A wireless detection ball for pipeline safety detection

Abstract

The present invention relates to pipeline inspection equipment, and discloses a wireless inspection ball for pipeline safety inspection. The ball comprises an outer spherical shell and an inner spherical shell capable of rotating in three degrees of freedom. The inner spherical shell is provided with an inspection port, and a sound wave receiver and a sound wave generator are located at the inspection port. A mounting frame is also provided with a gyroscope disk, the axis of which is perpendicular to the axis of the inspection port and located at the center point of the inner spherical shell. The device also includes a counterweight coaxially arranged with the gyroscope disk, a torque disk coaxially rotating in the opposite direction to the gyroscope disk, and a gyroscope sensor for detecting deflection of the inner spherical shell. The present invention arranges an inner spherical shell within the outer spherical shell, and inspects the interior of the pipeline through the inner spherical shell. The inner spherical shell can rotate in three degrees of freedom within the outer spherical shell and is equipped with a counterweight and a gyroscope disk, so that the inner spherical shell can maintain a stable inspection posture relative to the pipeline within the outer spherical shell, effectively improving inspection accuracy.

Description

Technical Field

[0001] The invention relates to pipeline detection equipment, in particular to a wireless detection ball used for pipeline safety detection. Background Art

[0002] Modern society has an increasing demand for energy, especially fossil energy, including oil and natural gas. The transportation of these energy sources requires a large number of pipelines. Faced with the huge number of pipelines, daily safety inspections have become a necessary task with a huge workload.

[0003] Due to the limitation of internal space of pipelines, wireless detection equipment such as pipeline robots are increasingly used to replace manual inspection of the inside of pipelines. In order to better adapt to the inner wall of pipelines, spherical robots carrying various detection equipment have been developed in the existing technology to detect pipelines inside pipelines. The spherical robots can well meet the pipeline detection environment, but there is a problem during use. Because the spherical robot rotates during the flow of pipeline media, the detection posture of the detection equipment on the spherical robot changes, and it is difficult to maintain the stability of the detection posture, which increases the difficulty of detection and reduces the accuracy of the detection results, which does not meet people's needs for solving practical problems. Summary of the Invention

[0004] The present invention aims to solve the problems existing in the spherical pipeline detection robot in the prior art and provides a wireless detection ball for pipeline safety detection.

[0005] In order to solve the above technical problems, the present invention is solved by the following technical solutions:

[0006] A wireless detection ball for pipeline safety detection includes an outer spherical shell, an inner spherical shell that can rotate in three degrees of freedom is concentrically arranged inside the outer spherical shell, a mounting plate is fixed on the inner wall of the outer spherical shell, and the inner spherical shell is connected to the mounting plate via a connecting frame;

[0007] The inner spherical shell is provided with a detection port coaxially arranged with the mounting plate and with its axis located at the center point of the inner spherical shell. A plurality of sound wave receivers are evenly arranged at the edge of the detection port. A mounting frame is provided inside the inner spherical shell, and a sound wave generator is installed on the mounting frame, which is located at the center of the detection port and cooperates with the sound wave receiver.

[0008] The mounting frame is also provided with a gyroscope disk whose axis is perpendicular to the axis of the detection port and whose axis is located at the center point of the inner spherical shell, and a driving motor for driving the gyroscope disk to rotate. The connecting frame is provided with a counterweight portion which is arranged outside the inner spherical shell and is coaxial with the gyroscope disk.

[0009] The mounting frame is also provided with a torque plate which is coaxial with the gyro plate and rotates in the opposite direction, and a gyro sensor for detecting the deflection of the inner spherical shell position. The drive motor controls the rotation of the gyro plate and the torque plate according to the signal detected by the gyro sensor.

[0010] Preferably, the connecting frame includes a first rotating rod and a second rotating rod, one end of the first rotating rod being coaxially connected to the mounting plate, and the other end being rotatably connected to the second rotating rod via a rotating seat, the counterweight being connected to the rotating seat and being coaxially arranged with the counterweight, the end of the second rotating rod remote from the first rotating rod being rotatably connected to the outer wall of the inner spherical shell, and the rotation axis of the second rotating rod at the connection with the inner spherical shell being perpendicular to the axis of the counterweight and the axis of the mounting plate. The connecting frame provides the inner spherical shell with three degrees of freedom of rotation, so that when the outer spherical shell rotates, the inner spherical shell can maintain its relative position relative to the pipeline as much as possible, thereby ensuring the accuracy of the acoustic wave detection at the detection port.

[0011] Preferably, a transmission rod mounting mechanism is provided on the mounting plate, and the transmission rod mounting mechanism includes a swing rod and a swing seat fixed at the center position of the mounting plate, a circular swing groove is provided on the swing seat, and one end of the swing rod is provided with a swing sphere which is axially limited in the circular swing groove and can swing in any direction, and the other end of the swing rod is rotatably connected to the first rotating rod through a bearing, and a shock-absorbing frame connected to the mounting plate is provided in the middle of the swing rod.

[0012] Preferably, the shock absorber frame includes a central ring, a shock absorber ball is provided in the middle of the swing rod and is rotatably matched with the central ring, a plurality of shock absorber mounting frames are evenly arranged around the circular swing groove on the mounting plate, a shock absorber is installed between the shock absorber mounting frame and the central ring, and both ends of the shock absorber are connected to the central ring and the shock absorber mounting frame through a rotating ball head.

[0013] When vibration occurs, the shock-absorbing spring is compressed or stretched to reduce the impact of the vibration and protect the equipment.

[0014] Preferably, the mounting frame includes a mounting frame body having a rectangular frame structure, a U-shaped frame with a downward opening provided therein, a drive motor disposed within the mounting frame body and fixed to the lower surface of the mounting frame body, a gyroscope disk coaxially connected to a drive shaft of the drive motor, a transmission mechanism disposed on the gyroscope disk for driving a torque disk to rotate, the transmission mechanism including a first rotating shaft disposed on the gyroscope disk and rotating synchronously with the drive motor, a driving gear disposed on the first rotating shaft, a second rotating shaft disposed on the U-shaped frame coaxially with the first rotating shaft, a driven gear disposed on the second rotating shaft, the torque disk connected to an end of the second rotating shaft, and a plurality of intermediate gears disposed between the driving gear and the driven gear for achieving counter-rotation of the torque disk and the gyroscope disk. When the gyroscope disk rotates, the torque disk can rotate in the opposite direction under the action of the transmission mechanism, thereby offsetting the torque caused by the accelerated rotation of the gyroscope disk and further ensuring the stability of the position of the detected posture.

[0015] Preferably, a cylindrical battery housing is fixed between the outer spherical shell and the mounting frame, and a cylindrical power supply battery is fixed in the battery housing and is coaxially arranged with the gyroscope disk; the mounting frame body is also provided with a charging connector for charging the power supply battery, and a threaded cover arranged opposite to the charging connector is threadedly connected to the side wall of the outer spherical shell;

[0016] The top surface of the mounting frame houses a circuit board and an antenna for transmitting signals. The top surface of the circuit board is electrically connected to a processor, which also connects the drive motor, gyro sensor, battery, and antenna. The battery and charging connector allow the sensor ball to be charged without disassembly, making it convenient to use.

[0017] Preferably, a wireless sensor electrically connected to the processor is provided on the inner wall of the outer spherical shell, and a plurality of metal contacts are electrically connected to the surface of the wireless sensor. The metal contacts can detect whether the outer spherical shell has entered the medium.

[0018] Preferably, the counterweight portion includes a counterweight tank having a conical shape and capable of being filled with a counterweight liquid. A counterweight liquid inlet is provided on the side wall of the counterweight tank, and a rubber plug is provided at the counterweight liquid inlet.

[0019] A plurality of guide plates are arranged inside the counterweight tank and on the lower end surface thereof, and are evenly spaced around the axis of the counterweight tank. Interconnected counterweight liquid flow channels are formed between adjacent guide plates.

[0020] Injecting balancing liquid into the balancing tank makes the center of gravity of the entire test ball lower and more stable. At the same time, the guide plate can reduce the shaking of the liquid in the balancing tank, so that the balancing liquid is distributed as evenly as possible in the balancing tank.

[0021] Preferably, the outer spherical shell is formed by two hemispherical shells connected relative to each other, each hemispherical shell comprising an inner shell and an outer shell, with a buffer layer bonded between the inner and outer shells. The buffer layer provides a shock-absorbing and cushioning effect when the outer spherical shell collides within the pipeline, reducing the impact of vibration on the inner spherical shell.

[0022] Preferably, a foot receiving groove is provided on the outer surface of the outer sphere housing. A support foot is hingedly connected to the foot receiving groove, which supports the outer sphere housing. The foot receiving groove contains a magnet for attracting the support foot and retaining it within the foot receiving groove. The provision of the support foot allows the non-testing detection ball to be supported on a flat surface without affecting the detection process, thereby facilitating access to the detection ball.

[0023] The present invention has significant technical effects due to the adoption of the above technical solutions:

[0024] The present invention arranges an inner spherical shell inside an outer spherical shell, and detects the inside of the pipeline through the inner spherical shell. The inner spherical shell can rotate with three degrees of freedom inside the outer spherical shell and is equipped with a counterweight and a gyroscope, so that it can maintain the stability of the detection posture relative to the pipeline inside the outer spherical shell, effectively improving the detection accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 This is a schematic structural diagram of Example 1 of the present invention;

[0026] Figure 2 for Figure 1 Schematic diagram of the structure with the middle support leg opened;

[0027] Figure 3 This is a schematic diagram of the internal structure of the outer spherical shell after it is opened in Example 1 of the present invention;

[0028] Figure 4 for Figure 3 Schematic diagram of the structure of the inner spherical shell;

[0029] Figure 5 for Figure 4 Another perspective structural diagram;

[0030] Figure 6 for Figure 4 Schematic diagram of the structure of the middle transmission rod installation mechanism;

[0031] Figure 7 Schematic diagram of the internal structure of the inner spherical shell in Example 1 of the present invention;

[0032] Figure 8 for Figure 7 The schematic diagram of the structure after the lower part is cut away;

[0033] Figure 9 for Figure 8A partial enlarged schematic diagram of part A;

[0034] Figure 10 for Figure 8 Schematic diagram of the transmission structure between the middle gyroscope disk and the torque disk. DETAILED DESCRIPTION

[0035] The present invention is further described in detail below with reference to the accompanying drawings and embodiments.

[0036] Example 1

[0037] A wireless detection ball for pipeline safety detection, such as Figures 1-10 As shown, it includes an outer spherical shell 1, an inner spherical shell 2 that can rotate in three degrees of freedom is concentrically arranged inside the outer spherical shell 1, a mounting plate 3 is fixed on the inner wall of the outer spherical shell 1, and the inner spherical shell 2 is connected to the mounting plate 3 through a connecting frame 4;

[0038] The inner spherical shell 2 is provided with a detection port 201 coaxially arranged with the mounting plate 3 and with its axis located at the center point of the inner spherical shell 2. A plurality of sound wave receivers 202 are evenly arranged at the edge of the detection port 201. A mounting frame 203 is provided inside the inner spherical shell 2. A sound wave generator 204 is installed on the mounting frame 203, which is located at the center of the detection port 201 and cooperates with the sound wave receiver 202.

[0039] The mounting frame 203 is further provided with a gyro disk 205 whose axis is perpendicular to the axis of the detection port 201 and whose axis is located at the center point of the inner spherical shell 2, and a driving motor 206 for driving the gyro disk 205 to rotate. The connecting frame 4 is provided with a counterweight 401 which is arranged outside the inner spherical shell 2 and is coaxial with the gyro disk 205.

[0040] The mounting frame 203 is also provided with a torque disk 207 coaxial with and rotating in the opposite direction to the gyro disk 205 and a gyro sensor 208 for detecting the deflection of the position of the inner spherical shell 2. The driving motor 206 controls the rotation of the gyro disk 205 and the torque disk 207 according to the signal detected by the gyro sensor 208.

[0041] In this embodiment, the outer spherical shell 1 is a sealed spherical shell formed by two hemispherical shells 107 that are relatively connected. The two hemispherical shells 107 are first connected by threads, and the threaded connection can constitute a preliminary seal. Screw holes are also provided at the edges of the threaded connection, and further tightening is performed by screws to fully ensure the connection stability between the hemispherical shells 107. At the same time, a sealing ring is also provided at the connection to ensure further sealing of the connection between the hemispherical shells 107. The hemispherical shells 107 include an inner shell 101 and an outer shell 102. A buffer layer 103 is bonded between the inner shell 101 and the outer shell 102. The provision of the buffer layer 103 can reduce vibration of the outer spherical shell 1 when a collision occurs in the pipeline.

[0042] In addition, in this embodiment, a shock-absorbing frame 505 is provided between the connecting frame 4 and the mounting plate 3, which can also play a further shock-absorbing role, reduce the impact of the outer spherical shell 1 on the inner spherical shell 2 when vibration occurs, and play a role in protecting the equipment.

[0043] In this embodiment, a gyroscope disk 205 capable of rotating at high speed under the action of a driving motor 206 is provided in the inner spherical shell 2. A counterweight portion 401 coaxially arranged with the gyroscope disk 205 is also connected to the inner spherical shell 2. The counterweight portion 401 includes a counterweight tank 224 which is conical in shape and can be filled with counterweight liquid. A counterweight liquid inlet 225 is provided on the side wall of the counterweight tank 224, and a rubber stopper 226 is provided at the counterweight liquid inlet 225. A plurality of guide plates 227 evenly spaced around the axis of the counterweight tank 224 are provided inside the counterweight tank 224 and on the lower end surface, and counterweight liquid flow channels 228 interconnected are formed between adjacent guide plates 227.

[0044] Through the design of the counterweight tank 224, the guide plate 227 and the rubber stopper 226, before the equipment is used, a needle syringe is used to insert the rubber stopper 226 to inject the counterweight liquid into the counterweight tank 224, so that the center of gravity of the equipment is lower and more stable. At the same time, the guide plate 227 can prevent the liquid in the counterweight tank 224 from shaking, and ensure that the counterweight liquid is evenly distributed in the counterweight tank 224 as much as possible.

[0045] The inner spherical shell 2 can rotate with three degrees of freedom inside the outer spherical shell 1. When the outer spherical shell 1 vibrates, it drifts and rotates in the pipeline medium. The inner sphere can rotate in three mutually perpendicular degrees of freedom under the action of the connecting frame 4, the counterweight part 401, etc., and then maintain the stability in the up and down directions as much as possible, so that the inner spherical shell 2 can reduce the rotation in the x-axis and y-axis directions as much as possible, and reduce the influence of external factors on the detection results as much as possible, so that the detection port 201 can maintain the initial detection state relative to the pipeline in the pipeline.

[0046] Once the inner spherical shell 2 deflects horizontally under the influence of the outer spherical shell 1, the gyro sensor 208 will detect the deflection of the position of the inner spherical shell 2, and the gyro sensor 208 will generate a signal and transmit the signal to the processor 221. The processor 221 processes the signal and controls the drive motor 206 to operate, so that the gyro disk 205 rotates. Under the action of the gyro effect, the high-speed rotating gyro disk 205 can keep the position of the inner spherical shell 2 stable so that it no longer deflects. At this time, it is only necessary to ensure that the gyro disk 205 rotates at a uniform speed, and the inner spherical shell 2 will not continue to rotate with the outer spherical shell 1. Changes can maintain the stability of the detection posture. When the outer spherical shell 1 is hit again, the inner spherical shell 2 may deflect again. At this time, the gyro disk 205 will further change the speed of rotation under the signal of the gyro sensor 208 until the inner spherical shell 2 maintains the detection posture unchanged again, until the detection ball is finally unable to detect the signal. At this time, the detection port 201 may deflect to the axis of the pipeline. The staff can take out the detection ball, adjust the posture, and put it in again. In this way, the detection ball can maintain the stability of the deflection state even if it is deflected, so as to achieve more accurate detection effects and longer working time.

[0047] During the acceleration of the gyro disk 205, a clockwise or counterclockwise torque is generated, which provides a reaction force to the inner spherical shell 2, causing the inner spherical shell 2 to rotate in the opposite direction, resulting in the position deflection of the detection port 201. Therefore, in this embodiment, the mounting frame 203 includes a mounting frame body 209 with a rectangular frame structure, and a U-shaped frame 210 with a downward opening is provided in the mounting frame body 209. The drive motor 206 is arranged in the mounting frame body 209 and fixed on the lower bottom surface of the mounting frame body 209. The gyro disk 205 is coaxially connected to the drive shaft of the drive motor 206. The gyro disk 205 is provided with a belt. The transmission mechanism 211 for rotating the dynamic torque disk 207 includes a first rotating shaft 212 disposed on the gyro disk 205 and rotating synchronously with the drive motor 206. The first rotating shaft 212 is provided with a driving gear 213. The transmission mechanism 211 also includes a second rotating shaft 214 disposed on the U-shaped frame 210 and coaxially arranged with the first rotating shaft 212. The second rotating shaft 214 is provided with a driven gear 215. The torque disk 207 is connected to the end of the second rotating shaft 214. A plurality of intermediate gears 216 are provided between the driving gear 213 and the driven gear 215 for achieving counter-rotation of the torque disk 207 and the gyro disk 205.

[0048] When the driving motor 206 drives the gyro disk 205 to rotate, it also drives the driving gear 213 to rotate. The driving gear 213 drives the intermediate gear 216 to rotate, and the intermediate gear 216 drives the driven gear 215 to rotate, causing the torque disk 207 to rotate in the opposite direction to the gyro disk 205, thereby providing a force opposite to the force provided by the gyro disk 205 to the inner spherical shell 2. By reasonably designing the mass of the torque disk 207 and the gyro disk 205, the torque generated by the rotation of the gyro disk 205 can be offset, thereby further maintaining the position of the detection ball stable. When the outer spherical shell 1 drifts in the pipeline, the position of the sound wave generator 204 does not change and always faces the direction of medium flow.

[0049] Reflection plates 230 are bonded to both sides of the sound wave generator 204. The sound wave generator 204 vibrates continuously to emit sound. The sound waves are reflected by the reflection plates 230, so that the direction of the sound waves is perpendicular to the inner wall of the pipe. The sound waves are reflected back by the inner wall of the pipe. The sound wave receiver 202 receives the sound wave signal reflected by the inner wall of the pipe and transmits the generated electrical signal to the processor 221. The processor 221 converts the collected electrical signal into data and analyzes the signal data reflected by the inner wall of the pipe. The inner wall of the pipe that is corroded and cracked reflects different sound wave signals from the inner wall of the pipe. The processor 221 converts the collected abnormal data and position data into radio signals and transmits the signals through the antenna 220. After the external communication equipment receives the signal, it can inspect and repair the pipeline with abnormal signals based on the position information.

[0050] The gyro disk 205 is evenly provided with a plurality of adjustment holes, and weight screws can be installed in the adjustment holes on the gyro disk 205 so that the center of gravity of the gyro disk 205 is located at the center of the gyro disk 205 and the mass of the gyro disk 205 is evenly distributed.

[0051] In this embodiment, a cylindrical battery housing 6 is fixed between the outer spherical shell 1 and the mounting frame 203. A cylindrical power supply battery 601 is fixed in the battery housing 6 and is arranged coaxially with the gyroscope disk 205. The mounting frame body 209 is also provided with a charging connector 217 for charging the power supply battery 601. A threaded cover 218 is threadedly connected to the side wall of the outer spherical shell 1 and is arranged opposite to the charging connector 217.

[0052] A circuit board 219 and an antenna 220 for transmitting signals to the outside world are provided on the top surface of the mounting frame body 209. A processor 221 is electrically connected to the top surface of the circuit board 219. The drive motor 206, gyro sensor 208, power supply battery 601, and antenna 220 are all electrically connected to the processor 221. A wireless sensor 222 is provided on the inner wall of the outer spherical shell 1 and is electrically connected to the processor 221. A plurality of metal contacts 223 are electrically connected to the surface of the wireless sensor 222.

[0053] During the use of the wireless detection ball, the outer spherical shell 1 may leak, causing the medium in the pipeline to enter the inner part of the outer spherical shell 1. Once leakage occurs, when the outer spherical shell 1 rolls, the medium contacts the metal contacts 223 during the flow process, causing the resistance value between different metal contacts 223 to change, and the wireless sensor 222 will generate an electrical signal. The wireless sensor 222 will pass the generated signal to the processor 221, and transmit the fault signal through the antenna 220 to remind the user that the equipment has failed and timely repair it, so that the user can handle the fault as soon as possible.

[0054] When the power supply battery 601 is low on power, remove the wireless detection ball from the pipe, use an Allen wrench to remove the threaded cover 218, extend the external charging connector from the hole at the top of the outer sphere shell 1 into the inner sphere shell 2, and insert it into the charging connector 217 to charge the power supply battery 601 for reuse. This charging method does not require disassembling the entire outer sphere shell 1 to charge the power supply battery 601, ensuring that each detection component continues to work.

[0055] In this embodiment, the connecting frame 4 includes a first rotating rod 402 and a second rotating rod 403. One end of the first rotating rod 402 is coaxially connected to the mounting plate 3, and the other end is rotatably connected to the second rotating rod 403 through a rotating seat 404. The counterweight portion 401 is connected to the rotating seat 404 and the rotating seat 404 is coaxially arranged with the counterweight portion 401. The end of the second rotating rod 403 away from the first rotating rod 402 is rotatably connected to the outer wall of the inner spherical shell 2. The rotation axis of the second rotating rod 403 at the connection with the inner spherical shell 2 is perpendicular to the axis of the counterweight portion 401 and the axis of the mounting plate 3.

[0056] The mounting plate 3 is provided with a transmission rod mounting mechanism 5, which includes a swing rod 501 and a swing seat 502 fixed at the center of the mounting plate 3. The swing seat 502 is provided with a circular swing groove 503. One end of the swing rod 501 is provided with a swing ball 504 which is axially limited in the circular swing groove 503 and can swing in any direction. The other end of the swing rod 501 is rotatably connected to the first rotating rod 402 through a bearing. The middle part of the swing rod 501 is provided with a shock absorber frame 505 connected to the mounting plate 3. The shock absorber frame 505 It includes a central ring 506, a shock-absorbing ball 507 that rotates with the central ring 506 is provided in the middle of the swing rod 501, and a plurality of shock absorber mounting brackets 510 are evenly arranged around the circular swing groove 503 on the mounting plate 3. A shock absorber 508 is installed between the shock absorber mounting bracket 510 and the central ring 506. The shock absorber 508 includes a shock-absorbing rod 511 and a shock-absorbing spring 512 mounted on the shock-absorbing rod 511. Both ends of the shock absorber 508 are connected to the central ring 506 and the shock absorber mounting bracket 510 through a rotating ball head 509.

[0057] When vibration occurs, the mounting plate 3 transmits the vibration to the swing rod 501, and the swing rod 501 drives the shock-absorbing frame 505 to deflect. The shock-absorbing frame 505 squeezes the shock-absorbing rod 511, and the shock-absorbing rod 511 and the rotating ball head 509 slide relative to each other, compressing or stretching the shock-absorbing spring 512, thereby reducing the impact of the vibration and playing a role in protecting the equipment.

[0058] In addition, in this embodiment, a support foot receiving groove 104 is provided on the outer surface of the outer spherical shell 1, and a support foot 105 that can support the outer spherical shell 1 is hinged in the support foot receiving groove 104. A magnet 106 is provided in the support foot receiving groove 104 for sucking the support foot 105 so that the support foot 105 is limited in the support foot receiving groove 104.

[0059] When the outer spherical shell 1 is being inspected in the pipeline, the support legs 105 are stably limited in the support leg accommodating grooves 104 under the action of the magnets 106, and will not interfere with the drifting of the outer spherical shell 1; when the detection ball is in a non-user state, the support legs 105 can be opened so that the entire detection ball can be stably supported on a plane, avoiding the difficulty in placing the ball due to its easy rolling.

[0060] In this embodiment, a plurality of heat dissipation slots 229 are provided at the bottom of the outer wall of the inner spherical shell 2 . The function of the heat dissipation slots 229 is to increase the fluidity of air and reduce the heating of the power supply battery 601 .

[0061] In short, the above description is only a preferred embodiment of the present invention, and all equivalent changes and modifications made according to the scope of the patent application of the present invention should fall within the scope of the patent of the present invention.

Claims

1. A wireless detection ball for pipeline safety detection, comprising an outer ball shell (1), characterized in that: An inner spherical shell (2) capable of rotating in three degrees of freedom is concentrically provided inside the outer spherical shell (1); a mounting plate (3) is fixed to the inner wall of the outer spherical shell (1); and the inner spherical shell (2) is connected to the mounting plate (3) via a connecting frame (4); The inner spherical shell (2) is provided with a detection port (201) coaxially arranged with the mounting plate (3) and with its axis located at the center point of the inner spherical shell (2); a plurality of sound wave receivers (202) are evenly arranged at the edge of the detection port (201); a mounting frame (203) is provided in the inner spherical shell (2); and a sound wave generator (204) is installed on the mounting frame (203) and is located at the center of the detection port (201) and cooperates with the sound wave receiver (202); The mounting frame (203) is further provided with a gyroscope disk (205) whose axis is perpendicular to the axis of the detection port (201) and whose axis is located at the center point of the inner spherical shell (2), and a driving motor (206) for driving the gyroscope disk (205) to rotate. The connecting frame (4) is provided with a counterweight portion (401) which is arranged outside the inner spherical shell (2) and is coaxial with the gyroscope disk (205). The mounting frame (203) is further provided with a torque disk (207) coaxial with and rotating in the opposite direction to the gyro disk (205), and a gyro sensor (208) for detecting the deflection of the position of the inner spherical shell (2). The driving motor (206) controls the rotation of the gyro disk (205) and the torque disk (207) according to the signal detected by the gyro sensor (208); The mounting frame (203) includes a mounting frame body (209) having a rectangular frame structure, a U-shaped frame (210) with a downward opening is provided in the mounting frame body (209), a driving motor (206) is provided in the mounting frame body (209) and fixed to the bottom surface of the mounting frame body (209), a gyroscope disk (205) is coaxially connected to the driving shaft of the driving motor (206), a transmission mechanism (211) for driving the torque disk (207) to rotate is provided on the gyroscope disk (205), and the transmission mechanism (211) includes a transmission mechanism (211) provided on the gyroscope disk (205) and connected to the driving motor. A first rotating shaft (212) is provided on the first rotating shaft (212) and is synchronously rotated with the machine (206), a driving gear (213) is provided on the first rotating shaft (212), and a second rotating shaft (214) is provided on the U-shaped frame (210) and is coaxially arranged with the first rotating shaft (212), a driven gear (215) is provided on the second rotating shaft (214), a torque disk (207) is connected to the end of the second rotating shaft (214), and a plurality of intermediate gears (216) are provided between the driving gear (213) and the driven gear (215) for realizing the reverse rotation of the torque disk (207) and the gyro disk (205); The counterweight portion (401) includes a counterweight tank (224) having a conical shape and capable of being filled with a counterweight liquid. A counterweight liquid inlet (225) is provided on a side wall of the counterweight tank (224), and a rubber plug (226) is provided at the counterweight liquid inlet (225). A plurality of guide plates (227) are provided inside the counterweight tank (224) and on the lower end surface thereof, and are evenly spaced around the axis of the counterweight tank (224). Interconnected counterweight liquid flow channels (228) are formed between adjacent guide plates (227).

2. The wireless detection ball for pipeline safety detection according to claim 1, characterized in that: The connecting frame (4) comprises a first rotating rod (402) and a second rotating rod (403), one end of the first rotating rod (402) being coaxially connected to the mounting plate (3), and the other end being connected to the second rotating rod (403) via a rotating seat (404), the counterweight portion (401) being connected to the rotating seat (404), and the rotating seat (404) and the counterweight portion (401) being coaxially arranged, the end of the second rotating rod (403) away from the first rotating rod (402) being connected to the outer wall of the inner spherical shell (2), and the rotation axis of the second rotating rod (403) at the connection point with the inner spherical shell (2), the axis of the counterweight portion (401), and the axis of the mounting plate (3) being arranged perpendicular to each other.

3. The wireless detection ball for pipeline safety detection according to claim 1, characterized in that: A transmission rod mounting mechanism (5) is provided on the mounting plate (3), the transmission rod mounting mechanism (5) comprising a swinging rod (501) and a swinging seat (502) fixed at the center of the mounting plate (3), a circular swinging groove (503) being provided on the swinging seat (502), a swinging sphere (504) being axially limited in the circular swinging groove (503) and capable of swinging in any direction being provided at one end of the swinging rod (501), the other end of the swinging rod (501) being rotatably connected to the first rotating rod (402) via a bearing, and a shock absorbing frame (505) being connected to the mounting plate (3) being provided at the middle portion of the swinging rod (501).

4. The wireless detection ball for pipeline safety detection according to claim 3, characterized in that: The shock absorber frame (505) includes a central ring (506), a shock absorber ball (507) rotatably matched with the central ring (506) is provided in the middle of the swing rod (501), a plurality of shock absorber mounting frames (510) are evenly provided around the circular swing groove (503) on the mounting plate (3), a shock absorber (508) is installed between the shock absorber mounting frame (510) and the central ring (506), and both ends of the shock absorber (508) are connected to the central ring (506) and the shock absorber mounting frame (510) through a rotating ball head (509).

5. The wireless detection ball for pipeline safety detection according to claim 1, characterized in that: A cylindrical battery housing (6) is fixed between the outer spherical shell (1) and the mounting frame (203), and a cylindrical power supply battery (601) is fixed in the battery housing (6) and is coaxially arranged with the gyroscope disk (205); a charging connector (217) for charging the power supply battery (601) is also provided on the mounting frame body (209), and a threaded cover (218) arranged opposite to the charging connector (217) is threadedly connected to the side wall of the outer spherical shell (1); A circuit board (219) and an antenna (220) for transmitting signals to the outside world are provided on the top surface of the mounting frame body (209); the upper surface of the circuit board (219) is electrically connected to a processor (221); and the drive motor (206), the gyro sensor (208), the power supply battery (601), and the antenna (220) are all electrically connected to the processor (221).

6. The wireless detection ball for pipeline safety detection according to claim 5, characterized in that: A wireless sensor (222) electrically connected to the processor (221) is provided on the inner wall of the outer spherical shell (1), and a plurality of metal contacts (223) are electrically connected on the surface of the wireless sensor (222).

7. The wireless detection ball for pipeline safety detection according to claim 1, characterized in that: The outer spherical shell (1) is formed by two hemispherical shells (107) connected relative to each other. The hemispherical shells (107) each include an inner shell (101) and an outer shell (102). A buffer layer (103) is bonded between the inner shell (101) and the outer shell (102).

8. The wireless detection ball for pipeline safety detection according to claim 1, characterized in that: A foot receiving groove (104) is provided on the outer surface of the outer spherical shell (1), a support foot (105) capable of supporting the outer spherical shell (1) is hingedly connected in the foot receiving groove (104), and a magnet (106) is provided in the foot receiving groove (104) for absorbing the support foot (105) so that the support foot (105) is confined in the foot receiving groove (104).

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