Exploring device and exploring method suitable for inside of pipeline

Abstract

The application discloses a kind of suitable for inside pipeline exploration device, including track, fluid mechanism and movement mechanism, the track has first state and second state, the fluid mechanism is used to inject fluid into the track to make the track be in first state and be used to extract fluid from the track to make the track be in second state, the movement mechanism is used to travel along the track when the track is in first state.The application is injected into the track by fluid mechanism by the above-mentioned fluid, so that the track after winding is automatically unfolded and explores forward along the pipeline, after injecting fluid into the track, it has certain rigidity (first state), so that the movement mechanism can travel along the track, to realize the detection of pipeline and other functions with the movement mechanism as carrier to carry other equipment.When detection is completed, the movement mechanism is extracted from the pipeline, and the fluid in the track is extracted using the fluid mechanism, so that the track can be wound (second state).

Description

Technical Field

[0001] This invention belongs to the field of pipeline inspection technology, specifically relating to an exploration device suitable for the inside of pipelines and an exploration method for exploring the inside of pipelines using the exploration device. Background Technology

[0002] With the development of the national economy, especially industry, the number of confined space inspections in various industries has been increasing year by year. Simultaneously, with the strengthening of safety supervision and management, the accessibility of personnel entering confined spaces for inspections is not only limited by physical inaccessibility, but also by increasingly stringent safety regulations. Under these circumstances, the market for various confined space inspection devices has experienced rapid and substantial growth. Currently, confined space inspection devices are broadly classified into two categories based on their actuation methods: endoscopes and robots.

[0003] Endoscopes primarily function by being manually pushed along rigid or semi-rigid rod-like components to enter confined spaces and perform inspections. However, endoscope push-rod mechanisms can only move in and out in a straight line or with simple turns, making it difficult to push the endoscope lens into designated positions with complex spatial structures. Furthermore, the endoscope's guide wheel mechanism cannot adapt to confined spaces with complex cross-sections, often rendering it unusable.

[0004] Pipeline robots are classified into wheeled, tracked, and multi-legged motion mechanisms based on their motion mechanisms. Wheeled or tracked motion mechanisms can achieve steering and adapt to certain cross-sections through manual operation, and have a certain climbing ability by using adsorption or friction. However, the adsorption ability (requiring contact with the surface) and the obstacle-crossing ability (requiring departure from the surface) cannot be simultaneously possessed. In actual operation, they heavily rely on the magnetism, coefficient of friction, and smooth structure of the contact surface to maintain the robot's movement requirements. Therefore, they cannot handle combined working conditions such as pipes with changing diameters and large curvatures, vertical climbing, valves, and flow-limiting orifice plates. Summary of the Invention

[0005] In view of this, in order to overcome the shortcomings of the prior art and achieve the above objectives, the object of the present invention is to provide an exploration device suitable for the interior of pipelines, which can be applied to complex pipelines in various situations.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] An exploration device suitable for the interior of a pipe includes a track, a fluid mechanism, and a motion mechanism. The track has a first state and a second state. The fluid mechanism is used to inject fluid into the track to put the track in the first state and to extract fluid from the track to put the track in the second state. The motion mechanism is used to travel along the track when the track is in the first state.

[0008] According to some preferred embodiments of the invention, the track is made of a flexible material, and when the track is in the second state, the track can be wound up. The flexible material may be a resin, rubber, latex, woven material, or a composite material thereof.

[0009] According to some preferred embodiments of the invention, the track has a fluid cavity, and the fluid mechanism is used to fill or extract fluid into the fluid cavity; filling the fluid cavity causes the track to unfold and be in the first state; extracting the fluid from the fluid cavity causes the track to be in the second state and be able to be wound up. The track has a hollow structure, with a fluid cavity inside for containing fluid, and the fluid mechanism is used to fill or extract fluid into the fluid cavity to cause the track to be in the first or second state, respectively. The fluid can be a gas such as air or a liquid such as water.

[0010] According to some preferred embodiments of the invention, the motion mechanism has a track hole adapted to the outer surface of the track, the track hole being for the track to pass through.

[0011] According to some preferred embodiments of the invention, the motion mechanism includes a cylindrical body, the track hole being located within the cylindrical body, and the extending direction of the cylindrical body being the same as the extending direction of the track hole. That is, the track passes through the motion mechanism, allowing the motion mechanism to travel along the track through the engagement of the track hole and the outer surface of the track.

[0012] According to some preferred embodiments of the invention, the outer surface of the cylinder has rollers for the motion mechanism to move within the inner wall of the pipe.

[0013] According to some preferred embodiments of the present invention, a drive assembly for driving the motion mechanism to travel along the track is provided on the inner wall of the track hole. That is, the motion mechanism travels along the track by means of a drive assembly inside the cylinder, while rollers are provided outside the cylinder to reduce friction between the motion mechanism and the pipe, facilitating movement of the motion mechanism within the pipe. Similarly, in some embodiments, the rollers outside the cylinder can be power-driven as a backup drive to prevent the entire device from failing in the event of a failure of the internal drive assembly.

[0014] According to some preferred embodiments of the invention, the drive assembly includes a drive wheel, a drive shaft, and a power source for driving the drive shaft to rotate; the surface of the track has a guide groove, the guide groove extending in the same direction as the length direction of the track; when the track passes through the track hole, at least a portion of the drive wheel is accommodated within the guide groove. The power source can be built into the motion mechanism or externally connected, for providing power and ultimately realizing the rotation of the drive wheel, and the guide groove is used to guide the movement of the drive wheel.

[0015] According to some preferred embodiments of the present invention, a plurality of drive assemblies are disposed within the track hole, and the track is located between the plurality of drive assemblies. The plurality of drive assemblies are symmetrically arranged or evenly spaced on the inner wall of the track hole to ensure smooth movement of the motion mechanism.

[0016] In some embodiments, the track hole has a rectangular cross-section, and the drive assembly is respectively disposed on the upper and lower portions of the rectangular track hole; the track includes a first part, a second part, and a third part for connecting the first part and the second part, the first part and the second part being located at opposite ends of the third part, the first part and the second part being located between two drive shafts, and guide grooves for accommodating the two drive wheels are formed between the upper and lower surfaces of the first part, the second part, and the third part. That is, the track has a flat "I" shape cross-section, which is accommodated within a rectangular track hole.

[0017] In other embodiments, the track hole has a circular cross-section, and multiple sets of drive components are evenly spaced on the inner wall of the circular track hole, with the drive wheels of the drive components located within the guide grooves of the track. Preferably, three sets of drive components are provided on the inner wall of the circular track hole, with the included angle between the three sets of drive components being 120°, that is, multiple sets of drive components are evenly spaced on the inner wall of the track hole.

[0018] According to some preferred embodiments of the invention, a cable mechanism is included, the cable mechanism comprising a rope body, a cable reel for winding or unwinding the rope body, and a rope gripper for fixing to the rope body, the rope gripper being used to connect to the motion mechanism. The cable mechanism is used to connect the rope body and the motion mechanism via the rope gripper without requiring a track, and to achieve movement of the motion mechanism within a pipe by moving the rope body.

[0019] The present invention provides a method for exploring the interior of a pipe according to the exploration device described above, comprising the following steps: connecting a fluid mechanism to a wound track and filling the fluid cavity of the track with fluid; the wound track unfolds inside the pipe and explores forward; the track passes through the track hole of the motion mechanism; after the track is unfolded, the drive wheel of the drive assembly is accommodated in the guide groove on the track; and the motion mechanism travels on the unfolded track.

[0020] The present invention provides another method for exploring the inside of a pipe according to the exploration device described above, comprising the following steps: connecting a fluid mechanism to the winding track and filling the fluid cavity of the track with fluid; the winding track unfolds inside the pipe and explores forward; the center of the winding track is connected to one end of the rope of the cable mechanism; when the track unfolds inside the pipe and explores forward, it drives the rope to move forward.

[0021] When the track emerges from the other end of the pipe, the rope and track are released, the fluid is extracted by the fluid mechanism, and the track is wound up; the rope gripper is connected to the motion mechanism, and the rope is connected to the cable reel. The cable reel drives the rope to move, thereby driving the rope gripper and the motion mechanism to move inside the pipe.

[0022] Compared with the prior art, the advantages of this invention due to the adoption of the above technical solution are as follows: The exploration device of this invention, applicable to the interior of pipes, injects fluid into the track via the aforementioned fluid mechanism, causing the wound track to automatically unfold and explore forward along the pipe. After fluid injection, the track possesses a certain rigidity (first state), allowing the motion mechanism to travel along the track. This motion mechanism serves as a carrier for other equipment to perform functions such as pipe inspection. Once the inspection is complete and the motion mechanism withdraws from the pipe, the fluid mechanism extracts the fluid from the track, allowing the track to be wound up (second state). Through the aforementioned mechanism, self-exploration within the pipe is achieved, enabling the detection of areas inaccessible to rigid tracks. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is a schematic diagram of the motion mechanism in a preferred embodiment of the present invention;

[0025] Figure 2 This is a schematic diagram of the motion mechanism in the preferred embodiment of the present invention;

[0026] Figure 3 This is a schematic diagram of the exploration method in the preferred embodiment three of the present invention;

[0027] Figure 4 This is a schematic diagram of the exploration method in the preferred embodiment four of the present invention. Figure 1 ;

[0028] Figure 5 This is a schematic diagram of the exploration method in the preferred embodiment four of the present invention. Figure 2 ;

[0029] Figure 6 This is a schematic diagram of the self-exploring robot in the preferred embodiment five of the present invention;

[0030] In the attached diagram, the components are: track-1, fluid mechanism-2, motion mechanism-3, fluid chamber-4, track hole-5, roller-6, drive wheel-7, drive shaft-8, cylinder-9, rope-10, first cable reel-11, second cable reel-12, rope gripper-13, pipe-14, connecting rope-15, kinematic pair-16; pipe-21, pressure control chamber-22, opening-221, pressure cap-222, flexible track-23, and winding mechanism. Part-231, Deployment Part-232, First Deployment Part-2321, Second Deployment Part-2322, Detection Mechanism-24, Cylinder-241, Carrier-242, Traction Rope-251, Drive Mechanism-252, Control System-26, Pressure Sensor-271, Temperature Sensor-272, Pressure Relief Valve-281, Exhaust Valve-282, Pressure Gauge-283, Fan / Air Compressor-291, Solenoid Valve-292. Detailed Implementation

[0031] To enable those skilled in the art to better understand the technical solutions of the present invention, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0032] This invention breaks down the problem of exploring and inspecting confined spaces into two problems: extending a track into the confined space in some way; and providing a wheeled motion device (motion mechanism) to work with the track to achieve forward and backward movement.

[0033] Rigid tracks cannot automatically lay themselves into confined spaces, so this invention designs a track that: ① fills / injects fluid into the hollow track to create internal pressure and give the outer surface of the track a certain supporting force (rigidity); ② during the filling / injection of fluid, personnel do not need to enter the area to be explored; driven by internal pressure, the track automatically unfolds towards the area to be explored to achieve self-exploration.

[0034] The wheeled motion mechanism, in conjunction with the aforementioned track, allows the multiple wheel structures of the wheeled motion mechanism to maintain a tight grip with the track surface through friction when the track is pressurized. Thus, the forward, backward, and stop movements of the inspection device can be controlled simply by controlling the forward, reverse, and stop movements of the wheeled motion mechanism.

[0035] The track in this invention is made of a soft material. After being pressurized internally, it can maintain a certain fixed cross-section on the outside so that the moving mechanism can travel along it. Moreover, the surface of the track has a large coefficient of friction, which allows the inspection device (moving mechanism) to move forward, backward, or stop through the friction generated by the wheel structure and its contact surface.

[0036] In the case of a confined space with openings at both ends, when the track is in a pressurized and deployed state, as the track enters the confined space from one end and extends from the other end, a cable can be simultaneously pulled through the confined space. This cable and its matching cable reel can serve as the structure of the traction inspection device trolley (motion mechanism), and the cable is stored on the cable reel after the inspection is completed.

[0037] The motion mechanism can be equipped with a small battery as backup power in case of loss of power or control signal. When power or control signal is lost, it automatically enters reverse mode after a certain delay in order to regain power or control signal. The motion wheel type motion mechanism can be equipped with a carrier radio signal transceiver, which can be used to receive control signals and also to transmit sensor signals back.

[0038] Example 1

[0039] like Figure 1 As shown, the exploration device suitable for the interior of a pipe in this embodiment includes a track 1, a fluid mechanism 2, and a motion mechanism 3. The track 1 has a first state and a second state. The fluid mechanism 2 is used to inject fluid into the track 1 to put the track 1 in the first state and to extract the fluid from the track 1 to put the track 1 in the second state. The motion mechanism 3 is used to travel along the track 1 when the track 1 is in the first state. The track 1 is made of a flexible material, and when the track 1 is in the second state, the track 1 can be wound up. The flexible material is made of resin, rubber, latex, woven material, or composite materials thereof.

[0040] The track 1 has a fluid cavity 4. A fluid mechanism 2 is used to fill or extract fluid into the fluid cavity 4. Filling the fluid cavity 4 with fluid causes the track 1 to unfold and be in a first state; extracting fluid from the fluid cavity 4 causes the track 1 to be in a second state and be able to rewind. The track 1 is a hollow structure with the fluid cavity 4 inside to contain the fluid. The fluid mechanism 2 is used to fill or extract fluid into the fluid cavity 4 to place the track 1 in either the first or second state. The fluid can be a gas such as air or a liquid such as water.

[0041] To pressurize and depressurize the interior of rail 1, one or more connectors for connecting the filling / injection fluid need to be installed at the end of rail 1. The connection method of the connector can be various, including threaded connection, flange connection, quick coupling plug connection, etc.

[0042] The motion mechanism 3 includes a cylinder 9 and detection components and auxiliary components mounted on the cylinder 9, such as a power supply and wireless transmission facilities. The motion mechanism 3 has a track hole 5 that fits the outer surface of the track 1, allowing the track 1 to pass through. The track hole 5 is located inside the cylinder 9, and the extending direction of the cylinder 9 is the same as the extending direction of the track hole 5. That is, the track 1 passes through the motion mechanism 3, allowing the motion mechanism 3 to travel along the track 1 through the fit between the track hole 5 and the outer surface of the track 1.

[0043] The outer surface of the cylinder 9 has rollers 6 for the moving mechanism 3 to move along the inner wall of the pipe 14. A drive assembly is provided on the inner wall of the track hole 5 to drive the moving mechanism 3 along the track 1. That is, the moving mechanism 3 moves along the track 1 by means of a drive assembly inside the cylinder 9, while the rollers 6 on the outside of the cylinder 9 reduce friction between the moving mechanism 3 and the pipe 14, facilitating the movement of the moving mechanism 3 within the pipe 14. Preferably, the rollers 6 on the outside of the cylinder 9 can be power-driven as a backup drive to prevent the entire device from failing in the event of a failure of the internal drive assembly.

[0044] In this embodiment, the outer surface of the cylinder 9 has multiple sets of rollers 6. Each set of rollers 6 includes multiple rollers 6 evenly spaced on the same circumference of the cylinder 9. The rollers 6 of adjacent sets can be located on the same straight line or staggered and alternately arranged so that they can continue to operate effectively when they encounter obstacles in the pipeline 14.

[0045] The drive assembly in this embodiment includes a drive wheel 7, a drive shaft 8, and a power source for driving the drive shaft 8 to rotate. The power source can be built into the motion mechanism 3 (the power supply mentioned above) or be external, to provide power and ultimately realize the rotation of the drive wheel 7.

[0046] The surface of the track 1 has a guide groove, the extension direction of which is the same as the length direction of the track 1; when the track 1 passes through the track hole 5, at least a portion of the drive wheel 7 is accommodated in the guide groove, which is used to guide the movement of the drive wheel 7.

[0047] Multiple sets of drive components are arranged within the track hole 5, and the track 1 is located between these drive components. The drive components are symmetrically arranged or evenly spaced on the inner wall of the track hole 5 to ensure the smooth movement of the motion mechanism 3. In this embodiment, the track hole 5 has a rectangular cross-section, and drive components are respectively arranged in the upper and lower parts of the rectangular track hole 5. The track 1 includes a first part, a second part, and a third part connecting the first and second parts. The first and second parts are located at opposite ends of the third part, and the first and second parts are located between two drive shafts 8. Guide grooves are formed between the upper and lower surfaces of the first, second, and third parts to accommodate two drive wheels 7. In other words, the track 1 has a flattened "I" shape cross-section, which is accommodated within the rectangular track hole 5.

[0048] Two pairs of drive wheels 7 form two pairs of rollers. The clamping force between the rollers forces the liquid portion within the pressurized track 1 into the fluid-filled cavities on both sides, thus clamping the track 1 and achieving braking of the motion mechanism 3 relative to the track 1, including in suspended or vertical states. When movement is required, the rollers simultaneously rotate clockwise and counterclockwise relative to the drive shaft, achieving forward or backward movement relative to the track 1. To reduce friction between the motion mechanism 3 and the confined space wall, wheels or ball bearings can be used to transform the friction between the wheel-type motion mechanism 3 and the wall from sliding friction to rolling friction.

[0049] Example 2

[0050] like Figure 2 As shown, the exploration device in this embodiment is basically the same as that in embodiment 1, with the following differences: 1. The cross-section of the track hole 5 in this embodiment is circular, and three sets of drive components are evenly spaced on the inner wall of the circular track hole 5. The included angle between the three sets of drive components is 120°, and the drive wheel 7 of the drive component is located in the guide groove of the track 1. 2. The roller 6 on the outer wall of the cylinder in this embodiment is in the form of ball bearings.

[0051] Example 3

[0052] like Figure 3 As shown, this embodiment provides a method for exploring the interior of a pipe 14 that is open at one end and closed at the other, based on the exploration device of embodiment 1. The method includes the following steps:

[0053] 1) First, the winding track 1 is unwound, and the unwound end passes through the motion mechanism 3 and connects to the fluid mechanism 2. The remaining part of the winding track 1 and the motion mechanism 3 are then fed into the pipe 14 to be inspected. The winding track 1 faces the inside of the pipe 14.

[0054] 2) Fluid is injected into the track 1 through the fluid mechanism 2, and the track 1 unfolds on its own and explores forward automatically.

[0055] 3) When the track 1 is filled with fluid and has a suitable pressure, the fluid mechanism 2 controls the track 1 to maintain the pressure suitable for the movement of the motion mechanism 3.

[0056] 4) Control the motion mechanism 3 to move on the track 1, realize forward, backward or stop, and realize corresponding detection of the inside of the pipeline 14 through the on-board detection device.

[0057] Example 4

[0058] The exploration device used in this embodiment also includes a cable mechanism, which includes a rope body 10, a cable reel for winding or releasing the rope body 10, and a rope gripper 13 for fixing to the rope body 10. The rope gripper 13 is used to connect to the motion mechanism 3. The cable mechanism is used to connect the rope body 10 and the motion mechanism 3 through the rope gripper 13 when the track 1 is not needed, and to realize the movement of the motion mechanism 3 within the pipe 14 by moving the rope body 10.

[0059] In the case of a confined space with openings at both ends, the wheel-type inspection motion mechanism 3 is pulled by a cable mechanism. A hanging point is set at the front end of the mechanism, and a connecting rope 15 can be fixed on the hanging point. A rope gripper 13 is set at the other end of the connecting rope 15. The rope gripper 13 grabs the rope 10 that has passed through the confined space during the pressurization and unfolding process of the track 1, and the forward, backward or stop motion mechanism is realized by the traction force transmitted by the rope 10.

[0060] like Figure 4 and 5 As shown, for exploring a pipe 14 that is open at both ends, this embodiment provides a method for exploring the interior of the pipe 14 based on the exploration device of embodiment 2, specifically including the following steps:

[0061] 1) First, install a kinematic pair 16, such as a roller, between the center of the winding track 1 and one end of the rope 10 of the cable mechanism, so that the rope 10 can be driven to move forward while the track 1 unfolds and moves forward.

[0062] 2) Feed the remaining portion of the winding track 1 and the rope 10 into the pipe 14 to be inspected. The winding track 1 faces the interior of the pipe 14.

[0063] 3) Connect the fluid mechanism 2 to the track 1, and fill the track 1 with fluid through the fluid mechanism 2. The track 1 will unfold on its own and explore forward automatically, while driving the rope 10 forward continuously. The first cable reel 11 continuously releases the rope 10.

[0064] 4) When the track 1 exits from the other end of the pipe 14, release the rope 10 and the track 1, and then rewind the track 1 after the fluid is extracted by the fluid mechanism 2.

[0065] 5) Connect the rope gripper 13 to the motion mechanism 3 via the connecting rope 15, and wrap one end of the rope 10 around the second cable reel 12. The second cable reel 12 is used to wind up the rope 10.

[0066] 6) The rope 10 is released through the first cable reel 11 and the second cable reel 12 is wound up, so that the rope 10 moves continuously inside the pipe 14. The rope grabber 13 fixed on it and the motion mechanism 3 connected to the rope grabber 13 move on the track 1 to achieve forward, backward or stop, and realize corresponding detection inside the pipe 14.

[0067] The above implementation uses a track to constrain the movement path of the wheeled motion mechanism, effectively reducing its complexity. All forces required for support, forward movement, backward movement, stopping, turning, and climbing are counteracted by the internal pressure of the track and the friction between the track and the wheels. This allows the wheeled motion mechanism to achieve all functions by simply performing forward, backward, and stopping movements. The track is a self-deploying structure, folded before deployment, making it small and easy to transport. During pressurization, it automatically explores forward without manual installation and can enter various confined spaces unaffected by their internal environment. During deployment, it can autonomously complete various motion forms such as turning, climbing, and descending, without restrictions on the axial deployment within the confined space. The area it can explore and deploy is only related to the length of the deployed track. The mechanism structure is simple and rational, with few components and no complex moving parts. The cylinder is a single structure, and the connection to the wheels is simple, with no easily detachable parts. Even if a moving part of the wheeled motion mechanism fails, the track allows for easy removal from the confined space by power towing, effectively reducing the risk of foreign objects being lost inside. Furthermore, in the event of a pressure relief failure in the track, the internal fluid can be emptied via a fluid mechanism, allowing the track to be easily towed away. This effectively reduces the risk of foreign objects being lost in confined spaces. The components involved in this invention have low manufacturing and maintenance costs, demonstrating good economic efficiency.

[0068] Example 5

[0069] like Figure 6As shown, the self-exploring robot suitable for use inside a pipeline in this embodiment includes a pressure control chamber 22, a flexible track 23, a detection mechanism 24, a pressure control mechanism and a pressure stabilizing mechanism disposed on the pressure control chamber 22, a traction rope 251 disposed within the flexible track 23, a drive mechanism 252 for releasing and retrieving the traction rope 251 and the flexible track 23, a pressure sensor 271 and a temperature sensor 272 disposed within the pressure control chamber 22, and a control system 26 for control. The drive mechanism 252 is preferably a stepper motor. The pressure control mechanism is used to deliver fluid medium into the pressure control chamber 22, and the pressure stabilizing mechanism is used to release fluid medium from the pressure control chamber 22. The fluid medium can be a gas such as air or a liquid such as water.

[0070] The pressure stabilizing mechanism includes a pressure relief valve 281 and an exhaust valve 282; the pressure control mechanism includes a fan / air compressor 291, a solenoid valve 292, and a pipeline 21. The control system 26 is connected to the pressure sensor 271, the temperature sensor 272, the pressure stabilizing mechanism, and the pressure control mechanism. By monitoring the pressure sensor 271 and the temperature sensor 272 and controlling the pressure stabilizing mechanism and the pressure control mechanism based on the monitoring results, if the pressure is detected to be too low during the extension of the track 23, the control mechanism controls the pressure control mechanism to work, the solenoid valve 292 opens, and the fan / air compressor 291 starts to deliver fluid into the pressure control chamber 22; if the pressure is detected to be too high, the control mechanism controls the pressure stabilizing mechanism to work, and the pressure relief valve 281 or the exhaust valve 282 opens to relieve pressure; in order to maintain a constant pressure, or to control the speed of the track's forward extension through pressure control. In this embodiment, a pressure gauge 283 is provided on the pressure control chamber 22, and a guide wheel (not shown) is also provided inside the pressure control chamber 22. The guide wheel is located near the opening 221 to support and guide the winding part 231 as it enters the opening, preventing it from getting tangled.

[0071] An opening 221 is provided on the wall of the pressure control chamber 22 for the flexible track 23 to pass through. The flexible track 23 includes a winding section 231 and an unfolding section 232. The winding section 231 is located inside the pressure control chamber 22, and the unfolding section 232 is located outside the pressure control chamber 22. The pressure control chamber 22 is used to control the winding section 231 to extend from inside the pressure control chamber 22 to the outside to form the unfolding section 232. The cross-section of the flexible track 23 is a closed shape. One end of the flexible track 23 has its inner wall folded outward and fixed to the opening 221, forming a sealed space between the outer wall of the flexible track 23 and the pressure control chamber 22. In this embodiment, the folded end of the track 23 is fixed to the opening 221 by a pressure cap 222 (flange). In this embodiment, the cross-section of the track 23 is circular. The end of the circular flexible track 23 is turned outward and fixed to the opening 221. The outer wall and the pressure control chamber 22 form a sealed space, so as to facilitate the filling of the sealed space with fluid medium by controlling the pressure in the pressure control chamber 22, thereby causing the winding part 231 to move outward through the opening 221 to form the unfolding part 232. In this embodiment, the flexible track 23 is a bag film made of polymer material.

[0072] The unfolding section 232 includes a first unfolding section 2321 and a second unfolding section 2322. The first unfolding section 2321 surrounds the outside of the second unfolding section 2322, and the first unfolding section 2321 and the second unfolding section 2322 extend in the same direction. The pressure control chamber 22 is used to supply fluid medium into the space formed between the first unfolding section 2321 and the second unfolding section 2322 to control the second unfolding section 2322 to extend away from the pressure control chamber 22 and fold outward to form the first unfolding section 2321. The function of the pressure control chamber 22 is to maintain the stability of the pressure in the sealed space, so that the fluid medium is continuously filled into the space formed between the first unfolding section 2321 and the second unfolding section 2322, so that the second unfolding section 2322 continuously folds forward and outward to form the first unfolding section 2321. That is, the inner walls of the winding section 231 and the second unfolding section 2322 fold outward at the ends away from the pressure control chamber 22 to form the first unfolding section 2321. By using an outward-folding end design, the already outward-folded first extended portion 2321 serves as an external support point, and the outward-folding end further forms new support points. This design effectively accommodates the complex conditions within the pipe 21, and the already outward-folded first extended portion 2321 remains unaffected. Even if the first extended portion 2321 is partially punctured, as long as the pressure is sufficient, the extension of the track 23 will not be affected, and the self-exploring robot can still operate. Furthermore, because the track has a flexible outward-folding design, it can enter narrow spaces smaller than the track's own diameter, which is impossible for existing tracks.

[0073] The detection mechanism 24 includes a housing and a detector mounted on the housing. The housing includes a cylindrical body 241 near the pressure control chamber 22 and a carrier 242 mounted on the cylindrical body 241. The detector is mounted on the carrier 242. The cylindrical body 241 is fitted onto the end of the first expansion portion 2321 away from the pressure control chamber 22, and the diameter of the cylindrical body 241 matches the diameter of the first expansion portion 2321. The diameter of the cylindrical body 241 is slightly larger than the diameter of the first expansion portion 2321, for example, by 2 mm. The cylindrical body 241 is fitted onto the end of the track 23, which not only protects the end but also restricts the movement of the detection mechanism 24, preventing it from falling off. The carrier 242 is spherical, and its arc-shaped surface facilitates the movement of the detection mechanism 24 within the pipe 21.

[0074] One end of the traction rope 251 is connected to the detection mechanism 24. The detection mechanism 24 is located at the end where the second extension section 2322 becomes the first extension section 2321. When the track 23 extends forward, it can push the detection mechanism 24 forward. However, without the traction of the traction rope 251, the detection mechanism 24 cannot be retrieved, or it may fall off, and if it falls off, it cannot be retrieved either. The traction rope 251 and the flexible track 23 are released and retrieved by the drive mechanism 252, and the detection mechanism 24 is pulled by the traction rope 251, so that the detection mechanism 24 is always located at the end of the flexible track 23; and the traction rope 251 provides a tendency for the detection mechanism 24 to move towards the pressure chamber 22, that is, the movement of the detection mechanism is realized under the push of the front end of the track and the traction of the traction rope.

[0075] The traction rope 251 has power and signal transmission functions. One end of the traction rope 251 is connected to the detector, and the other end is connected to the drive mechanism 252. The detector can be a commonly used detection device in existing pipeline 21 inspections, such as a camera or related non-destructive testing instruments. Since the detection device requires power and signal transmission during inspection, the power and signal lines are integrated into the traction rope 251 to achieve the relevant functions. Preferably, multiple traction ropes 251 are arranged inside the flexible track 23, and the end of each traction rope 251 is connected to a different position on the detection mechanism 24. The power and signal lines are connected to the detector to transmit power and signals respectively. Other components of the traction rope 251 can be directly connected to different parts of the carrier 242 or the cylinder 241 to control the orientation of the detection mechanism 24 by controlling different traction ropes 251, thereby controlling the direction of extension of the track 23.

[0076] Pressure sensor 271 is used to monitor the pressure within the sealed space formed by pressure control chamber 22 and track 23 to ensure sufficient pressure (fluid medium) to propel track 23 forward. Temperature sensor 272 is used to monitor the temperature (fluid medium) inside pressure control chamber 22, as the fluid medium expands and contracts with temperature changes. Pressure sensor 271 and temperature sensor 272 ensure the stability of pressure within pressure control chamber 22.

[0077] The working process of the self-exploring robot in this embodiment is briefly described below:

[0078] After the end of the track is turned outward and fixed to the opening, the pressure control mechanism is activated to inject fluid into the pressure control chamber. The pressure in the pressure control chamber continues to rise. After rising to a certain level, the track extends outward from the opening to form an unfolded part. At the same time, the space between the first unfolded part and the second unfolded part is continuously filled with fluid, pushing the end of the track to extend forward continuously. The second unfolded part is continuously turned outward to form the first unfolded part.

[0079] As the track unfolds, the drive mechanism starts, and the track and traction rope are continuously released, causing the detection mechanism to be pushed forward by the front end of the track. At the same time, the traction rope keeps the detection mechanism in close contact with the front end of the track.

[0080] When fluid is injected into the pressure control chamber through the pressure control mechanism, the speed of track extension or whether to continue extending can be controlled by controlling the pressure inside the pressure control chamber.

[0081] When the inspection is completed and the track and inspection mechanism need to be retrieved, the fluid pressure in the pressure control chamber is released through the pressure relief valve or exhaust valve, and the drive mechanism is started in reverse to retrieve the track and inspection mechanism.

[0082] In this embodiment, the flexible track is a cylindrical bag film made of polymer materials such as PVC. Changing the manufacturing material of the track's outer wall does not affect the essence of this embodiment. Furthermore, the track can be configured into various cross-sectional shapes through different means during the design and manufacturing process without affecting the essence of this embodiment. In this embodiment, the flexible bag film unfolds from the inside out in a self-exploring motion, moving under internal pressure. The bag film is rolled up within a pressure control device. As fluid is injected, it is transported through the unfolded track towards the tip, until it unfolds from the inside out at the tip. This structure has passive deformation capability, adapting to different cross-sectional shapes and sizes in the environment during movement, extending into relatively unconstrained space to achieve self-exploration. This embodiment involves a detection mechanism that cooperates with the front end of the track. After the track begins to pressurize, the tip (front end) expands from the inside out, pushing the detection mechanism forward simultaneously, maintaining synchronization with the position of the track tip. During movement, the detection mechanism and the tip bag film maintain relative motion; when movement stops, the detection mechanism and the tip bag film are relatively stationary. The signal power line (traction rope) of the detection mechanism is wound inside the pressure control chamber through the bag membrane. In the direction of travel, the detection mechanism is simultaneously subject to the positive constraint provided by the bag membrane and the reverse constraint provided by the traction rope. In this embodiment, the pressure control mechanism and the pressure stabilizing mechanism provide controllable positive and negative pressure conditions for the pressure control chamber, used for bag membrane drive control and reverse winding: the pressure control mechanism and the pressure stabilizing mechanism transmit fluid pressure to the tubular bag membrane of the track, controlling the filling state of the bag membrane; the stepper motor and the traction rope control the traveling speed and forward and backward direction of the bag membrane. In this embodiment, it is necessary to pressurize and depressurize the first and second unfolding parts of the track, which requires providing a certain pressure to the fluid. The power source of this pressure source can be of various forms such as pneumatic, hydraulic, and electric, and the form of providing pressure difference to the fluid can be of various forms such as compression, centrifugal, and reciprocating piston drive. The pressure difference required for fluid to flow into or out of the track is provided by the combination of the above power source and the pressure difference formation method. Changes in the power source and the pressure difference formation method or their combination do not change its essence.

[0083] This embodiment has the following advantages: 1. Simplified motion mechanism: In this embodiment, the flexible track extends forward by self-folding outward through pressurization, which effectively reduces the complexity of the motion mechanism. The various forces required for support, forward movement, backward movement, stopping, turning, and climbing are all offset by the internal pressure of the track. 2. Soft, foldable track that can explore forward on its own: The track is a self-deploying structure. Before unfolding, it is folded and rolled up, making it small and easy to transport. During pressurization, it automatically explores forward without manual installation and can enter various confined spaces without being affected by the environment inside the confined space. During the unfolding process, it can automatically complete various motion forms such as turning, climbing, and descending. There are no requirements for the axial unfolding form inside the confined space. The area that can be explored and unfolded is only related to the length of the track after unfolding. 3. Prevents foreign objects from being lost in confined spaces: The mechanism structure described in this embodiment is simple and reasonable, with few components, no complex moving components, and no easily detachable parts. The mechanism components that enter the confined space are small and lightweight, which can effectively reduce the risk of foreign objects being lost inside the confined space. In the event of a pressure relief failure in the track, the internal fluid can be drained through a pressure stabilizing mechanism, allowing the track to be easily dragged out. This effectively reduces the risk of foreign objects being lost in confined spaces.

[0084] The above embodiments are only for illustrating the technical concept and features of the present invention. Their purpose is to enable those skilled in the art to understand the content of the present invention and implement it accordingly. They should not be used to limit the scope of protection of the present invention. All equivalent changes or modifications made in accordance with the spirit and essence of the present invention should be covered within the scope of protection of the present invention.

Claims

1. An exploration device suitable for the interior of a pipe, characterized in that, The system includes a track, a fluid mechanism, and a motion mechanism. The track has a first state and a second state. The fluid mechanism is used to inject fluid into the track to put the track in the first state and to extract fluid from the track to put the track in the second state. The motion mechanism is used to travel along the track when the track is in the first state. The motion mechanism has a track hole adapted to the outer surface of the track, the track hole being for the track to pass through; the motion mechanism includes a cylinder, the track hole being located inside the cylinder, the extension direction of the cylinder being the same as the extension direction of the track hole; the outer surface of the cylinder has rollers for the motion mechanism to move on the inner wall of the pipe; a drive assembly for driving the motion mechanism to travel along the track is provided on the inner wall of the track hole; the drive assembly includes a drive wheel, a drive shaft, and a power source for driving the drive shaft to rotate; the surface of the track has a guide groove, the extension direction of the guide groove being the same as the length direction of the track; when the track passes through the track hole, at least a portion of the drive wheel is accommodated in the guide groove.

2. The exploration device according to claim 1, characterized in that, The track is made of a flexible material, and when the track is in the second state, the track can be wound up.

3. The exploration device according to claim 1, characterized in that, The track has a fluid cavity, and the fluid mechanism is used to fill or extract fluid into the fluid cavity; the fluid filling the fluid cavity is used to unfold the track and place it in the first state; the fluid extraction from the fluid cavity is used to place the track in the second state and enable it to be wound up.

4. The exploration device according to claim 1, characterized in that, Multiple sets of drive components are arranged inside the track hole, and the track is located between the multiple sets of drive components.

5. The exploration device according to claim 4, characterized in that, The track hole has a rectangular cross-section, and the drive assembly is respectively provided on the upper and lower parts of the rectangular track hole; the track includes a first part, a second part, and a third part for connecting the first part and the second part, the first part and the second part are respectively located at both ends of the third part, the first part and the second part are located between two drive shafts, and guide grooves for accommodating the two drive wheels are formed between the upper and lower surfaces of the first part, the second part and the third part.

6. The exploration device according to claim 4, characterized in that, The track hole has a circular cross-section, and multiple sets of drive components are evenly spaced on the inner wall of the circular track hole. The drive wheels of the drive components are located in the guide groove of the track.

7. The exploration device according to any one of claims 1-6, characterized in that, The system includes a cable mechanism, which comprises a cable body, a cable reel for winding or releasing the cable body, and a cable gripper for fixing to the cable body, the cable gripper being used to connect to the motion mechanism.

8. A method for exploring the interior of a pipe using the exploration device according to any one of claims 1-7, characterized in that, The process includes the following steps: connecting the fluid mechanism to the winding track and filling the fluid cavity of the track with fluid; the winding track unfolds inside the pipe and explores forward; the track passes through the track hole of the motion mechanism; after the track is unfolded, the drive wheel of the drive assembly is accommodated in the guide groove on the track; and the motion mechanism travels on the unfolded track.

9. A method for exploring the interior of a pipe using the exploration device according to any one of claims 1-7, characterized in that, The process includes the following steps: connecting the fluid mechanism to the winding track and filling the fluid cavity of the track with fluid; the winding track unfolds inside the pipe and explores forward; the center of the winding track is connected to one end of the rope of the cable mechanism; when the track unfolds inside the pipe and explores forward, it drives the rope to move forward. When the track emerges from the other end of the pipe, the rope and track are released, and the fluid is extracted by the fluid mechanism before the track is wound up. The rope gripper is connected to the motion mechanism, and the rope is connected to the cable reel. The cable reel drives the rope to move, thereby driving the rope gripper and the motion mechanism to move inside the pipe.

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