mecanum wheels. The Mecanum wheel consists of a hub and a group of rotating rollers evenly arranged around the hub. The hub is the main support of the entire wheel, and the angle between the hub axis and the roller axis is 45 degrees. According to the different inclination directions of the roller axis relative to the hub axis, the Mecanum wheel is divided into A wheel and B wheel in a mirror relationship. Figure 2 In the schematic diagram of the structure of the Mecanum wheel A shown in FIG, the roller axis of the wheel A rotates 45 degrees clockwise relative to the hub axis, as shown in FIG. Figure 3 In the schematic diagram of the Mecanum wheel B structure shown, the roller axis of wheel B rotates 45 degrees counterclockwise relative to the hub axis. When wheel A moves forward, F1 can be decomposed into an axial left force F1x and a forward force F1y. When wheel A moves backward, F2 can be decomposed into an axial right force F2x and a backward force F2y. When wheel B moves forward, F3 can be decomposed into an axial right force F3x and a forward force F3y. When wheel B moves backward, F4 can be decomposed into an axial left force F4x and a backward force F4y. Wheels A and B form a Mecanum wheel array (referred to as Mecanum wheel array) in a certain arrangement order. By controlling the direction and speed of wheels A and B in the Mecanum wheel array, the all-round movement of the Mecanum wheel array, including forward, backward, left, right, oblique and rotational movement, can be achieved. For example, for wheels A and B arranged in the horizontal direction, the force F1x of wheel A to the left and the force F3x of wheel B to the right cancel each other out, and the force F1y of wheel A to the forward and the force F3y of wheel B to the forward form a combined force, which together drive the Mecanum wheel array forward. It can be understood that the force components in each direction of each Mecanum wheel cancel out or form a combined force to achieve the full range of movement of the Mecanum wheel array.

[0050] The first Mecanum wheel array 101 and the second Mecanum wheel array 102, which are composed of the same number of Mecanum wheels, are symmetrically distributed and pressed against the two sides of the pipeline to be inspected through the bracket 103, and each Mecanum wheel is in contact with the outer surface of the pipeline to be inspected. The symmetrical distribution of the first Mecanum wheel array 101 and the second Mecanum wheel array 102 means that the distance between the plane where the two Mecanum wheel arrays are located and the axis of the pipeline to be inspected is equal or close. The two Mecanum wheel arrays are symmetrically distributed and the number of Mecanum wheels is the same, so that the carrying device can remain stable when moving along the surface of the pipeline to be inspected. Taking the force analysis of the first Mecanum wheel array as an example, the gravity it is subjected to in a stationary state and the pulling force in the opposite direction of gravity provided by the bracket 103 are balanced. The pulling force is provided by the gravity of the second Mecanum wheel array through the bracket 103, which reduces the gravity that needs to be overcome to drive the first Mecanum wheel array. Vice versa. The two Mecanum wheel arrays are symmetrically distributed, which can better maintain balance, so that the carrying device can move smoothly on the surface of the pipeline to be inspected, avoid slipping caused by gravity imbalance, and improve detection efficiency. On the other hand, it also reduces the gravity that needs to be overcome to drive the entire device to move, reduces the power consumption of the drive motor, thereby extending the battery working time, reducing the number of times the battery needs to be replaced due to insufficient battery power, and improving the efficiency of pipeline inspection work.

[0051] When the carrying device 10 is used for pipeline inspection, the desired direction of movement may include axial movement along the outer surface of the pipeline to be inspected, circumferential movement around the pipeline to be inspected, or spiral movement along the pipeline to be inspected. The desired movement speed includes the speed along the desired direction of movement. The main control component 105 performs decomposition calculations based on the desired direction of movement and speed to obtain the rotation direction and speed of each Mecanum wheel, and sends a control signal to the drive component 104, and independently controls the rotation direction and speed of each Mecanum wheel through the drive motor for each Mecanum wheel in the drive component 104.

[0052] The bracket 103 fixes the first Mecanum wheel array 101 and the second Mecanum wheel array 102 so that the Mecanum wheels in the Mecanum wheel array are in close contact with the outer surface of the pipeline to be inspected. When the Mecanum wheels are driven to rotate, the friction force formed by the contact drives the Mecanum wheels to move along the surface of the pipeline to be inspected. The pipeline to be inspected generally includes a pipeline body and a protective layer that may exist on the outside of the pipeline body. The protective layer may include at least one of an anti-corrosion layer, an insulating layer, a thermal insulation layer, a protective shell or a sheath. In the present disclosure, the outer surface of the pipeline to be inspected that the Mecanum wheel is pressed against and in contact with refers to the outermost surface of the pipeline to be inspected. When there is no protective layer on the outside of the pipeline body of the pipeline to be inspected, the outer surface of the pipeline to be inspected is the outer surface of the pipeline body. When a protective layer is provided on the outside of the pipeline body of the pipeline to be inspected, the outer surface of the pipeline to be inspected is the outer surface of the protective layer located on the outermost side of the pipeline body.

[0053] In some examples, the first Mecanum wheel array 101 and the second Mecanum wheel array 102 are both composed of four Mecanum wheels, and the Mecanum wheels are arranged in the same manner.

[0054] The arrangement of a Mecanum wheel array consisting of four Mecanum wheels is usually O-shaped or X-shaped. Figure 4 As shown in the figure, four Mecanum wheels arranged in ABBA style form an X-type Mecanum wheel array. Figure 5 As shown, four Mecanum wheels arranged in a BAAB pattern form an O-type Mecanum wheel array. Figure 6 In the top view of a mounting device and a pipeline to be inspected, the first Microwheel array 101 shown is arranged in ABBA manner and is located on the upper side of the pipeline to be inspected. It can be understood that a second Microwheel array 102 with the same arrangement is provided on the lower side of the pipeline to be inspected. Figure 6 The kinematic analysis of the mounting device shown is carried out. Figure 7 A schematic diagram of motion analysis of a first Mecanum wheel array 101 is shown, in which four Mecanum wheels are identified by A, B, C, and D. Figure 8 FIG. 1 shows a schematic diagram of the motion analysis of the second Mecanum wheel array 102, in which four Mecanum wheels in the second Mecanum wheel array 102 are identified by I, J, K, and L. Figure 7 For example, a plane coordinate system is established with the center of gravity of the first Mecanum wheel array 101 as the center, and the angle β between the hub axis and the roller axis is 45 degrees. Assume that the speed of the four Mecanum wheels of ABBA is V i (i=A, B, C, D), assuming that the roller and the pipe do not slip and the carrier moves on the outer surface of the pipe to be inspected, when the desired X-direction speed V of the first Mecwheel array X , Y direction speed V Y , angular velocity V ω When the length H of the first Mecanum wheel array in the X direction and the length W of the first Mecanum wheel array in the Y direction are known, the linear velocity V of each Mecanum wheel is obtained by the following kinematic analysis: i (i=A,B,C,D,I,J,K,L), taking Mecanum wheel A as an example, its kinematic analysis is as follows:

[0055]

[0056] V AX =V A +V AL *sinβ (3)

[0057] V AY =-V AL *cosβ (4)

[0058] Where L is the distance from the center of gravity to the Mecanum wheel A, V AXrepresents the speed of Mecanum wheel A along the x-axis, V AY represents the speed of Mecanum wheel A along the y-axis, V AL V is the speed of Mecanum wheel A from the center of gravity to Mecanum wheel A. X represents the velocity of the first wheat wheel array 101 along the x-axis, V Y represents the velocity of the first wheat wheel array 101 along the y-axis, V ω represents the rotational angular velocity of the first Mecanum wheel array 101, and θ represents the angle between the line between the center of gravity and the Mecanum wheel A and the x-axis.

[0059] According to (1)(2)(3)(4), we can get:

[0060] V A =V X +V Y +V ω *L*(sinθ+cosθ) (5)

[0061] By analogy, the linear velocity of each Mecanum wheel in the first Mecanum wheel array 101 and the second Mecanum wheel array 102 is deduced as:

[0062]

[0063] It can be known from formula (6) that according to the desired speed V of the mounting device X 、V Y 、V ω With L known, the speed of each Mecanum wheel can be calculated, and the driving force of the driving assembly for each Mecanum wheel can be further calculated according to the speed of each Mecanum wheel to control the moving direction and speed of the entire device.

[0064] Figure 6 The left side view of the device shown is as follows Fig. 9 As shown, the two Mecanum wheels on the upper side are Figure 6 The two Mecanum wheels on the left side of the first Mecanum wheel array are shown in the figure, and the two Mecanum wheels on the bottom side are the two Mecanum wheels on the left side of the second Mecanum wheel array. Fig. 9 The kinematic analysis of the carrying device and the left view of the pipeline to be inspected is carried out to establish the following Fig.10 The coordinate system shown (the motion analysis diagram of the other McReels is shown in Fig.11 As shown), let the speed of the four Mecanum wheels be V i (i=E,F,G,H), it can be understood that Fig. 9 The four Mecanum wheels E, F, G, and H are symmetrically distributed relative to the pipeline to be inspected, respectively M, N, O, and P. Under the ideal condition that the rollers do not slip with the pipeline and are carried on the outer surface of the pipeline to be inspected, Fig. 9The kinematics of the four Mecanum wheels in the X′ 、V Y′ 、V ω′ When the equipment size is H1 and W1, the kinematic analysis shows that the linear speed V of the four wheat wheels is i (i=E,F,G,H), taking Mecanum wheel E as an example, its kinematic analysis is shown in the figure:

[0065]

[0066] V EX =V E +V EL *sinβ (10)

[0067] V EY =-V EL *cosβ (11)

[0068] Among them, L 1 is the distance from the center of gravity to the Mecanum wheel E, V EX represents the speed of the Mecanum wheel E along the X′ axis, V EY represents the speed of the Mecanum wheel E along the Y′ axis, V EL V is the speed of Mecanum wheel E from the center of gravity to Mecanum wheel E. X′ represents the speed of the carrier along the X′ axis, V Y′ represents the speed of the carrier along the Y′ axis, V ω′ represents the rotational angular velocity of the mounting device, and a represents the angle between the line between the center of gravity and the Mecanum wheel E and the X′ axis.

[0069] Combining (8)(9)(10)(11) we get:

[0070] V E =V X′ -V Y′ +V ω′ *L 1 *(sina-cosa) (12)

[0071] From this kind of overhead Fig. 9 The linear velocity of each Mecanum wheel is:

[0072]

[0073] Through the above-mentioned motion analysis, the rotation speed and rotation direction of each Mecanum wheel can be obtained, and the above-mentioned rotation speed and rotation direction can be achieved by controlling the independent drive circuit of each Mecanum wheel in the drive assembly, so as to complete the control purpose of the desired moving speed and moving direction of the carrying device, and realize the omnidirectional movement of the carrying device on the outer surface of the pipeline to be inspected.

[0074] In some examples, the main control component 105 includes a signal processing module, a communication module, and a power supply module, wherein:

[0075] The communication module is used to communicate with the remote terminal, including receiving the desired movement direction and speed information sent by the remote terminal;

[0076] The signal processing module generates a control signal according to the desired motion direction and speed information;

[0077] The power supply module is used to provide electrical energy to the components in the mounted device and perform power conversion.

[0078] Specifically, the communication module is used to establish a wireless connection with the remote terminal and perform data transmission, including receiving control information sent by the remote terminal and information about the desired direction and speed of movement. The communication module transmits the received information to the signal processing module, and the signal processing module generates a control signal for each Mecanum wheel according to equation (6) or equation (13) and sends it to the drive component 104, so as to control the drive component 104 to drive the first Mecanum wheel array 101 and the second Mecanum wheel array 102.

[0079] In some examples, the communication module includes a long-range low-power LoRa spread spectrum module. The long-range low-power LoRa (Long range Low Power, LoRa) spread spectrum module relates to a module for realizing long-distance low-power wireless communication, which communicates through spread spectrum modulation at different frequencies and spread spectrum factors, works based on the LoRaWAN (Long Range Wide Area Network) protocol, and can achieve a longer communication distance at the same power, with strong anti-interference ability. For pipeline detection in complex environments, such as high-altitude pipeline detection, it can not only achieve long-distance stable and reliable communication quality, but also reduce battery consumption, provide longer working time for pipeline detection, and improve pipeline detection work efficiency.

[0080] In some examples, the signal processing module includes a digital signal processor and microcontroller dsPIC minimum system. A digital signal processor and microcontroller dsPIC (digital signal controller Peripheral Interface Controller, dsPIC) is a digital signal controller, also known as a peripheral interface controller, with high-performance digital signal processing capabilities and rich peripheral interfaces. It can process control signals sent by remote terminals and can also process detection data received by detection equipment based on the mounted device.

[0081] In some examples, the power supply module includes a DCDC power module and a lithium battery. The lithium battery is used to store electrical energy and provide electrical energy to other electrical components in the mounted device; the DCDC power module is used to convert the power supply voltage provided by the lithium battery to provide electrical energy to the main control component 105, the drive component 104, the communication module, etc.

[0082] In some examples, the drive assembly 104 includes the same number of drive circuits as the number of Mecanum wheels, wherein each drive circuit corresponds to one Mecanum wheel.

[0083] In some examples, such as Fig. 9 As shown, the main control component 105 includes a first main control component 1051 and a second main control component 1052. The weight of the first main control component 1051 is close to that of the second main control component 1052. The first main control component 1051 is located on one side of the first wheat wheel array, and the second main control component 1052 is located on one side of the second wheat wheel array.

[0084] Specifically, the weight of the first main control component 1051 is close to that of the second main control component 1052. The first main control component 1051 is located on one side of the first wheat wheel array, and the second main control component 1052 is located on one side of the second wheat wheel array, so that the weight distribution of the carrying device on both sides of the pipeline to be inspected is balanced, so that the carrying device remains balanced and stable when moving.

[0085] The drive assembly 104 includes 8 drive circuits, each of which corresponds to a Mecanum wheel, and can accurately control the rotation direction and speed of each Mecanum wheel, so that the carrying device 10 moves on the pipeline in a desired direction and speed according to the control signal of the main control assembly 105.

[0086] The bracket 103 is used to fix the first Mecanum wheel array 101, the second Mecanum wheel array 102, the main control component 105, and the drive component 104, so that the first Mecanum wheel array 101 and the second Mecanum wheel array 102 are pressed against the outer surface of the pipeline to be inspected. It should be noted that when a thermal insulation layer or a protective layer is provided on the outside of the pipeline to be inspected, the outer surface of the pipeline to be inspected refers to the outer surface of the thermal insulation layer or the protective layer. In some examples, the bracket 103 is sleeved on the outside of the pipeline to be inspected. Specifically, the bracket 103 may include a crossbeam for connecting the Mecanum wheel, carrying the main control component 105, and a screw tube for connecting the two Mecanum wheel arrays, and the two Mecanum wheel arrays are pressed against the outer surface of the pipeline to be inspected by adjusting the screw tube. Pipes to be inspected of different sizes can be adapted by adjusting the length of the screw tube and the length of the crossbeam.

[0087] Based on the above-mentioned mounting device, Fig.12 As shown, the present disclosure also provides a pipeline detection system, which includes the above-mentioned pipeline detection carrying device 10, a detection device 20, and a remote terminal 30, wherein:

[0088] The detection device 20 is installed on the pipeline detection device and is used to transmit and receive detection signals;

[0089] The remote terminal 30 communicates with the main control component 105 in the pipeline detection device by providing a human-computer interaction interface, and is used to remotely control the movement of the pipeline detection device, control the detection start and stop of the detection device, and receive detection data.

[0090] In some examples, the remote terminal 30 includes a ground chassis, an industrial computer, a ground lithium battery, and a wireless control handle. The ground chassis is used to store the industrial computer and the wireless control handle; the industrial computer is used to receive detection signals and display the corrosion status of the pipeline in real time on the Labview host computer; the ground lithium battery is used to power the industrial computer; and the wireless control handle is used to control the carrying device to achieve all-round detection movement on the pipeline to be inspected.

[0091] In some examples, the detection device 30 includes a first detection part and a second detection part with the same structure, wherein the first detection part is located on one side of the first wheat wheel array 101 , and the second detection part is located on one side of the second wheat wheel array 102 .

[0092] The two detection parts with the same structure are respectively located on one side of the symmetrically distributed first wheat wheel array 101 and the second wheat wheel array 102. The first wheat wheel array 101 and the first detection part form a symmetrical structure with the second wheat wheel array and the second detection part and are distributed on both sides of the pipeline to be inspected, which is conducive to maintaining the balance of the entire detection system, saving battery energy consumption, and keeping the device moving stably during the detection process. When the pipeline to be inspected is circumferentially moved, the carrying device only needs to move half a circle around the pipeline to be inspected, and the first detection part and the second detection part obtain the detection data of the complete circumference, which improves the detection efficiency and reduces energy loss.

[0093] In some examples, the detection device is disposed on a side of the bracket close to the pipeline to be inspected.

[0094] The detection device 20 is arranged on a side of the bracket close to the pipeline to be inspected, so that the detection device is close to the pipeline to be inspected, which can reduce the energy loss of the detection signal. When the detection device includes a first detection part and a second detection part, the first detection part is located between the bracket fixing the first wheat wheel array 101 and the pipeline to be inspected, and the second detection part is located between the bracket fixing the second wheat wheel array 102 and the pipeline to be inspected, so that the first detection part and the second detection part are close to the pipeline to be inspected, reducing the energy loss of the detection signal.

[0095] The detection device 20 can use infrared thermal imaging technology or ultrasonic detection technology. Infrared thermal imaging detection can only observe the changes in the temperature difference of the insulation layer pipeline through infrared images, and it is difficult to identify the corrosion of the pipeline under the insulation layer. Ultrasonic detection technology has serious energy attenuation when propagating in various complex media, low detection accuracy, and is only applicable to metal pipes with fixed diameters. The scope of application is relatively single. In some examples, the detection device uses eddy current detection technology. The detection device 20 includes a transmitting drive circuit, a pulsed eddy current detection probe, and a giant magnetoresistance differential amplifier circuit, wherein:

[0096] The transmitting driving circuit is used to generate a bipolar pulse signal to stimulate the pulsed eddy current detection probe to generate a primary field signal;

[0097] The pulsed eddy current detection probe is made of enameled wire wound on a ferrite core, and is used to transmit the primary field signal and receive the induced secondary field signal during the interval between the primary field transmission;

[0098] The giant magnetoresistance differential amplifier circuit is used to perform differential amplification processing on the secondary field signal.

[0099] The transmitting drive circuit is used to generate a bipolar pulse signal and increase its driving ability to stimulate the pulsed eddy current detection probe to generate a primary field signal; the pulsed eddy current detection probe is made of 0.38mm enameled wire wound on a ferrite core, and receives the induced secondary field signal during the interval of the primary field emission; the giant magnetoresistance (GMR) differential amplifier circuit is an amplifier circuit that uses the giant magnetoresistance effect. It is highly sensitive to the magnetic field and is used to receive the attenuated secondary field signal generated by the primary field signal to stimulate the surrounding medium, and differentially amplify its signal. It can capture the impact of changes such as pipeline corrosion on the electromagnetic field, which is conducive to real-time detection of pipeline defects. The eddy current detection technology signal has rich frequency components, and the magnetic field amplitude excited by the pulse signal excitation coil sensor is large. It can perform signal detection at a large lifting distance and effectively identify internal defects of the pipe wall.

[0100] The above is only a specific implementation of the utility model, but the protection scope of the utility model is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the utility model should be included in the protection scope of the utility model. Therefore, the protection scope of the utility model should be based on the protection scope of the claims.

Claims

1. A pipeline detection device, characterized in that: The device comprises a first wheat wheel array, a second wheat wheel array, a bracket, a driving component, and a main control component, wherein: The first Mecanum wheel array and the second Mecanum wheel array are symmetrically distributed on both sides of the pipeline to be inspected, wherein the first Mecanum wheel array and the second Mecanum wheel array are composed of the same number of Mecanum wheels; The main control component is used to send a control signal to the drive component according to the desired movement direction and speed; The driving assembly is used to drive the rotation direction and rotation speed of each Mecanum wheel in the first Mecanum wheel array and the second Mecanum wheel array according to the control signal; The bracket is used to fix the first Mecwheel array, the second Mecwheel array, the main control component, and the drive component, so that the first Mecwheel array and the second Mecwheel array are pressed against the outer surface of the pipeline to be inspected.

2. The device according to claim 1, characterized in that The first Mecanum wheel array and the second Mecanum wheel array are both composed of four Mecanum wheels, and the Mecanum wheels are arranged in the same manner.

3. The device according to claim 1, characterized in that The main control component includes a signal processing module, a communication module, and a power supply module, wherein: The communication module is used to communicate with the remote terminal, including receiving the desired movement direction and speed information sent by the remote terminal; The signal processing module generates the control signal according to the desired motion direction and speed information; The power supply module is used to provide electrical energy to the components in the mounted device and perform power conversion.

4. The device according to claim 3, characterized in that The communication module includes a long-distance and low-power LoRa spread spectrum module.

5. The device according to claim 3, characterized in that The signal processing module comprises a digital signal processor and a microcontroller dsPIC minimum system.

6. The device according to claim 1, characterized in that The drive assembly includes the same number of drive circuits as the Mecanum wheels, wherein each drive circuit corresponds to a Mecanum wheel.

7. A pipeline detection system, characterized in that: The system comprises the pipeline detection carrying device, the detection device, and the remote terminal according to any one of claims 1 to 6, wherein: The detection device is installed on the pipeline detection carrying device and is used to transmit and receive detection signals; The remote terminal communicates with the main control component in the pipeline detection device by providing a human-computer interaction interface, and is used to remotely control the movement of the pipeline detection device, control the detection start and stop of the detection device, and receive detection data.

8. The system according to claim 7, characterized in that The detection device comprises a first detection part and a second detection part with the same structure, wherein the first detection part is located at one side of the first McRae array, and the second detection part is located at one side of the second McRae array.

9. The system according to claim 7, characterized in that The detection device is arranged on a side of the bracket close to the pipeline to be inspected.

10. The system according to claim 7, characterized in that The detection device includes a transmitting drive circuit, a pulsed eddy current detection probe and a giant magnetoresistance differential amplifier circuit, wherein: The transmitting driving circuit is used to generate a bipolar pulse signal to stimulate the pulsed eddy current detection probe to generate a primary field signal; The pulsed eddy current detection probe is made of enameled wire wound on a ferrite core, and is used to transmit a primary field signal and receive an induced secondary field signal during the interval between primary field transmissions; The giant magnetoresistance differential amplifier circuit is used for performing differential amplification processing on the secondary field signal.

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