Gas transmission pipeline defect detection device and method

Abstract

The present invention provides a gas transmission pipeline defect detection device and method, which relates to the field of defect detection technology. The method includes: S1: using a first adjustment mechanism to adjust the distance of a displacement mechanism relative to the inner wall of the gas pipeline so that the displacement mechanism abuts the inner wall of the gas pipeline; S2: respectively obtaining second posture information of the top plane of the shell and first posture information of the positioning plate, and adjusting the detection mechanism to face the inner wall of the pipeline vertically based on the second posture information; S3: calibrating the detection information of the to-be-detected point fed back in real time by the detection mechanism and the first posture information of the positioning plate to obtain detection data of the corresponding detection point. According to the present invention, by using the first adjustment mechanism to adjust the distance of the displacement mechanism relative to the inner wall of the gas pipeline, and using the detection information of the to-be-detected point fed back in real time by the detection mechanism and the first posture information of the positioning plate to perform calibration, the detection data of the corresponding detection point is obtained after calibration, so that adjustment can be performed according to the detection point.

Description

Technical Field

[0001] The present invention relates to the technical field of defect detection, and in particular to a gas transmission pipeline defect detection device and method. Background Art

[0002] After long-term use, gas pipelines will develop mechanical cracks and corrosion spots, which will undermine the stability of the pipelines. Regular inspection and repair of gas pipelines is required to improve the safety of gas pipelines. A Chinese patent (Announcement No. CN111289526B) discloses a method and system for detecting defects on the inner surface of gas pipelines. The method collects and transmits images of the inner surface of the gas pipeline and then analyzes them to determine the type of defects and the degree of harm caused by the defects, thereby improving the efficiency and accuracy of gas pipeline inner surface defect detection. However, when the method is displaced in the curved part of the gas pipeline or when the inner diameter of the gas pipeline changes, it cannot be adjusted according to the inner diameter of the gas pipeline, nor can it be adjusted according to the detection point. Therefore, the present invention studies and designs a gas pipeline defect detection device and method. Summary of the Invention

[0003] Therefore, the technical problem to be solved by the present invention is to overcome the defect in the prior art that gas transmission pipeline defect detection cannot be adjusted according to the collection point, thereby providing a gas transmission pipeline defect detection device and method.

[0004] In order to solve the above problems, the present invention provides a gas transmission pipeline defect detection device, comprising: a housing;

[0005] A detection mechanism is provided on the top of the shell to detect the inner wall of the gas transmission pipeline;

[0006] At least three displacement mechanisms are evenly and symmetrically arranged around the housing, the displacement mechanisms abutting against and sliding along the inner wall of the gas pipeline;

[0007] a first adjustment mechanism, disposed on the outer wall of the housing to adjust the distance between the displacement mechanism and the inner wall of the gas pipeline;

[0008] a second adjustment mechanism, disposed on the top of the housing, for adjusting the posture of the detection mechanism relative to the inner wall of the gas pipeline;

[0009] The control device is respectively connected to the displacement mechanism, the detection mechanism, the first adjustment mechanism and the second adjustment mechanism, controls the displacement mechanism to slide on the inner wall of the gas pipeline, controls the detection mechanism to detect the inner wall of the gas pipeline, controls the first adjustment mechanism to adjust the distance of the displacement mechanism relative to the inner wall of the gas pipeline, and controls the second adjustment mechanism to adjust the posture of the detection mechanism relative to the inner wall of the gas pipeline. The control device is also connected to the processor.

[0010] Preferably, the detection mechanism includes: a positioning plate, an ultrasonic detector is arranged in the center of the positioning plate, cameras are arranged on the positioning plate near the ultrasonic detector, a first posture sensor is also arranged near the center of the positioning plate, and a second posture sensor is also arranged near the center of the top of the shell, the ultrasonic detector and the camera are respectively connected to the control device, and the first posture sensor and the second posture sensor are connected to the processor.

[0011] and a gear engaged with the first and second gears and the gear engaged with the first and second gears respectively.

[0012] Preferably, the first adjustment mechanism includes: a rotating ring, the rotating ring is sleeved on the outer wall of the shell and is rotatably connected to the shell, at least three sliding grooves are provided along different radial directions of the shell, the sliding grooves are evenly arranged below the shell with the shell as the center, one end of the sliding groove is connected to the outer wall of the shell, and sliding bars are respectively provided in the sliding grooves, and the ends of the sliding bars away from the shell are respectively connected to the connecting plates;

[0013] At least three arc-shaped bars are evenly arranged on the outside of the rotating ring, one end of each arc-shaped bar is connected to the outside of the rotating ring, and the other end of each arc-shaped bar extends away from the rotating ring. Each arc-shaped bar is provided with an arc-shaped sliding hole, and a linkage rod is provided on each sliding bar near the arc-shaped sliding hole. One end of each linkage rod is connected to the sliding bar, and the other end passes through the corresponding arc-shaped sliding hole and is slidably connected to the arc-shaped sliding hole.

[0014] Preferably, a gear ring is further provided at the bottom of the rotating ring, the outer wall of the shell is connected to a first motor through a mounting rod, the output shaft of the first motor is connected to a third gear, the third gear is engaged with the gear ring, and the first motor is connected to the control device.

[0015] Preferably, a guide hole is further provided at one end of the slide bar close to the shell along the radial direction of the shell, a sliding rod is provided in the guide hole, one end of the sliding rod is connected to the side wall of the shell, and the other end of the sliding rod is slidably connected to the guide hole, a spring is sleeved on the sliding rod, and the two ends of the spring respectively abut the side wall of the shell and the slide bar.

[0016] Preferably, the second adjustment mechanism includes: a mounting seat, the mounting seat is arranged at the top center of the shell, a positioning cylinder is arranged in the mounting seat, rotating seats are respectively provided on both sides of the mounting seat, third rotating rods are respectively provided in the rotating seats, one end of the third rotating rod is rotatably connected to the rotating seat, the other end of the third rotating rod is respectively connected to the two sides of the mounting seat, a second motor is further provided on one side of the mounting seat, the output shaft of the second motor is connected to one end of the corresponding third rotating rod, and the second motor is connected to the control device;

[0017] A third motor is provided at the bottom center of the positioning cylinder. The output shaft of the third motor rotatably passes through the top of the positioning cylinder and is connected to the bottom center of the positioning plate. The third motor is connected to the control device.

[0018] The present invention also provides a method for detecting defects in a gas transmission pipeline, which uses the gas transmission pipeline defect detection device described in any of the preceding items, and comprises the following steps:

[0019] S1: Using a first adjustment mechanism to adjust the distance between the displacement mechanism and the inner wall of the gas pipeline so that the displacement mechanism abuts against the inner wall of the gas pipeline;

[0020] S2: Acquire the second posture information of the top plane of the shell and the first posture information of the positioning plate respectively, and adjust the detection mechanism to face the inner wall of the pipeline vertically based on the second posture information;

[0021] S3: Calibrate the detection information of the detection point fed back in real time by the detection mechanism and the first posture information of the positioning plate to obtain detection data of the corresponding detection point.

[0022] Preferably, in S3, the detection information of the point to be detected fed back by the detection mechanism is: an ultrasonic detector is installed on the positioning plate, and cameras are set on both sides of the positioning plate close to the ultrasonic detector. The defects of the point to be detected on the inner wall of the pipeline are detected by using ultrasonic waves, and the auxiliary camera is used for detection to obtain the plane information of the point to be detected, and calibration is performed based on the real-time acquisition of the plane information of the point to be detected using the first posture information.

[0023] Preferably, in said S3, the detection information of the point to be detected fed back in real time by the detection mechanism and the first posture information of the positioning plate are calibrated as follows: the first posture information and the obtained detection information are differentiated, and when the difference is zero, the detection data obtained by the detection mechanism is output; when the two are different, based on the difference between the two, the feedback is given to the second adjustment mechanism to adjust the detection mechanism, so that the readjusted detection surface and the readjusted first posture information remain consistent, so as to obtain the most intuitive detection data of the detection point.

[0024] The gas transmission pipeline defect detection device and method provided by the present invention have the following beneficial effects:

[0025] 1. The present invention utilizes a first adjustment mechanism to adjust the distance of a displacement mechanism relative to the inner wall of a gas pipeline during inner wall defect detection, thereby enabling real-time adaptation to different specifications of the inner wall of the gas pipeline and adaptive adjustment when the inner diameter of the gas pipeline changes. The displacement mechanism contacts the inner wall of the gas pipeline, allowing the displacement mechanism to slide along the inner wall of the pipeline and detect it using a detection mechanism. Second posture information of the top plane of the housing is obtained to adjust the detection mechanism to be perpendicular to the inner wall of the pipeline. Calibration is then performed using detection information of the to-be-detected point fed back in real time by the detection mechanism and the first posture information of the positioning plate. After calibration, detection data corresponding to the detection point is obtained, enabling adjustment based on the detection point.

[0026] 2. The present invention also transmits power to the gear ring through the third gear, thereby driving the rotating ring to rotate relative to the housing, so that the distance between multiple displacement mechanisms and the inner wall of the gas pipeline can be adjusted simultaneously. This avoids the influence of errors when adjusting different displacement mechanisms. At the same time, the adjustment efficiency is improved by using a single first motor to simultaneously control multiple different displacement mechanisms.

[0027] 3. The present invention also adjusts the posture of the positioning cylinder relative to the top of the shell, and the third motor drives the positioning plate to rotate relative to the positioning cylinder, so that the inner wall of the gas pipeline can rotate in real time to detect the circumference of the gas pipeline. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a schematic diagram of the three-dimensional structure of the final assembly of the present invention;

[0029] Figure 2 It is a schematic diagram of the top view of the structure of the present invention;

[0030] Figure 3 It is a front view structural schematic diagram of the present invention;

[0031] Figure 4 This is a schematic diagram of the installation of the third gear structure of the present invention;

[0032] Figure 5This is a schematic diagram of the installation of the second rotating rod structure of the present invention;

[0033] Figure 6 This is a schematic diagram of the installation of the sliding rod structure of the present invention.

[0034] The reference numerals indicate:

[0035] 1. Housing; 2. Positioning plate; 3. Ultrasonic detector; 4. Camera; 5. Fixed plate; 6. First rotating rod; 7. Second rotating rod; 8. First gear; 9. Second gear; 10. Tooth chain; 11. Servo; 12. Long strip; 13. Connecting plate; 14. Linkage bar; 15. Rotating ring; 16. Slide groove; 17. Slide bar; 18. Arc bar; 19. Arc slide hole; 20. Linkage rod; 21. Gear ring; 22. Mounting rod; 23. First motor; 24. Third gear; 25. Guide hole; 26. Sliding rod; 27. Spring; 28. Mounting seat; 29. ​​Positioning cylinder; 30. Rotating seat; 31. Third rotating rod; 32. Second motor. DETAILED DESCRIPTION

[0036] like Figure 1-6 As shown, the present invention provides a gas transmission pipeline defect detection device, which includes: a shell 1; a detection mechanism, which is arranged on the top of the shell 1 to detect the inner wall of the gas transmission pipeline; a displacement mechanism, which is evenly and symmetrically arranged with at least three groups around the shell 1 as the center, and the displacement mechanism abuts the inner wall of the gas pipeline and slides along the inner wall of the gas pipeline; a first adjustment mechanism, which is arranged on the outer wall of the shell 1 to adjust the distance of the displacement mechanism relative to the inner wall of the gas pipeline; a second adjustment mechanism, which is arranged on the top of the shell 1 to adjust the posture of the detection mechanism relative to the inner wall of the gas pipeline; a control device, which is respectively connected to the displacement mechanism, the detection mechanism, the first adjustment mechanism and the second adjustment mechanism, controls the displacement mechanism to slide on the inner wall of the gas pipeline, controls the detection mechanism to detect the inner wall of the gas pipeline, controls the first adjustment mechanism to adjust the distance of the displacement mechanism relative to the inner wall of the gas pipeline, controls the second adjustment mechanism to adjust the posture of the detection mechanism relative to the inner wall of the gas pipeline, and the control device is also connected to a processor. As shown Figure 1-6As shown, a gas transmission pipeline defect detection device includes a shell 1, a detection mechanism, a displacement mechanism, a first adjustment mechanism, a second adjustment mechanism and a control device, wherein the interior of the shell 1 is a hollow structure and is divided into a plurality of independent spaces to set the devices required for the detection device, such as batteries, signal transceivers for receiving and sending signals, control devices and processors, wherein the detection mechanism is installed on the top of the shell 1, and detects the inner wall of the gas pipeline during the movement of the device; wherein the displacement mechanism is evenly and symmetrically arranged in three groups with the shell 1 as the center, the displacement mechanism abuts against the inner wall of the gas pipeline and slides along the inner wall of the gas pipeline, and the distance between the displacement mechanism and the inner wall of the gas pipeline is adjusted by the first adjustment mechanism, which can adapt to gas pipelines of different specifications, as well as when the main defect occurs in the gas pipeline. When the pipeline transitions to multiple branch pipelines, it can be adaptively adjusted; and the second adjusting mechanism adjusts the posture of the detection mechanism relative to the inner wall of the pipeline. When some of the points to be detected on the inner wall of the gas pipeline and the surface of the inner wall of the pipeline are not in the same horizontal plane, the second adjusting mechanism is used to adjust the detection mechanism to be aligned with the point to be detected in real time, so that the detection mechanism is perpendicular to the point to be detected in real time to obtain clearer and more intuitive detection information; wherein, the control device controls the displacement mechanism to slide on the inner wall of the gas pipeline, controls the first adjusting mechanism to adjust the distance of the displacement mechanism relative to the inner wall of the gas pipeline to make adaptive adjustments; controls the second adjusting mechanism to adjust the posture of the detection mechanism relative to the inner wall of the gas pipeline, so that the posture of the detection mechanism can be adjusted in real time in combination with the relevant points to be detected. At the same time, the control device is connected to the processor to perform signal conversion processing.

[0037] In some embodiments, the detection mechanism includes: a positioning plate 2, an ultrasonic detector 3 is provided at the center of the positioning plate 2, cameras 4 are provided on the positioning plate 2 near the ultrasonic detector 3, a first posture sensor is also provided near the center of the positioning plate 2, and a second posture sensor is also provided near the top center of the shell 1, the ultrasonic detector 3 and the camera 4 are respectively connected to the control device, and the first posture sensor and the second posture sensor are connected to the processor. Figure 1-6As shown, the detection mechanism includes: a positioning plate 2, wherein an ultrasonic detector 3 is installed on the positioning plate 2, and cameras 4 are set on both sides of the positioning plate 2 near the ultrasonic detector 3, and the defects of the inner wall of the pipeline are detected by using ultrasonic waves, while the auxiliary camera 4 is used for detection, wherein the camera 4 is an industrial camera with infrared function, wherein one is used as a main camera and the other is used as an auxiliary camera; the camera 4 and the ultrasonic detector 3 are both commercially available; wherein the first posture sensor obtains the first posture sensing signal of the plane where the positioning plate 2 is located in real time, and transmits it to the processor for processing to obtain the first posture information of the plane where the positioning plate 2 is located, and the second posture sensor obtains the second posture sensing signal of the top plane of the shell 1 in real time, and transmits it to the processor for processing to obtain the shell 1 The second posture information of the top plane is obtained by placing the device on the inner wall of the pipe, using the first adjustment mechanism to make the displacement mechanism contact the inner wall of the pipe, and obtaining the second posture information in real time. Based on the second posture information, the second adjustment mechanism is fed back to adjust the detection mechanism to face the inner wall of the pipe vertically, so as to facilitate the detection by the detection mechanism. The detection information fed back by the detection mechanism and the first posture information are calibrated in real time, and the first posture information and the obtained detection information are differentially processed. When the difference is zero, the detection data obtained by the detection mechanism is output. When the two are different, based on the difference between the two, the feedback is given to the second adjustment mechanism to adjust the detection mechanism so that the readjusted detection surface and the readjusted first posture information are consistent, so as to obtain the most intuitive detection data for the detection point.

[0038] In some embodiments, the displacement mechanism includes: a pair of fixed plates 5, a first rotating rod 6 and a second rotating rod 7 are respectively provided at both ends of the pair of fixed plates 5, the ends of the first rotating rod 6 and the second rotating rod 7 are respectively rotatably connected to the pair of fixed plates 5, the first rotating rod 6 and the second rotating rod 7 are respectively provided with a first gear 8 and a second gear 9, a tooth chain 10 is sleeved along the pair of fixed plates 5, the inner side of the tooth chain 10 is respectively engaged with the first gear 8 and the second gear 9, and a fixed plate near the second rotating rod 7 is provided with a tooth chain 10. A servo 11 is provided outside the fixed plate 5. The output shaft of the servo 11 rotates through the fixed plate 5 and is connected to one end of the first rotating rod 6. The servo 11 is connected to the control device. A plurality of long strips 12 are evenly provided on the outside of the tooth chain. The extension direction of the long strips is consistent with the width direction of the tooth chain. A pair of the fixed plates 5 are provided with a connecting plate 13 on the side close to the housing 1. Two pairs of linkage bars 14 are provided between the connecting plates 13 and the fixed plates 5. The two ends of the linkage bars 14 are connected to the connecting plates 13 and the fixed plates 5 respectively. Figure 1-6As shown, the servo 11 is commercially available, and the state and working parameters of the servo 11 are controlled by a control device. The output shaft of the servo 11 and the second rotating rod 7 can be connected by a coupling. The servo 11 drives the second rotating rod 7 to rotate, driving the second gear 9 to rotate relatively. The toothed chain 10 meshing between the first gear 8 and the second gear 9 rotates with the rotation of the second gear 9, so that the toothed chain 10 rotates relative to the circumference of the fixed plate 5. When the toothed chain 10 is abutted against the inner wall of the gas pipeline, the servo 11 drives the toothed chain 10 to slide on the inner wall of the gas pipeline. Through the cooperation of the three sets of displacement mechanisms, the force is more balanced, making its movement more stable, and the long strips 12 evenly arranged on the outside of the rack can increase the friction effect between the toothed chain 10 and the inner wall of the gas pipeline, thereby maintaining the grip of the toothed chain 10 and the inner wall of the gas pipeline.

[0039] In some embodiments, the first adjustment mechanism includes: a rotating ring 15, the rotating ring 15 is sleeved on the outer wall of the shell 1 and is rotatably connected to the shell 1, and at least three slide grooves 16 are provided along different radial directions of the shell 1, the slide grooves 16 are evenly arranged below the shell 1 with the shell 1 as the center, one end of the slide groove is connected to the outer wall of the shell, and a slide bar 17 is provided in the slide groove 16, and the end of the slide bar 17 away from the shell 1 is connected to the connecting plate 13; at least three arcuate bars 18 are evenly provided on the outside of the rotating ring 15, one end of the arcuate bar 18 is respectively connected to the outside of the rotating ring 15, and the other end of the arcuate bar 18 extends away from the rotating ring 15, and the arcuate bar 18 is respectively provided with an arcuate sliding hole 19, and the slide bar 17 is provided with a linkage rod 20 near the arcuate sliding hole 19, one end of the linkage rod 20 is connected to the slide bar 17, and the other end passes through the corresponding arcuate sliding hole 19 and is slidably connected to the arcuate sliding hole 19. Figure 1-6 As shown, the rotating ring 15 is rotatably connected to the outer wall of the shell 1. When the rotating ring 15 rotates relative to the shell 1, due to the sliding of at least three arc-shaped sliding holes 19 and the linkage rod 20 on the outer side of the rotating ring 15, when the rotating ring 15 rotates, the linkage rod 20 slides in the corresponding arc-shaped sliding holes 19 respectively. At this time, according to the different rotation directions of the rotating ring 15, the slide bar 17 slides in the slide groove 16. The sliding direction of the slide bar 17 is determined by the rotation direction of the rotating ring 15. When the slide bar 17 slides away from the shell 1, the displacement mechanism is moved relative to the inner wall of the gas pipeline, so that the displacement mechanism and the inner wall of the gas pipeline are in contact with each other, which is convenient for corresponding adjustment according to the inner walls of gas pipelines of different specifications.

[0040] In some embodiments, a gear ring 21 is further provided at the bottom of the rotating ring 15, and a first motor 23 is connected to the outer wall of the housing 1 through a mounting rod 22. The output shaft of the first motor 23 is connected to a third gear 24, and the third gear 24 is engaged with the gear ring 21. The first motor 23 is connected to the control device. Figure 1-6 As shown, the first motor 23 is commercially available. The state and parameters of the first motor 23 are controlled by a control device, so that the first motor 23 drives the third gear 24 to rotate. The first motor 23 is connected to the outside of the shell 1 through the mounting rod 22. The third gear 24 is engaged with the gear ring 21. The gear ring 21 is transmitted through the third gear 24, so that the rotating ring 15 is driven to rotate relative to the shell 1, so that the distance between multiple displacement mechanisms and the inner wall of the gas pipeline is adjusted at the same time, thereby avoiding the influence of errors when adjusting different displacement mechanisms. At the same time, multiple different displacement mechanisms are adjusted at the same time by one first motor 23, thereby improving the adjustment efficiency.

[0041] In some embodiments, the end of the slide bar 17 close to the housing 1 is further provided with a guide hole 25 along the radial direction of the housing 1, and a sliding rod 26 is provided in the guide hole 25. One end of the sliding rod 26 is connected to the side wall of the housing 1, and the other end of the sliding rod 26 is slidably connected to the guide hole 25. A spring 27 is sleeved on the sliding rod 26, and the two ends of the spring 27 respectively abut the side wall of the housing 1 and the slide bar 17. Figure 1-6 As shown, the slide bar 17 is provided with a guide hole 25 along the radial direction of the shell 1. When the slide bar 17 slides in the slide groove 16 toward the direction of the shell 1, the slide rod 26 slides into the guide hole 25. At this time, the spring 27 on the slide rod 26 is compressed between the side wall of the shell 1 and the slide bar 17. When the slide bar 17 slides toward the inner wall of the gas pipeline, the spring 27 recovers its deformation, driving the slide bar 17 to slide toward the gas pipeline in the slide groove 16. At the same time, when the slide bar 17 slides toward the inner wall of the gas pipeline, the spring 27 recovers its deformation and is stretched. When the direction of the force changes, the spring 27 will recover its deformation again. During the entire sliding process of the slide bar 17, the action of the spring 27 makes its sliding more stable, thereby ensuring the adjustment effect of its first adjustment mechanism.

[0042] In some embodiments, the second adjustment mechanism includes: a mounting seat 28, the mounting seat 28 is arranged at the top center of the shell 1, a positioning cylinder 29 is arranged in the mounting seat 28, a rotating seat 30 is respectively provided on both sides of the mounting seat 28, a third rotating rod 31 is respectively provided in the rotating seat 30, one end of the third rotating rod 31 is respectively rotatably connected to the rotating seat 30, and the other end of the third rotating rod 31 is respectively connected to both sides of the mounting seat 28, a second motor 32 is also provided on one side of the mounting seat 28, the output shaft of the second motor 32 is connected to the corresponding end of the third rotating rod 31, and the second motor 32 is connected to the control device; a third motor is provided at the bottom center of the positioning cylinder 29, the output shaft of the third motor rotatably passes through the top of the positioning cylinder 29 and is connected to the bottom center of the positioning plate 2, and the third motor is connected to the control device. Figure 1-6 As shown, the mounting seat 28 is arranged at the top center of the shell 1, and the rotating seats 30 on both sides of the mounting seat 28 are rotatably connected to the third rotating rod 31, and the third rotating rod 31 is respectively connected to the two sides of the positioning cylinder 29. The state and parameters of the second motor 32 and the third motor are controlled by the control device. The second motor 32 and the third motor are commercially available. The output shaft of the second motor 32 and the third rotating rod 31 can be connected by a coupling to adjust the posture of the positioning cylinder 29 relative to the top of the shell 1, and the third motor drives the positioning plate 2 to rotate relative to the positioning cylinder 29, so that the inner wall of the gas pipeline can rotate in real time to detect the surrounding side of the gas pipeline.

[0043] The present invention also provides a method for detecting defects in a gas transmission pipeline, which uses a gas transmission pipeline detection device as described in any of the preceding items and comprises the following steps:

[0044] S1: Using a first adjustment mechanism to adjust the distance between the displacement mechanism and the inner wall of the gas pipeline so that the displacement mechanism abuts against the inner wall of the gas pipeline;

[0045] S2: Acquire the second posture information of the top plane of the housing 1 and the first posture information of the positioning plate 2 respectively, and adjust the detection mechanism to face the inner wall of the pipeline vertically based on the second posture information;

[0046] S3: Calibrate the detection information of the detection point fed back in real time by the detection mechanism and the first posture information of the positioning plate 2 to obtain detection data of the corresponding detection point.

[0047] Specifically, when detecting defects in the inner wall of a gas transmission pipeline, the first adjustment mechanism is used to adjust the distance between the displacement mechanism and the inner wall of the gas pipeline, so that it can adapt to the inner walls of gas pipelines of different specifications in real time, and make adaptive adjustments when the inner diameter of the gas pipeline changes. The displacement mechanism contacts the inner wall of the gas pipeline, so that the displacement mechanism can slide along the inner wall of the pipeline and be detected by the detection mechanism. The second posture information of the top plane of the shell 1 is obtained to adjust the detection mechanism to face the inner wall of the pipeline vertically. Then, the detection information of the point to be detected fed back in real time by the detection mechanism and the first posture information of the positioning plate 2 are used for calibration. After calibration, the detection data of the corresponding detection point is obtained so that adjustment can be made according to the detection point.

[0048] Specifically, in S3, the detection information of the point to be detected fed back by the detection mechanism is: an ultrasonic detector 3 is installed on the positioning plate 2, and cameras 4 are set on both sides of the positioning plate 2 close to the ultrasonic detector 3. The defects of the point to be detected on the inner wall of the pipeline are detected by using ultrasonic waves, and the auxiliary camera 4 is used for detection to obtain the plane information of the point to be detected, and calibration is performed based on the real-time acquisition of the plane information of the point to be detected using the first posture information.

[0049] Specifically, in S3, the detection information of the point to be detected and the first posture information of the positioning plate 2 fed back in real time by the detection mechanism are calibrated as follows: the first posture information and the obtained detection information are differentiated, and when the difference is zero, the detection data obtained by the detection mechanism is output; when the two are different, based on the difference between the two, the feedback is given to the second adjustment mechanism to adjust the detection mechanism so that the readjusted detection surface and the readjusted first posture information remain consistent, so as to obtain the most intuitive detection data of the detection point.

[0050] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention. The above description is merely a preferred embodiment of the present invention. It should be noted that those skilled in the art can make various improvements and variations without departing from the technical principles of the present invention, and such improvements and variations shall also be considered within the scope of protection of the present invention.

Claims

1. A gas transmission pipeline defect detection device, characterized by: include: case; A detection mechanism is provided on the top of the shell to detect the inner wall of the gas transmission pipeline; At least three displacement mechanisms are evenly and symmetrically arranged around the housing, the displacement mechanisms abutting against and sliding along the inner wall of the gas pipeline; a first adjustment mechanism, disposed on the outer wall of the housing to adjust the distance between the displacement mechanism and the inner wall of the gas pipeline; a second adjustment mechanism, disposed on the top of the housing, for adjusting the posture of the detection mechanism relative to the inner wall of the gas pipeline; a control device, connected to the displacement mechanism, the detection mechanism, the first adjustment mechanism, and the second adjustment mechanism, respectively, controlling the displacement mechanism to slide on the inner wall of the gas pipeline, controlling the detection mechanism to detect the inner wall of the gas pipeline, controlling the first adjustment mechanism to adjust the distance of the displacement mechanism relative to the inner wall of the gas pipeline, and controlling the second adjustment mechanism to adjust the posture of the detection mechanism relative to the inner wall of the gas pipeline; the control device is also connected to a processor; The first adjustment mechanism is used to adjust the distance between the displacement mechanism and the inner wall of the gas pipeline, so that it can adapt to the inner walls of the gas pipeline of different specifications in real time, and make adaptive adjustments when the inner diameter of the gas pipeline changes. The displacement mechanism contacts the inner wall of the gas pipeline, so that the displacement mechanism can slide along the inner wall of the pipeline and be detected by the detection mechanism. The second posture information of the top plane of the shell is obtained to adjust the detection mechanism to be perpendicular to the inner wall of the pipeline. Then, the detection information of the to-be-detected point fed back in real time by the detection mechanism and the first posture information of the positioning plate are used for calibration. After calibration, the detection data of the corresponding detection point is obtained so that adjustment can be made according to the detection point. The detection mechanism includes: a positioning plate, an ultrasonic detector is provided at the center of the positioning plate, cameras are respectively provided on the positioning plate near the ultrasonic detector, a first posture sensor is also provided near the center of the positioning plate, and a second posture sensor is also provided near the center of the top of the shell, the ultrasonic detector and the camera are respectively connected to the control device, and the first posture sensor and the second posture sensor are connected to the processor; The cam is connected to the second end of the first gear and the second end of the second gear via a toothed link, and the toothed link is connected to the first gear and the second gear via a toothed link. The first adjustment mechanism includes: a rotating ring, the rotating ring is sleeved on the outer wall of the shell and is rotatably connected to the shell, and at least three sliding grooves are provided along different radial directions of the shell, the sliding grooves are evenly arranged below the shell with the shell as the center, one end of the sliding groove is connected to the outer wall of the shell, and a sliding bar is further provided in the sliding groove, and the end of the sliding bar away from the shell is respectively connected to the connecting plate; At least three arc-shaped bars are evenly arranged on the outside of the rotating ring, one end of each arc-shaped bar is connected to the outside of the rotating ring, and the other end of each arc-shaped bar extends away from the rotating ring. Each arc-shaped bar is provided with an arc-shaped sliding hole, and a linkage rod is provided on each sliding bar near the arc-shaped sliding hole. One end of each linkage rod is connected to the sliding bar, and the other end passes through the corresponding arc-shaped sliding hole and is slidably connected to the arc-shaped sliding hole. A guide hole is further provided at one end of the slide bar close to the housing along the radial direction of the housing, a sliding rod is provided in the guide hole, one end of the sliding rod is connected to the side wall of the housing, and the other end of the sliding rod is slidably connected to the guide hole, a spring is sleeved on the sliding rod, and two ends of the spring respectively abut against the side wall of the housing and the slide bar; The second adjustment mechanism includes: a mounting base, the mounting base is arranged at the top center of the shell, a positioning cylinder is arranged in the mounting base, a rotating base is respectively provided on both sides of the mounting base, a third rotating rod is respectively provided in the rotating base, one end of the third rotating rod is rotatably connected to the rotating base, and the other end of the third rotating rod is respectively connected to the two sides of the mounting base, a second motor is further provided on one side of the mounting base, the output shaft of the second motor is connected to the corresponding end of the third rotating rod, and the second motor is connected to the control device; A third motor is provided at the bottom center of the positioning cylinder, the output shaft of the third motor rotatably passes through the top of the positioning cylinder and is connected to the bottom center of the positioning plate, and the third motor is connected to the control device; The displacement mechanism abuts against the inner wall of the gas pipeline and slides along the inner wall of the gas pipeline. The distance of the displacement mechanism relative to the inner wall of the gas pipeline is adjusted by the first adjustment mechanism, which can adapt to gas pipelines of different specifications, and can be adaptively adjusted when the main pipeline in the gas pipeline transitions to multiple branch pipelines; and the second adjustment mechanism adjusts the posture of the detection mechanism relative to the inner wall of the pipeline. When some points to be detected on the inner wall of the gas pipeline and the surface of the inner wall of the pipeline are not in the same horizontal plane, the second adjustment mechanism is used to adjust the detection mechanism to face the points to be detected in real time, so that the detection mechanism is perpendicular to the points to be detected in real time to obtain clearer and more intuitive detection information; wherein, the displacement mechanism is controlled to slide on the inner wall of the gas pipeline by the control device, and the first adjustment mechanism is controlled to adjust the distance of the displacement mechanism relative to the inner wall of the gas pipeline to make adaptive adjustments; the second adjustment mechanism is controlled to adjust the posture of the detection mechanism relative to the inner wall of the gas pipeline, so that the posture of the detection mechanism can be adjusted in real time in combination with the relevant points to be detected. At the same time, the control device is connected to the processor for signal conversion processing.

2. The gas transmission pipeline defect detection device according to claim 1, characterized in that: A gear ring is also provided at the bottom of the rotating ring. The outer wall of the shell is connected to a first motor through a mounting rod. The output shaft of the first motor is connected to a third gear. The third gear is engaged with the gear ring. The first motor is connected to the control device.

3. A method for detecting defects in a gas transmission pipeline, characterized in that: Using the gas transmission pipeline defect detection device according to any one of claims 1-2, The following steps are involved: S1: Using a first adjustment mechanism to adjust the distance between the displacement mechanism and the inner wall of the gas pipeline so that the displacement mechanism abuts against the inner wall of the gas pipeline; S2: Acquire the second posture information of the top plane of the shell and the first posture information of the positioning plate respectively, and adjust the detection mechanism to face the inner wall of the pipeline vertically based on the second posture information; S3: Calibrate the detection information of the detection point to be detected fed back in real time by the detection mechanism and the first posture information of the positioning plate to obtain detection data of the corresponding detection point; In S3, the detection information of the point to be detected fed back by the detection mechanism is as follows: an ultrasonic detector is installed on the positioning plate, and cameras are set on both sides of the positioning plate near the ultrasonic detector. The defects of the point to be detected on the inner wall of the pipeline are detected by using ultrasonic waves, and the auxiliary camera performs detection at the same time to obtain the plane information of the point to be detected. The first posture information is used to perform calibration based on the real-time acquired plane information of the point to be detected; In said S3, the detection information of the point to be detected fed back in real time by the detection mechanism and the first posture information of the positioning plate are calibrated as follows: the first posture information and the obtained detection information are differentiated, and when the difference is zero, the detection data obtained by the detection mechanism is output; when the two are different, based on the difference between the two, the feedback is given to the second adjustment mechanism to adjust the detection mechanism, so that the readjusted detection surface and the readjusted first posture information remain consistent, so as to obtain the most intuitive detection data of the detection point.

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