if it would be feasible to lay framed panels on top of the pipes and utilise the radiated heat from the rear of the PV panels to warm them
As I read it, you are proposing to block the infra-red on your pipes by placing PV panels on top.

So no thermal into the pipes.
PV panels have little electrical output when irradiated by infra-red and that part of the solar spectrum cannot be used by a PV cell.
A photon with wavelength around 1000 nanometres (corresponding to short wave infra-red light) has just enough energy to promote an electron in a silicon atom. All photons with a longer wavelength than this have insufficient energy to promote the electron and either pass straight through the PV cell or are absorbed as heat. It's shorter wavelengths in the visible spectrum that are needed for PV.
In fact, the cooler the PV panels are, the greater the amount of electricity generated, so the last thing you want is to heat them.
There is research to use more of the spectrum for PV, e.g.
http://www.fullspectrum-eu.org/1_1.html