CN110146004B - Detection apparatus for utilize tombarthite permanent magnet material to detect steel pipe - Google Patents
Detection apparatus for utilize tombarthite permanent magnet material to detect steel pipe Download PDFInfo
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- CN110146004B CN110146004B CN201910511961.1A CN201910511961A CN110146004B CN 110146004 B CN110146004 B CN 110146004B CN 201910511961 A CN201910511961 A CN 201910511961A CN 110146004 B CN110146004 B CN 110146004B
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- G—PHYSICS
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- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/02—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring length, width or thickness
- G01B7/06—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring length, width or thickness for measuring thickness
- G01B7/10—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring length, width or thickness for measuring thickness using magnetic means, e.g. by measuring change of reluctance
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- G—PHYSICS
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- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N27/00—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means
- G01N27/72—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating magnetic variables
- G01N27/82—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating magnetic variables for investigating the presence of flaws
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Abstract
The invention relates to the field of steel pipe wall thickness measurement and pipe wall quality defect detection, in particular to a pipeline detection device for detecting a steel pipe by using a rare earth permanent magnet material. The pipeline detection device detects the thickness and the pipe wall condition of a detected object by utilizing the magnetic field change and the pressure change between the detection device and the detected pipeline, so as to realize pre-alarming for pipe wall thinning, pipe wall cracks and pipe wall leakage points of the pipeline. The invention has the beneficial effects that: the device can realize the higher detection of precision in abominable pipeline environment, and is reported to the police in advance to pipeline wall attenuation, pipe wall crackle and pipe wall leak source, and the mobile device carrier leakproofness of design simultaneously is stronger, and the action control is comparatively convenient, and simple structure is practical, has very good reality and economic nature to can be applied to production practice.
Description
The technical field is as follows:
the invention relates to the field of steel pipe wall thickness measurement and pipe wall quality defect detection, in particular to a pipeline detection device for detecting a steel pipe by using a rare earth permanent magnet material.
Background art:
at present, various pipelines with different functions and different sizes exist in urban construction, such as central air-conditioning pipelines, tap water pipelines, gas pipelines, oil (gas) pipelines, heat pipelines and the like. Before the pipelines are put into use and used, detection and maintenance are needed, however, the traditional pipeline detection is implemented by related personnel, the workload is large, the efficiency is low, and for some toxic or harmful media or pipeline positions with complex and narrow internal structures, personnel cannot reach and implement monitoring due to the limitation of narrow space or adverse environmental factors. In these applications, it is necessary to perform work inside the pipeline using a pipeline inspection apparatus such as a pipeline inspection robot.
The pipeline robot is one kind of electromechanical integrated system capable of walking inside pipeline automatically, including one or several sensors and detectors and performing pipeline operation under the remote control of operator or automatic computer control. The fundamental significance of the development of the pipeline robot lies in improving the working environment of workers and improving the working efficiency in the pipeline. The research of the pipeline robot technology in China has the history of more than 20 years, and some pipeline robots are put into use, but the moving mechanism of the existing pipeline robot can not implement operation in a pipeline with a continuously changing pipe diameter within a certain range, and the robot has the common defects of incompatibility of environmental changes in the pipeline, limited waterproof and heat-proof performance and the like. Since the medium in the pipe is changed and must be redesigned and manufactured, the cost is increased, and thus research and demand for a multi-functional, high-performance, flexible pipe robot for various media are increasing.
The method for detecting the quality defects of the metal surface and the metal interior mainly comprises ultrasonic flaw detection, AC/DC magnetic flaw detection based on surface flaw detection, eddy current flaw detection and the like. But the detection technology is difficult to realize in the medium pipeline. Ultrasonic flaw detection is difficult in cases where the shape of the controlled object is limited, the shape is complicated, or the surface cleanliness is not high. In addition, the quantitative and positioning accuracy is poor, the mobile flaw detection is difficult to realize, and the quantitative and positioning accuracy is limited by the grain structure and the tissue uniformity of the material of the controlled object. The AC/DC magnetic flaw detection and eddy current flaw detection have more strict requirements on a controlled object, mainly aim at the detection of a shallow surface layer, and are not mature in practical application. Because alternating current and direct current are needed to magnetize the controlled object, the operation is very difficult especially for mobile flaw detection.
Disclosure of Invention
The embodiment of the disclosure discloses a pipeline detection device for detecting a steel pipe by using a rare earth permanent magnet material, so as to solve any one of the above and other potential problems in the prior art.
In order to achieve the purpose, the embodiment of the disclosure discloses a pipeline detection device for detecting a steel pipe by using a rare earth permanent magnet material; the pipeline detection device detects the thickness and the pipe wall condition of the object to be detected by using the magnetic field change and the pressure change between the permanent magnet and the object to be detected. The device has the advantages that the device can realize high-precision detection in a severe pipeline environment, pre-alarm is carried out on pipeline wall thinning, pipe wall cracks and pipe wall leakage points, meanwhile, the carrier of the mobile device is designed to have high sealing performance, the action control is convenient, the structure is simple and practical, and the device has high practicability and economy and can be applied to production practice.
According to an embodiment of the present disclosure, the detection apparatus includes:
the moving device carrier is used for realizing the movement of the detection device in the detected pipe body;
-a movement control unit for controlling the direction of movement and start/stop of the detection means;
the operation mechanism is used for detecting the detected pipe body through a magnetic field;
the data acquisition and transmission unit is used for transmitting the detection data received from the operating mechanism to an upper computer;
-a power supply unit for supplying power to the detection device as a whole;
the upper computer is used for receiving the acquired detection data and sending a control instruction to the mobile control unit.
The mobile control unit, the data acquisition and transmission unit and the power supply unit are respectively arranged in the mobile device carrier, and the operation mechanism is arranged on a connecting shaft on the mobile device carrier; the upper computer is in control connection with the data acquisition and transmission unit, the mobile control unit and the power supply unit.
According to the embodiment of the disclosure, the movable carrier comprises a left movable carrier, a right movable carrier, a left rolling wheel, a right rolling wheel and a connecting shaft;
the left moving carrier and the right moving carrier are symmetrically arranged and are connected through the connecting shaft;
the left rolling wheel is arranged on the outer side wall of the left moving carrier, the right rolling wheel is arranged on the outer side wall of the right moving carrier, the left driving motor is arranged inside the left moving carrier, the right driving motor is arranged inside the right moving carrier, and driving wheels of the left rolling wheel and the right rolling wheel are in transmission connection with the left driving motor and the right driving motor respectively;
the rotor of left side driving motor and right driving motor's output shaft inlays respectively the both ends of connecting axle, the mobile control unit sets up remove in carrier and the carrier of right side removal carrier on a left side, and respectively with left side driving motor and right driving motor control connection.
According to the embodiment of the disclosure, the operating mechanism comprises a connecting rod, a permanent magnet detection unit and a data acquisition unit;
the connecting sleeve is arranged at one end of the permanent magnet connecting rod and connected to the connecting shaft in a sleeved mode, the permanent magnet detecting unit is arranged at the other end of the permanent magnet connecting rod, the data collecting unit is arranged on the permanent magnet detecting unit, and the data collecting unit is connected with the data sending unit arranged on the mobile control unit.
According to the embodiment of the disclosure, the permanent magnet detection unit comprises a permanent magnet and a non-magnetic coating layer, one end face of the permanent magnet is a detection face, and the non-magnetic coating layer is arranged on other end faces of the permanent magnet except the detection face.
According to the embodiment of the present disclosure, the permanent magnet is composed of a plurality of permanent magnet units; the magnet is made of rare earth permanent magnet material, and the magnetic field intensity of the permanent magnet is between 300mH and 610 mH; the non-magnetic coating layer is made of a magnetic isolation material; the thickness is 2-5 mm.
According to the embodiment of the disclosure, the data acquisition unit comprises a pressure sensor for acquiring the change of the suction force of the permanent magnet detection unit to the pipe wall and a magnetic sensor for measuring the change of the magnetic induction line.
According to the embodiment of the present disclosure, the permanent magnet connecting rod of the permanent magnet detecting device includes an upper connecting rod and a lower connecting rod, and the lower connecting rod is connected to the inside of the upper connecting rod.
According to the embodiment of the present disclosure, the mobile control unit includes a CPU, a memory, an infrared sensor, and a signal transmitting and receiving module;
the CPU is respectively in control connection with the memory, the infrared sensor and the signal sending and receiving module, and the signal sending and receiving module is respectively connected with the data acquisition unit and the upper computer.
According to the embodiment of the disclosure, the power supply unit comprises a rechargeable lithium battery and an early warning unit which can timely give an alarm when the electric quantity is too low, the situation that the detection device cannot recover the electric quantity due to the fact that the detection device stops working in a pipeline without electricity is prevented, the electric quantity early warning unit is in control connection with the rechargeable lithium battery, and the electric quantity early warning unit is in control connection with the CPU.
(1) The double-moving carrier is designed, the double-moving carrier with corresponding size can be designed according to the size of a specific pipeline, the double-moving carrier is not limited to a hemisphere or a sphere, namely, the protective outer shell of the double-moving carrier can also be in the shape of an ellipsoid or other moving carriers designed according to requirements, and the size of the carrier can be suitable for pipeline detection in a certain range.
(2) A mechanical structure for torque conversion between a stator and a rotor of the motor is designed, the rotor of the motor can be fixed on a connecting shaft, the stator can be fixed on the wall of a rolling wheel, a permanent magnet detection unit is connected on the connecting shaft, and the weight of a permanent magnet and the permanent magnet attraction force are used as the force for fixing the rotor of the motor. The fixing mode of the stator and the rotor of the motor can be changed according to the actual operation environment and the shape of the device, and is not limited to the fixing mode.
(3) But the mobile control unit of design is intelligent control unit, and its function is not only limited to the motion position of control motor and hemisphere, also includes simultaneously to the storage of various measured data and send for the host computer, also has low battery alarm function simultaneously, and not limited so.
(4) The mobile carrier unit is designed to include: two independent gyro wheels, two hemisphere protection casings, the motor drive gyro wheel removes, and hemisphere protection casing protects the internal device not disturbed by external factor.
(5) Two rollers of the designed movable carrier unit are symmetrical and can be independently operated without influencing each other, each roller is driven by an independent motor, the whole movable carrier unit is of a symmetrical structure, and the working principles are the same.
(6) The hemispheroids are connected through a fixed transverse shaft, a shaft connected with the permanent magnet detection unit is arranged on the transverse shaft and is a movable shaft, and the length of the movable shaft can be adjusted up and down according to different pipelines. The cross shaft is vertically connected with a movable shaft of the permanent magnet detection unit, the length of the cross shaft can be replaced by a person according to the size of a pipeline, the connection part of the cross shaft and the roller is sealed, and the whole detection device is in a sealed state.
(7) An upper computer unit is designed, data are subjected to post-processing and real-time monitoring on motor parameters, data transmitted by the control unit are calculated, and then pipeline changes are obtained, and meanwhile, the low-power alarm function is achieved.
(8) The power supply of the carrier position movement control unit and the power supply of the permanent magnet detection unit both adopt rechargeable lithium batteries, are averagely placed in the two hemispheres, and provide electric energy for the movement unit and the permanent magnet detection unit for the self-adaptive walking and permanent magnet detection of the detection device.
The invention has the beneficial effects that: due to the adoption of the technical scheme, the invention has the following characteristics:
1. the device can realize walking and detection in a complex pipeline, has low requirement on the surface of the pipeline, and can realize a self-adaptive motion mode.
2. The pipeline measuring device can adapt to pipeline measurement within a certain size range, and can walk around a pipeline for a circle stably under the severe pipeline condition.
3. Under certain conditions, the underwater detection operation can be completed.
4. The used detection device can realize on-line accurate measurement of the pipe wall thickness, the crack depth and range and other pipe wall quality defects, and can realize off-line storage function but is not limited to the above.
5. The used detection device can solve the problem that the common thickness measuring method cannot measure the thickness and predict the quality of the pipe wall under special environments such as the pipeline at present;
6. the detection device adopts a permanent magnet technology, can realize passive measurement, and can avoid the problem of measurement errors caused by power failure of a power supply.
Drawings
FIG. 1 is a schematic cross-sectional view of a detection apparatus for detecting a steel pipe using a rare earth permanent magnetic material according to the present invention.
FIG. 2 is a schematic diagram of the movement of the detection device for detecting a steel pipe by using a rare earth permanent magnetic material according to the present invention.
FIG. 3 is a schematic view of the pipeline running of the detection device for detecting steel pipes by using rare earth permanent magnetic materials according to the present invention.
FIG. 4 is a logic block diagram of an electrical part of the detection device for detecting a steel pipe by using a rare earth permanent magnetic material according to the present invention.
FIG. 5 is a schematic structural diagram of an operating mechanism of a detection device for detecting a steel pipe by using a rare earth permanent magnetic material according to the present invention.
In the figure:
1. the device comprises a left moving carrier, 2. a left driving motor, 3. a right driving motor, 4. a movement control unit, 5. a driving wheel, 6. a left rolling wheel, 7. a right rolling wheel, 8. a connecting rod, 9. a pressure sensor, 10. a permanent magnet, 10-1. a permanent magnet unit, 10-2. a permanent magnet detection unit, 11. a right moving carrier, 12. a connecting shaft, 16. a pipeline outer wall, 17. a pipeline inner wall, 18. a detection device, 19. a magnetic sensor, 20. an air gap and 21. a steel plate.
Detailed Description
The technical solution of the present invention is further explained with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1-5, the embodiment of the present disclosure discloses a pipeline detection device for detecting a steel pipe by using a rare earth permanent magnetic material; the pipeline detection device detects the thickness and the pipe wall condition of the object to be detected by using the magnetic field change and the pressure change between the permanent magnet and the object to be detected. The device has the advantages that the device can realize high-precision detection in a severe pipeline environment, pre-alarm is carried out on pipeline wall thinning, pipe wall cracks and pipe wall leakage points, meanwhile, the carrier of the mobile device is designed to have high sealing performance, the action control is convenient, the structure is simple and practical, and the device has high practicability and economy and can be applied to production practice.
According to an embodiment of the present disclosure, the detection apparatus includes:
the moving device carrier is used for realizing the movement of the detection device in the detected pipe body;
-a movement control unit for controlling the direction of movement and start/stop of the detection means;
the operation mechanism is used for detecting the detected pipe body through a magnetic field;
the data acquisition and transmission unit is used for transmitting the detection data received from the operating mechanism to an upper computer;
-a power supply unit for supplying power to the detection device as a whole;
the upper computer is used for receiving the acquired detection data and sending a control instruction to the mobile control unit.
The mobile control unit, the data acquisition and transmission unit and the power supply unit are respectively arranged in the mobile device carrier, and the operation mechanism is arranged on a connecting shaft on the mobile device carrier; the upper computer is in control connection with the data acquisition and transmission unit, the mobile control unit and the power supply unit.
According to the embodiment of the disclosure, the movable carrier comprises a left movable carrier, a right movable carrier, a left rolling wheel, a right rolling wheel and a connecting shaft;
the left moving carrier and the right moving carrier are symmetrically arranged and are connected through the connecting shaft;
the left rolling wheel is arranged on the outer side wall of the left moving carrier, the right rolling wheel is arranged on the outer side wall of the right moving carrier, the left driving motor is arranged inside the left moving carrier, the right driving motor is arranged inside the right moving carrier, and driving wheels of the left rolling wheel and the right rolling wheel are in transmission connection with the left driving motor and the right driving motor respectively;
the rotor of left side driving motor and right driving motor's output shaft inlays respectively the both ends of connecting axle, the mobile control unit sets up remove in carrier and the carrier of right side removal carrier on a left side, and respectively with left side driving motor and right driving motor control connection.
According to the embodiment of the disclosure, the operating mechanism comprises a connecting rod, a permanent magnet detection unit and a data acquisition unit;
the connecting sleeve is arranged at one end of the permanent magnet connecting rod and connected to the connecting shaft in a sleeved mode, the permanent magnet detecting unit is arranged at the other end of the permanent magnet connecting rod, the data collecting unit is arranged on the permanent magnet detecting unit, and the data collecting unit is connected with the data sending unit arranged on the mobile control unit.
According to the embodiment of the disclosure, the permanent magnet detection unit comprises a permanent magnet and a non-magnetic coating layer, one end face of the permanent magnet is a detection face, and the non-magnetic coating layer is arranged on other end faces of the permanent magnet except the detection face.
According to the embodiment of the present disclosure, the permanent magnet is composed of a plurality of permanent magnet units; the magnet is made of rare earth permanent magnet material, and the magnetic field intensity of the permanent magnet is between 300mH and 610 mH; the non-magnetic coating layer is made of a magnetic isolation material; the thickness is 2-5 mm.
According to the embodiment of the disclosure, the data acquisition unit comprises a pressure sensor for acquiring the change of the suction force of the permanent magnet detection unit to the pipe wall and a magnetic sensor for measuring the change of the magnetic induction line.
According to the embodiment of the present disclosure, the permanent magnet connecting rod of the permanent magnet detecting device includes an upper connecting rod and a lower connecting rod, and the lower connecting rod is connected to the inside of the upper connecting rod.
According to the embodiment of the present disclosure, the mobile control unit includes a CPU, a memory, an infrared sensor, and a signal transmitting and receiving module;
the CPU is respectively in control connection with the memory, the infrared sensor and the signal sending and receiving module, and the signal sending and receiving module is respectively connected with the data acquisition unit and the upper computer.
According to the embodiment of the disclosure, the power supply unit comprises a rechargeable lithium battery and an early warning unit which can timely give an alarm when the electric quantity is too low, the situation that the detection device cannot recover the electric quantity due to the fact that the detection device stops working in a pipeline without electricity is prevented, the electric quantity early warning unit is in control connection with the rechargeable lithium battery, and the electric quantity early warning unit is in control connection with the CPU. The rechargeable lithium battery is disposed within another moving carrier.
Example (b):
the detection device for detecting the steel pipe by the rare earth permanent magnet material is formed by connecting a left moving carrier and a right moving carrier, the middle of the detection device is connected by a cross shaft, the shells of the left moving carrier and the right moving carrier are hemispherical shells, a left rolling wheel and a right rolling wheel are respectively arranged on the outer side wall of the hemispherical shell, the movement of the detection device is driven by left and right rollers driven by two motors, and the end surfaces of the shells are sealed, so that the detection device can move on complicated pipe walls and even can work in water. On the other hand, compared with a complete ball type detection device, the walking is more stable, and the side turning is not easy. The two hemispheroids are respectively controlled by two motors, and when the rotating speeds of the motors are different, the detection device can realize a differential effect, so that the machine can turn.
(2) Walking principle of detection device
As shown in fig. 2, which is a schematic diagram of the movement of the detection device, the driving motor inside the detection device is located at the centroid position of the roller, and the left rolling wheel and the right rolling wheel are completely symmetrical structures. The left and right driving motors are vertically arranged with the sections of the left rolling wheel and the right rolling wheel, the rotor of the driving motor is fixed on the connecting shaft, the connecting shaft is provided with an operation mechanism, the operation mechanism is a permanent magnet detection device, and the connecting shaft cannot rotate along with the rotation of the rotor due to the suction force and the gravity of the permanent magnet detection device. The driving motor is integrally fixed on the roller, so when the motor runs, the rotor is fixed and the motor integrally rotates according to the interaction of force, and further the movement of the driving roller is achieved. The two rollers are connected by a transverse shaft. When the rotating speeds of the motors are the same, the detection device moves forwards or backwards, and when the rotating speeds of the two driving motors are different, the detection device moves in a spinning mode or a turning mode.
Fig. 3 is a schematic diagram of the walking of the detection device in the pipeline, 16 is the outer wall of the pipeline, 17 is the inner wall 18 of the pipeline is the detection device, and the force analysis and the position change of the permanent magnet when walking are shown in the figure. The motor drives the hemisphere to move, and the permanent magnet 10 is always perpendicular to the walking plane, so that the effect of fixing the detection device is achieved. This enables the device to walk on slopes and curves of different angles.
In addition, when detecting the pipeline that is thinner relative pipe wall, if the magnetic force of permanent magnet 10 makes the carrier walking stable inadequately, can regularly place a certain amount of permanent magnet unit in the roll department of two hemispheroids, small-size permanent magnet is again wrapped up by rubber again, can realize detection device and walk in the pipeline steadily like this, and the walking to the pipeline that has certain inclination is also more stable simultaneously.
(3) Selection of permanent-magnet materials
Considering the conditions of environment temperature and the like of the designed device application, and simultaneously considering the factors of magnetic energy product, stability, toughness, working temperature and the like of the permanent magnet material, the project selects the high-performance rare earth permanent magnet material such as NdFeB and the like. Table 1 shows the performance index parameters of the rare earth permanent magnet material NdFeB. The present invention is described in one embodiment, but not limited to, using the following rare earth permanent magnetic materials or materials that meet performance requirements.
TABLE 1 Performance index Table of rare earth permanent magnet material
(4) Basic principle of rare earth permanent magnet material detection
The permanent magnet is fixed in the magnetism isolating material, and the magnetism isolating material has no magnetic permeability, and the relative magnetic permeability is approximate to 1, so the magnetism isolating material can be approximate to air. The permanent magnet magnetizes the steel plate and then generates force action, the force can be changed according to the thickness of the steel plate under a certain air gap, and the pressure value is obtained in real time by utilizing the pressure sensor, so that the thickness change of the steel plate is obtained.
Meanwhile, whether the surface of the steel plate is bent or whether cracks exist can be obtained by detecting the change of the magnetic field lines through the magnetic sensor, but the change of the surface of the steel plate can show various differences according to the change of the magnetic field lines.
(5) Control of the detection device
The control of the detection device for detecting the steel pipe by the rare earth permanent magnet material is to control the two motors by utilizing a single chip microcomputer (or other control chips), so that the walking stability of the detection device is realized. Meanwhile, the sensor transmits data to the control circuit, the control circuit sends the data to the upper computer, and the upper computer processes the data, so that the upper computer can read the data of the motor and the data of the change of the steel plate in real time. The present invention is described only in terms of this control method, and other control methods are not described in detail herein.
Finally, it should be noted that the above-mentioned embodiments illustrate the objects, technical solutions and advantages of the present invention, and it should be understood that the above-mentioned embodiments are only exemplary embodiments of the present invention, and are not intended to limit the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the technical solutions of the present invention should be included in the scope of the claims of the present invention.
Claims (8)
1. A detection device for detecting a steel pipe by using a rare earth permanent magnetic material detects the thickness and the pipe wall condition of a detected object by using the magnetic field change and the pressure change between the detection device and the detected pipe to realize pre-alarming on pipe wall thinning, pipe wall cracks or pipe wall leakage points,
wherein the detection device comprises:
the moving device carrier is used for realizing the movement of the detection device in the detected pipe body;
-a movement control unit for controlling the direction of movement and start/stop of the detection means;
the operation mechanism is used for detecting the detected pipe body through a magnetic field;
the data acquisition and transmission unit is used for transmitting the detection data received from the operating mechanism to an upper computer;
-a power supply unit for supplying power to the detection device as a whole;
the upper computer is used for receiving the acquired detection data and sending a control instruction to the mobile control unit;
the mobile control unit, the data acquisition and transmission unit and the power supply unit are respectively arranged in the mobile device carrier, and the operation mechanism is arranged on a connecting shaft on the mobile device carrier; the upper computer is in control connection with the data acquisition and transmission unit, the movement control unit and the power supply unit, and is characterized in that the mobile device carrier comprises a left mobile carrier, a right mobile carrier, a left rolling wheel, a right rolling wheel and a connecting shaft;
the left moving carrier and the right moving carrier are symmetrically arranged and are connected through the connecting shaft;
the left rolling wheel is arranged on the outer side wall of the left moving carrier, the right rolling wheel is arranged on the outer side wall of the right moving carrier, the left driving motor is arranged in the left moving carrier, the right driving motor is arranged in the right moving carrier, and driving wheels of the left rolling wheel and the right rolling wheel are in transmission connection with the left driving motor and the right driving motor respectively;
the rotors of the output shafts of the left driving motor and the right driving motor are respectively embedded at two ends of the connecting shaft, and the mobile control unit is arranged in one of the left mobile carrier and the right mobile carrier and is respectively in control connection with the left driving motor and the right driving motor.
2. The detection device according to claim 1, wherein the operation mechanism comprises a connecting rod, a permanent magnet detection unit and a data acquisition unit;
one end of the connecting rod is fixedly connected with the connecting shaft, the permanent magnet detection unit is arranged at the other end of the connecting rod, the data acquisition unit is arranged on the permanent magnet detection unit, and the data acquisition unit is connected with the data transmission unit arranged on the mobile control unit.
3. The detection device according to claim 2, wherein the permanent magnet detection unit comprises a permanent magnet and a non-magnetic coating layer, one end face of the permanent magnet is a detection face, and the non-magnetic coating layer is arranged on the other end face of the permanent magnet except the detection face.
4. The detection device according to claim 3, wherein the permanent magnet is composed of a plurality of permanent magnet units; the magnet is made of rare earth permanent magnet material, and the magnetic field intensity of the permanent magnet is between 300mH and 610 mH; the non-magnetic coating layer is made of a magnetic isolation material; the thickness is 2-5 mm.
5. The detection device according to claim 2, wherein the data acquisition unit comprises a pressure sensor for acquiring the change of the suction force of the permanent magnet detection unit to the pipe wall and a magnetic sensor for measuring the change of the magnetic induction line.
6. The inspection device of claim 2, wherein the permanent magnet connection rods of the permanent magnet inspection device comprise an upper connection rod and a lower connection rod, the lower connection rod being connected to the inside of the upper connection rod.
7. The detecting device according to claim 1, wherein the mobile control unit comprises a CPU, a memory, an infrared sensor and a signal transmitting/receiving module;
the CPU is respectively connected with the memory, the infrared sensor and the signal transmitting/receiving module in a control mode, and the signal transmitting/receiving module is respectively connected with the data acquisition unit and the upper computer.
8. The detection device according to claim 7, wherein the power supply unit comprises a rechargeable lithium battery and a power pre-warning unit, the power pre-warning unit is in control connection with the rechargeable lithium battery, the power pre-warning unit is in control connection with the CPU, and the rechargeable lithium battery is arranged in another mobile carrier.
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