Device for measuring thickness of pipeline with coating layer based on digital ultrasonic technology

Abstract

The invention provides a device for measuring the thickness of a pipeline with a coating layer based on a digital ultrasonic technology, belongs to the technical field of pipeline thickness measurement, and solves the technical problems that an existing pipeline thickness measurement device is low in automation level, high in professional requirement, inaccurate in thickness measurement and the like. Comprising a machine box, mechanical arm mechanisms are rotationally arranged at the four corners of the machine box, clamping mechanisms are arranged at the ends of the mechanical arm mechanisms, and a main control board, a double-channel liquid injection pump, a sweeping mechanism, a smearing and cleaning mechanism, a drying mechanism, an ultrasonic thickness measuring mechanism and a storage battery are sequentially arranged on the lower end face in the machine box from back to front; the main control board is provided with a data processing module, a data storage module, a wireless communication module, a driving control module, a 3D modeling module, a positioning module, a battery management module and a data safety module. The device can stably walk on the pipeline, can automatically clean and measure the thickness, guarantees the measurement accuracy, carries out 3D modeling analysis on the pipeline, guides the next thickness measurement, and is high in automation level and low in professional requirement.

Description

Technical Field

[0001] The invention belongs to the technical field of pipeline thickness measurement, and relates to a thickness measuring device based on digital ultrasonic technology, in particular to a thickness measuring device for a pipeline with a coating layer based on digital ultrasonic technology. Background Art

[0002] In many industrial fields such as petroleum, chemical industry, natural gas transportation, and heat, pipelines are extremely critical transportation carriers, and a large amount of fluid media is transported through pipelines. In order to extend the service life of the pipeline and achieve functions such as thermal insulation and anti-corrosion, a coating layer is usually set on the outer layer of the pipeline, such as common anti-corrosion coatings and thermal insulation layers. However, as the pipeline serves for a long time, the wall thickness of the pipeline may gradually change under the influence of factors such as internal medium erosion, external environmental erosion, and pressure changes. Accurately understanding the wall thickness of the pipeline is crucial to ensure the safe operation of the pipeline and prevent safety accidents such as leakage.

[0003] Existing mechanical measurement methods, such as using calipers, micrometers and other tools to directly measure the pipe wall thickness, are cumbersome, time-consuming and labor-intensive, and can damage the coating. The electromagnetic detection method is greatly affected by factors such as the coating material and conductivity. For some non-conductive or complex electromagnetic coatings, the detection effect is not good, and its detection accuracy is difficult to meet the requirements of high-precision thickness measurement in many cases, and it requires high professionalism. This has created a strong demand for accurate thickness measurement of pipes with coatings.

[0004] Therefore, we propose a coating pipe thickness measuring device based on digital ultrasonic technology, which can move stably on the pipeline, automatically clean and measure thickness to ensure accurate measurement, and perform 3D modeling analysis on the pipeline to guide the next thickness measurement. It has a high level of automation and low professional requirements. Summary of the invention

[0005] The purpose of the present invention is to address the above-mentioned problems in the existing technology and propose a device for measuring the thickness of a pipe with a coating layer based on digital ultrasonic technology. The technical problem to be solved by the invention is: how to achieve accurate thickness measurement of a pipe with a coating layer through automatic positioning, pipeline walking, automatic cleaning of the thickness measurement position, washing and drying, uniform application of coupling agent, automatic thickness measurement and automated operations of 3D modeling.

[0006] The purpose of the present invention can be achieved by the following technical solutions:

[0007] A device for measuring the thickness of a pipe with a coating layer based on digital ultrasonic technology comprises a machine box, wherein the four corners of the machine box are all rotatably provided with a mechanical arm mechanism, and the ends of the mechanical arm mechanism are all detachably provided with a clamping mechanism, and the interior of the machine box is provided with a main control board, a dual-channel injection pump, a cleaning mechanism, a smearing and cleaning mechanism, a drying mechanism, an ultrasonic thickness measuring mechanism and a battery in sequence from back to front, wherein the cleaning mechanism, the smearing and cleaning mechanism, the drying mechanism and the ultrasonic thickness measuring mechanism are located in the middle of the machine box, and the cleaning mechanism, the smearing and cleaning mechanism, the drying mechanism and the ultrasonic thickness measuring mechanism all pass through the machine box and extend toward the machine box. Below the box, a water tank, a fan, a filter box and a coupling agent box are also arranged inside the box. The water tank and the coupling agent box are respectively located on the left and right sides of the smearing and cleaning mechanism, and the water tank and the coupling agent box are respectively connected to the dual-channel injection pump through pipes. The fan and the filter box are respectively located on the left and right sides of the cleaning mechanism, and the cleaning mechanism, the filter box, the fan and the drying mechanism are connected in turn through pipes. The mechanical arm mechanism, the clamping mechanism, the dual-channel injection pump, the cleaning mechanism, the smearing and cleaning mechanism, the drying mechanism, the ultrasonic thickness measuring mechanism, the fan and the battery are all electrically connected to the main control board;

[0008] The main control board is equipped with a data processing module, a data storage module, a wireless communication module, a drive control module, a 3D modeling module, a positioning module, a battery management module and a data security module.

[0009] The working principle of the present invention is as follows: the staff replaces the corresponding coupling agent according to the material of the pipeline, debugs the equipment, sets the instructions, and then places the device on the pipeline. The device scans the environment and uploads the scanned environmental data to the data processing module. The data processing module pre-processes the scanned data and then distributes it to the drive control module and the 3D modeling module. The battery management module monitors the battery status and controls the battery charging and discharging process to ensure the safe operation of the battery. The drive control module controls the movement of the corresponding electrical components to complete the corresponding actions.

[0010] The four mechanical arm mechanisms drive the clamping mechanisms at the corresponding positions to move. The two mechanical arm mechanisms on the same side of the front and back and the clamping mechanisms at the corresponding positions on them clamp the pipe alternately to avoid interference. Then the two mechanical arm mechanisms on the same side of the left and right drive the clamping mechanisms at the corresponding positions to move in pairs, clamping the pipe, releasing the clamping, moving forward a certain distance and continuing to clamp, and the pipe is moved alternately.

[0011] When passing through the pipe connection, the two mechanical arm mechanisms located on the same side of the front and rear and the clamping mechanisms at the corresponding positions thereon are staggered to clamp on the pipe, and the clamping position is adjusted so that the device is facing the pipe at the connection. Then the two mechanical arm mechanisms located on the front side drive the corresponding clamping mechanisms to release the clamping and move to the pipe at the connection. Then the two clamping mechanisms move to clamp the pipe at the connection. After clamping, the two mechanical arm mechanisms located on the rear side drive the corresponding clamping mechanisms to release the clamping. Repeat the above operation and clamp on the pipe at the connection to complete the connection pipe walking. During the walking process, the pipe path and pipe data are recorded and uploaded to the data processing module for modeling.

[0012] When measuring thickness, the device stops at the thickness measuring position according to the scanning data and setting instructions, then scans the pipeline surface environment, cleans, washes and dries the dust and garbage on the surface of the pipeline coating, and the cleaning mechanism moves to the pipeline surface to clean the pipeline surface. At the same time, the fan starts to suck away the dust during cleaning, and the sucked away dust is filtered by the filter box. The cleaning mechanism returns to the initial position, and then the four mechanical arm mechanisms drive the clamping mechanisms at the corresponding positions to move forward, so that the smearing and cleaning mechanism moves to the top of the thickness measuring position, and the smearing and cleaning mechanism moves downward close to The thickness measuring place, then the dual-channel injection pump pumps the water in the water tank into the coating and cleaning mechanism, and the coating and cleaning mechanism cleans the thickness measuring place. After cleaning, the coating and cleaning mechanism returns to the initial position, and the four mechanical arm mechanisms drive the clamping mechanism at the corresponding position to move forward, so that the drying mechanism moves to the top of the thickness measuring place, and the drying mechanism moves downward to approach the thickness measuring place. The fan sucks air and transports the air to the filter box, and then the air is transported to the drying mechanism after being filtered by the filter box. After being heated by the drying mechanism, it is blown to the thickness measuring place to dry the thickness measuring place. The drying mechanism returns to the initial position, and then the four machines The mechanical arm mechanism drives the clamping mechanism at the corresponding position to move backward, so that the smearing and cleaning mechanism moves to the top of the thickness measuring place, and the smearing and cleaning mechanism moves downward to approach the thickness measuring place. The dual-channel injection pump pumps the coupling agent in the coupling agent box into the smearing and cleaning mechanism. The smearing and cleaning mechanism squeezes the coupling agent at the thickness measuring place, and then the smearing and cleaning mechanism evenly spreads the coupling agent. Then the four mechanical arm mechanisms drive the clamping mechanisms at the corresponding positions to move forward, so that the ultrasonic thickness measuring mechanism moves to the top of the thickness measuring place, and then the ultrasonic thickness measuring mechanism moves downward and is inserted into the coupling agent to measure the thickness of the pipeline. The thickness result is uploaded to the data processing module, which pre-processes the data and distributes it to the 3D modeling module. The 3D modeling module adjusts the wall thickness of the pipe at that location, and then continues to move to the next thickness measurement location. While measuring the thickness, the dual-channel injection pump pumps the water in the water tank into the coating and cleaning mechanism to clean the coupling agent remaining in the coating and cleaning mechanism to avoid the coupling agent remaining in the coating and cleaning mechanism to cause pollution. After completing a thickness measurement, one of the clamping mechanisms moves to the bottom of the ultrasonic thickness measurement mechanism to wipe off the coupling agent remaining on the ultrasonic thickness measurement mechanism;

[0013] After the data of thickness measurement path record and environmental scanning are collected, they are pre-processed by the data processing module and then distributed to the 3D modeling module. Then the 3D modeling module performs 3D pipeline modeling based on the pre-processed data, analyzes the best path and evaluates possible thickness danger points, provides reference for the next thickness measurement, and stores the data and modeling model in the data storage module and uploads them to the cloud through the wireless communication module;

[0014] The positioning module accurately records the specific position of the ultrasonic thickness measuring mechanism on the pipeline during each thickness measurement, including the axial position (along the length of the pipeline) and the circumferential position (around the circumference of the pipeline), so that the collected thickness data can accurately correspond to the corresponding part of the pipeline;

[0015] The thickness data with precise location information is sent to the data processing module. After pre-processing operations such as sorting and screening the data based on the positioning information, the data is passed to the 3D modeling module, so that the 3D modeling module can construct a 3D pipeline model that conforms to the actual spatial distribution of the pipeline according to the accurate location coordinates, thereby realizing a coherent and orderly operation from measurement to 3D modeling.

[0016] The front side of the machine box is provided with a front side plate, and the front side end surface and the lower end surface of the front side plate are provided with a plurality of visual cameras, and the plurality of visual cameras are electrically connected to the main control board.

[0017] With the above structure, several visual cameras are used to scan the environment and identify the pipeline surface, and upload image data to the data processing module.

[0018] The robotic arm mechanism includes a rotating seat, a robotic arm 2, a telescopic arm and a robotic arm 1. A drive motor 1 is fixed inside the rotating seat, and the output shaft of the drive motor 1 is fixed at a corner of the machine box. A drive motor 2 and a drive motor 4 are fixed to the two side ends of the robotic arm 2 respectively, and the output shaft of the drive motor 2 is fixed to the end of the rotating seat, and the output shaft of the drive motor 4 is fixed to the inner side of one end of the telescopic arm. A drive motor 3 is fixed to the inner side of one end of the robotic arm 1, and the output shaft of the drive motor 3 is fixed to the inner side of the other end of the telescopic arm. The drive motor 1, the drive motor 2, the drive motor 4 and the drive motor 3 are all electrically connected to the main control board.

[0019] With the above structure, the drive control module controls the start and stop of drive motor one, drive motor two, drive motor three and drive motor four. The output shaft of drive motor one rotates, reacts on the rotating seat, and drives the rotating seat to move. The output shaft of drive motor two rotates, reacts on mechanical arm two, and drives mechanical arm two to move. The output shaft of drive motor four rotates, reacts on the telescopic arm, and drives the telescopic arm to move. The output shaft of drive motor three rotates, reacts on mechanical arm one, drives mechanical arm one to move, thereby driving the clamping mechanism at the corresponding position to move.

[0020] The clamping mechanism comprises an electric push rod 1, on which a plurality of mounting seats are provided, which are detachably arranged on the inner side of the end of the mechanical arm 1, an arc-shaped clamping seat is fixed on the telescopic end of the electric push rod 1, an electric push rod 3 is provided in the middle position of the arc-shaped clamping seat, a fixing plate is fixed on the telescopic end of the electric push rod 3, the arc-shaped clamping seat is Y-shaped, arc-shaped clamping arms are hinged at both ends of the arc-shaped clamping seat, and an electric push rod is hinged between the arc-shaped clamping arm and the arc-shaped clamping seat The outer sides of the two arc-shaped arms are hinged with electric push rods 2, the ends of the two arc-shaped arms are hinged with arc-shaped clamping arms, the telescopic ends of the two electric push rods 2 are respectively hinged to the arc-shaped clamping arms on the same side, the inner sides of the ends of the two arc-shaped clamping arms are hinged with fixed plates, and friction pads are detachably provided on the fixed plates. The electric push rods 1, 3, and 2 are all electrically connected to the main control board, a wiping cylinder is provided on the arc-shaped clamping arm close to the ultrasonic thickness measuring mechanism, and a wiping sponge is provided on the wiping cylinder.

[0021] With the above structure, the drive control module controls the start and stop of the electric push rod 1, the electric push rod 2 and the electric push rod 3. The telescopic end of the electric push rod 1 drives the arc clamping seat and the two arc clamping arms to move, so that the fixed plate on the arc clamping seat abuts against the pipe. Then the telescopic ends of the two electric push rods 2 drive the arc clamping arms at corresponding positions to move. The fixed plates on the two arc clamping arms adjust their positions during the clamping process and abut against the coating layer outside the pipe, and cooperate with the fixed plates on the arc clamping seat to clamp the pipe. After completing one thickness measurement, the wiping cylinder moves to the bottom of the ultrasonic thickness measuring mechanism to wipe off the coupling agent remaining on the ultrasonic thickness measuring mechanism.

[0022] The cleaning mechanism includes an electric push rod six, which is fixed in the middle position inside the machine box and is located at the rear side of the dual-channel injection pump. An electric cleaning head is detachably provided below the telescopic end of the electric push rod six, and a dust hood is provided on the outer side of the electric cleaning head. The dust hood is connected to the filter box through a pipeline, and the electric push rod six and the electric cleaning head are both electrically connected to the main control board.

[0023] With the above structure, the drive control module controls the start and stop of the electric push rod 6, the fan and the electric cleaning head. The telescopic end of the electric push rod 6 drives the electric cleaning head to move. The movement of the electric cleaning head will clean the surface of the pipeline. During cleaning, the fan starts to suck the cleaned dust.

[0024] The smearing and cleaning mechanism includes an electric push rod four, which is fixed in the middle position inside the machine box and is located directly behind the electric push rod six. An electric rotating seat is detachably provided below the telescopic end of the electric push rod four, and a smearing barrel is detachably provided at the lower end of the electric rotating seat. A smearing port is provided at the end of the smearing barrel, and two symmetrically arranged liquid inlet pipes are provided on the smearing barrel. A driving motor five is provided inside the smearing barrel, and a screw is fixed on the output shaft of the driving motor five, and a stop plate is provided at the end of the screw. An extrusion plate is provided on the screw for transmission, and the extrusion plate is slidably arranged inside the smearing barrel. The two liquid inlet pipes are respectively connected to the two liquid outlets of the dual-channel injection pump through pipes, and the driving motor five, the electric push rod four and the electric rotating seat are all electrically connected to the main control board.

[0025] With the above structure, in normal state, the extrusion plate contacts the stop plate. When applying coupling agent and cleaning, the extrusion plate first moves to the end of the screw, and the stop plate is used to block the extrusion plate.

[0026] The drive control module controls the start and stop of the drive motor 5, the electric push rod 4 and the electric rotating seat. The telescopic end of the electric push rod 4 drives the electric rotating seat and the coating tube to move, so that the end of the coating tube approaches the surface of the pipeline;

[0027] When applying the coupling agent, the coupling agent enters the coating barrel from one of the liquid inlet pipes, and then the output shaft of the driving motor 5 rotates to drive the screw to rotate. The screw rotation drives the extrusion plate to move along the screw in the coating barrel. The extrusion plate squeezes the coupling agent in the coating barrel, so that the coupling agent is squeezed out from the coating port and falls on the thickness measuring surface after cleaning and drying. After the coupling agent is injected, the extrusion plate returns to the initial position, and the electric rotating seat drives the coating barrel to rotate forward one circle and reverse one circle to evenly smooth the extruded coupling agent.

[0028] After completing the thickness measurement, water enters the coating tube from another liquid inlet pipe, and then the output shaft of the driving motor 5 rotates to drive the screw to rotate. The rotation of the screw drives the extrusion plate to move on the screw. The extrusion plate squeezes the water entering the coating tube to clean the inside of the coating tube to prevent the coupling agent from adhering to the coating tube.

[0029] The drying mechanism includes an electric push rod five, which is fixed in the middle position inside the machine box and is located directly behind the electric push rod four. A dryer is detachably provided below the telescopic end of the electric push rod five. The dryer is connected to the air outlet of the fan through a pipeline. The electric push rod five and the dryer are both electrically connected to the main control board.

[0030] With the above structure, the drive control module controls the start and stop of the electric push rod 5 and the dryer. The telescopic end of the electric push rod 5 drives the dryer to move. The dryer approaches the thickness measuring part. The dryer heats the air blown in by the fan and then blows it out to dry the thickness measuring part.

[0031] The ultrasonic thickness measuring mechanism comprises an electric push rod 7, which is fixed in the middle position inside the machine box and is located directly behind the electric push rod 5. An ultrasonic thickness measuring probe is detachably provided below the telescopic end of the electric push rod 7. Both the electric push rod 7 and the ultrasonic thickness measuring probe are electrically connected to the main control board.

[0032] With the above structure, the drive control module controls the start and stop of the electric push rod 7 and the ultrasonic thickness measuring probe. The telescopic end of the electric push rod 7 drives the ultrasonic thickness measuring probe to move. The ultrasonic thickness measuring probe extends into the coupling agent to measure the thickness of the pipeline. The thickness measurement data is uploaded to the data processing module.

[0033] The data processing module includes an image processing submodule and a data optimization submodule, which preprocess the collected images, test data and feedback processing data. The processing methods include but are not limited to data cleaning, data filtering, data denoising and data alignment. The preprocessed data is further identified and analyzed or assigned to the corresponding module for processing. After the processing is completed, an analysis result is generated, a decision is made based on the analysis result, and a decision control instruction is generated and transmitted to the corresponding execution module. After the execution is completed, the execution module feeds back the execution data to the data processing module, and the data optimization submodule processes and optimizes the feedback data;

[0034] The data storage module provides data storage and management functions, stores one or more programs, and stores processed data in a database, storage device or cloud for subsequent analysis and utilization, and manages the data;

[0035] The wireless communication module receives wireless signal instructions and sends wireless data, uploading the thickness measurement results and 3D modeling data to the cloud;

[0036] The drive control module receives the control instructions and drives the corresponding electrical components to move, completes the control instructions and feeds back the execution results;

[0037] The 3D modeling module further processes the pre-processed path data and scanned environment data to complete the 3D modeling;

[0038] The positioning module receives signals from satellites, base stations or other wireless signal sources, calculates the propagation time and angle of these signals, determines the location of the device, and uploads the location data to the data processing module;

[0039] The battery management module monitors the battery status, controls the battery charging and discharging process, and ensures the safe operation of the battery;

[0040] The data security module encrypts the transmitted and stored data to protect privacy.

[0041] Compared with the existing technology, the device for measuring the thickness of a pipe with a coating layer based on digital ultrasonic technology has the following advantages:

[0042] 1. The battery management module cooperates with the battery to monitor the battery status, control the battery charging and discharging process, ensure the safe operation of the battery, and keep the battery working stably.

[0043] 2. The driving control module cooperates with four robotic arm mechanisms and four clamping mechanisms to drive the robotic arm mechanisms and the clamping mechanisms at the corresponding positions to move, realize pipeline walking, and cooperate with several visual cameras and positioning modules to accurately scan the position of the pipeline environment positioning device to ensure stable walking.

[0044] 3. Through the driving control module, the dual-channel injection pump, cleaning mechanism, smearing and cleaning mechanism, drying mechanism and ultrasonic thickness measuring mechanism are coordinated to automatically clean, clean, dry and evenly apply coupling agent to the thickness measuring position to ensure the accuracy of thickness measurement data, avoid interference, and automatically and accurately measure thickness, with a high level of automation.

[0045] 4. The driving control module cooperates with the coating and cleaning mechanism, dual-channel injection pump, water tank and coupling agent box to complete the coupling agent coating and cleaning after the coupling agent coating, avoid internal contamination of the coating and cleaning mechanism, and ensure accurate measurement results.

[0046] 5. Through the cooperation of 3D modeling module with several visual cameras and positioning modules, the thickness measurement path and pipeline environmental data are recorded, and 3D modeling is performed on the measured pipeline to analyze the best path for the next thickness measurement and evaluate possible thickness danger points. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 It is a three-dimensional structural schematic diagram of the present invention.

[0048] Figure 2 It is a structural schematic diagram of the front view of the present invention.

[0049] Figure 3 It is a three-dimensional structural schematic diagram of some components in the present invention.

[0050] Figure 4 It is a three-dimensional structural schematic diagram of the mechanical arm mechanism in the present invention.

[0051] Figure 5 It is a three-dimensional structural schematic diagram of the clamping mechanism in the present invention.

[0052] Figure 6 It is a three-dimensional structural schematic diagram of the cleaning mechanism in the present invention.

[0053] Figure 7 It is a three-dimensional structural diagram of the smear cleaning mechanism in the present invention

[0054] Figure 8 It is a partial cross-sectional view of the smear cleaning mechanism in the present invention.

[0055] Fig. 9 It is a structural schematic diagram of the drying mechanism in the present invention.

[0056] Fig.10 It is a structural schematic diagram of the ultrasonic thickness measuring mechanism in the present invention.

[0057] Fig.11 It is a block diagram of the electric control system of the present invention.

[0058] In the figure, 1, machine box; 2, mechanical arm mechanism; 3, clamping mechanism; 4, cleaning mechanism; 5, smear cleaning mechanism; 6, ultrasonic thickness measuring mechanism; 7, drying mechanism; 8, front side plate; 9, main control board; 10, dual-channel injection pump; 11, water tank; 12, coupling agent box; 13, battery; 14, rotating seat; 15, drive motor 1; 16, drive motor 2; 17, mechanical arm 1; 18, drive motor 3; 19, telescopic arm; 20, drive motor 4; 21, mechanical arm 2; 22, mounting seat; 23, Electric push rod one; 24, arc-shaped clamping seat; 25, electric push rod two; 26, arc-shaped clamping arm; 27, fixed plate; 28, electric push rod three; 29, electric push rod four; 30, coating tube; 31, coating port; 32, electric rotating seat; 33, electric push rod five; 34, dryer; 35, electric push rod six; 36, electric cleaning head; 37, electric push rod seven; 38, ultrasonic thickness probe; 39, dust hood; 40, fan; 41, filter box; 42, extrusion plate; 43, screw; 44, stop plate. DETAILED DESCRIPTION

[0059] The following are specific embodiments of the present invention and the accompanying drawings to further describe the technical solution of the present invention, but the present invention is not limited to these embodiments.

[0060] like Figure 1-Figure 11As shown, the coating layer pipe thickness measuring device based on digital ultrasonic technology comprises a machine box 1, the four corners of the machine box 1 are rotatably provided with a mechanical arm mechanism 2, the ends of the mechanical arm mechanism 2 are detachably provided with a clamping mechanism 3, the interior of the machine box 1 is provided with a main control board 9, a dual-channel injection pump 10, a cleaning mechanism 4, a smearing and cleaning mechanism 5, a drying mechanism 7, an ultrasonic thickness measuring mechanism 6 and a battery 13 from back to front, the cleaning mechanism 4, the smearing and cleaning mechanism 5, the drying mechanism 7 and the ultrasonic thickness measuring mechanism 6 are located in the middle position of the machine box 1, the cleaning mechanism 4, the smearing and cleaning mechanism 5, the drying mechanism 7 and the ultrasonic thickness measuring mechanism 6 all pass through the machine box 1 and extend to the bottom of the machine box 1, and the inside of the machine box 1 is provided with a main control board 9, a dual-channel injection pump 10, a cleaning mechanism 4, a smearing and cleaning mechanism 5, a drying mechanism 7, an ultrasonic thickness measuring mechanism 6 and a battery 13. The part is also provided with a water tank 11, a fan 40, a filter box 41 and a coupling agent box 12, which are respectively located on the left and right sides of the smearing and cleaning mechanism 5, and the water tank 11 and the coupling agent box 12 are respectively connected to the dual-channel injection pump 10 through pipelines, the fan 40 and the filter box 41 are respectively located on the left and right sides of the cleaning mechanism 4, and the cleaning mechanism 4, the filter box 41, the fan 40 and the drying mechanism 7 are sequentially connected through pipelines, and the mechanical arm mechanism 2, the clamping mechanism 3, the dual-channel injection pump 10, the cleaning mechanism 4, the smearing and cleaning mechanism 5, the drying mechanism 7, the ultrasonic thickness measuring mechanism 6, the fan 40 and the battery 13 are all electrically connected to the main control board 9;

[0061] The main control board 14 is provided with a data processing module, a data storage module, a wireless communication module, a drive control module, a 3D modeling module, a positioning module, a battery management module and a data security module.

[0062] In this embodiment, the staff replaces the corresponding coupling agent according to the material of the pipeline, debugs the equipment, sets the instructions, and then puts the device on the pipeline. The device scans the environment and uploads the scanned environmental data to the data processing module. The data processing module pre-processes the scanned data and then distributes it to the drive control module and the 3D modeling module. The battery management module monitors the battery status and controls the battery charging and discharging process to ensure the safe operation of the battery. The drive control module controls the movement of the corresponding electrical components to complete the corresponding actions.

[0063] The four mechanical arm mechanisms 2 drive the clamping mechanisms 3 at the corresponding positions to move. The two mechanical arm mechanisms 2 on the same side of the front and back and the clamping mechanisms 3 at the corresponding positions thereon are staggered to clamp the pipeline to avoid interference. Then the two mechanical arm mechanisms 2 on the same side of the left and right drive the clamping mechanisms 3 at the corresponding positions to move in pairs, clamping the pipeline, releasing the clamping, moving forward a certain distance and continuing to clamp, and the pipeline is moved.

[0064] When passing through the pipe connection, the two mechanical arm mechanisms 2 located on the same side of the front and rear and the clamping mechanisms 3 at the corresponding positions thereon are staggered to clamp on the pipe, and the clamping position is adjusted so that the device is facing the pipe at the connection. Then the two mechanical arm mechanisms 2 located on the front side drive the corresponding clamping mechanisms 3 to release the clamping and move to the pipe at the connection. Then the two clamping mechanisms 3 move to clamp the pipe at the connection. After clamping, the two mechanical arm mechanisms 2 located on the rear side drive the corresponding clamping mechanisms 3 to release the clamping, repeat the above operation, clamp on the pipe at the connection, complete the connection pipe walking, record the pipe path and pipe data during the walking process, and upload them to the data processing module for modeling;

[0065] When measuring thickness, the device stops at the thickness measuring position according to the scanning data and the set instructions, then scans the surface environment of the pipeline, cleans, washes and dries the dust and garbage on the surface of the pipeline coating layer, and the cleaning mechanism 4 moves to the pipeline surface to clean the pipeline surface. At the same time, the fan 40 is started to suck away the dust during cleaning, and the sucked away dust is filtered by the filter box 41. The cleaning mechanism 4 returns to the initial position, and then the four mechanical arm mechanisms 2 drive the clamping mechanism 3 at the corresponding position to move forward, so that the smearing and cleaning mechanism 5 moves to the top of the thickness measuring position, and the smearing and cleaning mechanism 5 moves downward to approach the thickness measuring position. Then, the dual-channel injection pump 10 pumps the water in the water tank 11 into the coating and cleaning mechanism 5, and the coating and cleaning mechanism 5 cleans the thickness measuring place. After cleaning, the coating and cleaning mechanism 5 returns to the initial position, and the four mechanical arm mechanisms 2 drive the clamping mechanism 3 at the corresponding position to move forward, so that the drying mechanism 7 moves to the top of the thickness measuring place, and the drying mechanism 7 moves downward to approach the thickness measuring place. The fan 40 sucks air and transports the air to the filter box 41. After being filtered by the filter box 41, it is transported to the drying mechanism 7, and after being heated by the drying mechanism 7, it is blown to the thickness measuring place to dry the thickness measuring place. The drying mechanism 7 returns to the initial position, and then The four mechanical arm mechanisms 2 drive the clamping mechanisms 3 at the corresponding positions to move backward, so that the smearing and cleaning mechanisms 5 move to the top of the thickness measuring place, and the smearing and cleaning mechanisms 5 move downward to approach the thickness measuring place, and the dual-channel injection pump 10 pumps the coupling agent in the coupling agent box 12 into the smearing and cleaning mechanisms 5, and the smearing and cleaning mechanisms 5 squeeze the coupling agent at the thickness measuring place, and then the smearing and cleaning mechanisms 5 evenly smear the coupling agent, and then the four mechanical arm mechanisms 2 drive the clamping mechanisms 3 at the corresponding positions to move forward, so that the ultrasonic thickness measuring mechanism 6 moves to the top of the thickness measuring place, and then the ultrasonic thickness measuring mechanism 6 moves downward and is inserted into the coupling agent to measure the thickness of the pipeline. Thickness measurement, the result of thickness measurement is uploaded to the data processing module, the data processing module pre-processes the data and distributes it to the 3D modeling module, the 3D modeling module adjusts the wall thickness of the pipe at that location, and then continues to move to the next thickness measurement location. While measuring the thickness, the dual-channel injection pump 10 pumps the water in the water tank 11 into the smearing and cleaning mechanism 5 to clean the coupling agent remaining in the smearing and cleaning mechanism 5 to avoid the coupling agent remaining in the smearing and cleaning mechanism 5 to cause pollution. After completing one thickness measurement, one of the clamping mechanisms 3 moves to the bottom of the ultrasonic thickness measuring mechanism 6 to wipe off the coupling agent remaining on the ultrasonic thickness measuring mechanism 6;

[0066] After the data of thickness measurement path record and environmental scanning are collected, they are pre-processed by the data processing module and then distributed to the 3D modeling module. Then the 3D modeling module performs 3D pipeline modeling based on the pre-processed data, analyzes the best path and evaluates possible thickness danger points, provides reference for the next thickness measurement, and stores the data and modeling model in the data storage module and uploads them to the cloud through the wireless communication module;

[0067] The positioning module accurately records the specific position of the ultrasonic thickness measuring mechanism 6 on the pipeline during each thickness measurement, including the axial position (along the length direction of the pipeline) and the circumferential position (around the circumference of the pipeline), so that the collected thickness data can accurately correspond to the corresponding part of the pipeline;

[0068] The thickness data with precise location information is sent to the data processing module. After pre-processing operations such as sorting and screening the data based on the positioning information, the data is passed to the 3D modeling module, so that the 3D modeling module can construct a 3D pipeline model that conforms to the actual spatial distribution of the pipeline according to the accurate location coordinates, thereby realizing a coherent and orderly operation from measurement to 3D modeling.

[0069] A front side plate 39 is provided on the front side of the machine box 1 . A plurality of visual cameras are provided on the front end surface and the lower end surface of the front side plate 39 . The plurality of visual cameras are electrically connected to the main control board 9 .

[0070] In this embodiment, a plurality of visual cameras are used to scan the environment and identify the pipeline surface, and upload image data to the data processing module.

[0071] The robotic arm mechanism 2 includes a rotating base 14, a robotic arm 21, a telescopic arm 19 and a robotic arm 17. A drive motor 15 is fixed inside the rotating base 14, and the output shaft of the drive motor 15 is fixed at a corner of the machine box 1. The two side ends of the robotic arm 21 are respectively fixed with a drive motor 2 16 and a drive motor 4 20, the output shaft of the drive motor 2 16 is fixed at the end of the rotating base 14, the output shaft of the drive motor 4 20 is fixed on the inner side of one end of the telescopic arm 19, and a drive motor 3 18 is fixed on the inner side of one end of the robotic arm 17, and the output shaft of the drive motor 3 18 is fixed on the inner side of the other end of the telescopic arm 19. The drive motor 15, the drive motor 2 16, the drive motor 4 20 and the drive motor 3 18 are all electrically connected to the main control board 9.

[0072] In this embodiment, the drive control module controls the start and stop of drive motor 1 15, drive motor 2 16, drive motor 3 18 and drive motor 4 20. The output shaft of drive motor 15 rotates, reacts on the rotating seat 14, and drives the rotating seat 14 to move. The output shaft of drive motor 2 16 rotates, reacts on mechanical arm 2 21, and drives the mechanical arm 2 21 to move. The output shaft of drive motor 4 20 rotates, reacts on telescopic arm 19, and drives the telescopic arm 19 to move. The output shaft of drive motor 3 18 rotates, reacts on mechanical arm 17, and drives mechanical arm 17 to move, thereby driving the clamping mechanism 3 at the corresponding position to move.

[0073] The clamping mechanism 3 includes an electric push rod 23, on which a plurality of mounting seats 22 are provided, and the plurality of mounting seats 22 are detachably arranged on the inner side of the end of the mechanical arm 17. An arc-shaped clamping seat 24 is fixed on the telescopic end of the electric push rod 23, and an electric push rod 3 28 is provided in the middle position of the arc-shaped clamping seat 24. A fixing plate 27 is fixed on the telescopic end of the electric push rod 3 28. The arc-shaped clamping seat 24 is Y-shaped, and both ends of the arc-shaped clamping seat 24 are hinged with arc-shaped clamping arms 26, and electric clamping arms 26 and the arc-shaped clamping seat 24 are hingedly connected. The outer side of the movable push rod 25 is hinged with an electric push rod 25, the ends of the two arc-shaped arms are hinged with an arc-shaped clamping arm 26, the telescopic ends of the two electric push rods 25 are respectively hinged with the arc-shaped clamping arms 26 on the same side, the inner sides of the ends of the two arc-shaped clamping arms 26 are hinged with a fixing plate 27, and the fixing plate 27 is detachably provided with a friction pad, the electric push rod 1 23, the electric push rod 3 28, and the electric push rod 2 25 are all electrically connected to the main control board 9, and a wiping cylinder is provided on the arc-shaped clamping arm 26 close to the ultrasonic thickness measuring mechanism 6, and a wiping sponge is provided on the wiping cylinder.

[0074] In this embodiment, the drive control module controls the start and stop of the electric push rod 1 23, the electric push rod 25 and the electric push rod 3 28. The telescopic end of the electric push rod 1 23 drives the arc-shaped clamping seat 24 and the two arc-shaped clamping arms 26 to move, so that the fixed plate 27 on the arc-shaped clamping seat 24 abuts against the pipe. Then the telescopic ends of the two electric push rods 25 drive the arc-shaped clamping arms 26 at the corresponding positions to move. The fixed plates 27 on the two arc-shaped clamping arms 26 adjust their positions during the clamping process and abut against the coating layer outside the pipe, and cooperate with the fixed plates 27 on the arc-shaped clamping seat 24 to clamp the pipe. After completing a thickness measurement, the wiping cylinder moves to the bottom of the ultrasonic thickness measuring mechanism 6 to wipe off the coupling agent remaining on the ultrasonic thickness measuring mechanism 6.

[0075] The cleaning mechanism 4 includes an electric push rod 6 35, which is fixed in the middle position inside the machine box 1 and is located on the rear side of the dual-channel injection pump 10. An electric cleaning head 36 is detachably provided below the telescopic end of the electric push rod 6 35. A dust hood 39 is provided on the outer side of the electric cleaning head 36. The dust hood 39 is connected to the filter box through a pipeline. The electric push rod 6 35 and the electric cleaning head 36 are both electrically connected to the main control board 9.

[0076] In this embodiment, the drive control module controls the start and stop of the electric push rod 6 35, the fan 40 and the electric cleaning head 36. The telescopic end of the electric push rod 6 35 drives the electric cleaning head 36 to move. The movement of the electric cleaning head 36 will clean the surface of the pipeline. During cleaning, the fan 40 starts to suck the cleaned dust.

[0077] The smearing and cleaning mechanism 5 includes an electric push rod 29, which is fixed in the middle position inside the machine box 1, and the electric push rod 29 is located directly behind the electric push rod 6 35. An electric rotating seat 32 is detachably provided below the telescopic end of the electric push rod 29, and a smearing barrel 30 is detachably provided at the lower end of the electric rotating seat 32. A smearing barrel 30 has a smearing port 31 at the end thereof, and two symmetrically arranged liquid inlet pipes are arranged on the smearing barrel 30. A driving motor 5 is arranged inside the smearing barrel 30, and a screw 43 is fixed on the output shaft of the driving motor 5. A stop plate 44 is arranged at the end of the screw 43. An extrusion plate 42 is arranged on the screw 43 for transmission, and the extrusion plate 42 is slidably arranged inside the smearing barrel 30. The two liquid inlet pipes are respectively connected to the two liquid outlets of the dual-channel injection pump 10 through pipes, and the driving motor 5, the electric push rod 29 and the electric rotating seat 32 are all electrically connected to the main control board 9.

[0078] In this embodiment, in a normal state, the extrusion plate 42 abuts against the stop plate 44. When applying the coupling agent and cleaning, the extrusion plate 42 first moves to the end of the screw 43, and the stop plate 44 is used to block the extrusion plate 42.

[0079] The drive control module controls the start and stop of the drive motor 5, the electric push rod 4 29 and the electric rotating seat 32. The telescopic end of the electric push rod 4 29 drives the electric rotating seat 32 and the coating tube 30 to move, so that the end of the coating tube 30 is close to the pipe surface;

[0080] When applying the coupling agent, the coupling agent enters the coating barrel 30 from one of the liquid inlet pipes, and then the output shaft of the driving motor 5 rotates to drive the screw 43 to rotate. The rotation of the screw 43 drives the extrusion plate 42 to move along the screw 43 in the coating barrel 30. The extrusion plate 42 squeezes the coupling agent in the coating barrel 30, so that the coupling agent is squeezed out from the coating port 31 and falls on the thickness measuring surface after cleaning and drying. After the coupling agent is injected, the extrusion plate 42 returns to the initial position, and the electric rotating seat 32 drives the coating barrel 30 to rotate forward one circle and reverse one circle to evenly smooth the extruded coupling agent.

[0081] After completing the thickness measurement, water enters the coating tube 30 from another liquid inlet pipe, and then the output shaft of the driving motor 5 rotates to drive the screw 43 to rotate. The rotation of the screw 43 drives the extrusion plate 42 to move on the screw 43. The extrusion plate 42 squeezes the water entering the coating tube 30 to clean the inside of the coating tube 30 to prevent the coupling agent from adhering to the inside of the coating tube 30.

[0082] The drying mechanism 7 includes an electric push rod 5 33, which is fixed in the middle position inside the machine box 1 and is located directly behind the electric push rod 4 29. A dryer 34 is detachably provided below the telescopic end of the electric push rod 5 33. The dryer 34 is connected to the air outlet of the fan 40 through a pipeline. The electric push rod 5 33 and the dryer 34 are both electrically connected to the main control board 9.

[0083] In this embodiment, the drive control module controls the start and stop of the electric push rod 5 33 and the dryer 34. The telescopic end of the electric push rod 5 33 drives the dryer 34 to move. The dryer 34 approaches the thickness measuring point. The dryer 34 heats the air blown in by the fan 40 and then blows it out to dry the thickness measuring point.

[0084] The ultrasonic thickness measuring mechanism 6 includes an electric push rod 7 37, which is fixed in the middle position inside the machine box 1. The electric push rod 7 37 is located directly behind the electric push rod 5 33. An ultrasonic thickness measuring probe 38 is detachably provided below the telescopic end of the electric push rod 7 37. The electric push rod 7 37 and the ultrasonic thickness measuring probe 38 are both electrically connected to the main control board 9.

[0085] In this embodiment, the drive control module controls the start and stop of the electric push rod 7 37 and the ultrasonic thickness measuring probe 38. The telescopic end of the electric push rod 7 37 drives the ultrasonic thickness measuring probe 38 to move. The ultrasonic thickness measuring probe 38 extends into the coupling agent to measure the thickness of the pipeline, and the thickness measurement data is uploaded to the data processing module.

[0086] The data processing module includes an image processing submodule and a data optimization submodule, which preprocess the collected images, test data and feedback processing data. The processing methods include but are not limited to data cleaning, data filtering, data denoising and data alignment. The preprocessed data is further identified and analyzed or assigned to the corresponding module for processing. After the processing is completed, the analysis results are generated, decisions are made based on the analysis results, and decision control instructions are generated and transmitted to the corresponding execution module. After the execution is completed, the execution module feeds back the execution data to the data processing module, and the data optimization submodule processes and optimizes the feedback data;

[0087] The data storage module provides data storage and management functions, stores one or more programs, and stores processed data in a database, storage device or cloud for subsequent analysis and utilization, and manages the data;

[0088] The wireless communication module receives wireless signal instructions and sends wireless data, uploading the thickness measurement results and 3D modeling data to the cloud;

[0089] The drive control module receives the control instructions and drives the corresponding electrical components to move, completes the control instructions and feeds back the execution results;

[0090] The 3D modeling module further processes the pre-processed path data and scanned environment data to complete the 3D modeling;

[0091] The positioning module receives signals from satellites, base stations or other wireless signal sources, calculates the propagation time and angle of these signals, determines the location of the device, and uploads the location data to the data processing module;

[0092] The battery management module monitors the battery status, controls the battery charging and discharging process, and ensures the safe operation of the battery;

[0093] The data security module encrypts the transmitted and stored data to protect privacy.

[0094] The working principle of the present invention is as follows: the staff replaces the corresponding coupling agent according to the material of the pipeline, debugs the equipment, sets the instructions, and then places the device on the pipeline. The device scans the environment and uploads the scanned environmental data to the data processing module. The data processing module pre-processes the scanned data and then distributes it to the drive control module and the 3D modeling module. The battery management module monitors the battery status and controls the battery charging and discharging process to ensure the safe operation of the battery.

[0095] The four mechanical arm mechanisms 2 drive the clamping mechanisms 3 at the corresponding positions to move, that is, the drive control module controls the start and stop of the drive motor 1 15, the drive motor 2 16, the drive motor 3 18 and the drive motor 4 20. The output shaft of the drive motor 15 rotates, reacts on the rotating seat 14, and drives the rotating seat 14 to move. The output shaft of the drive motor 2 16 rotates, reacts on the mechanical arm 2 21, and drives the mechanical arm 21 to move. The output shaft of the drive motor 4 20 rotates, reacts on the telescopic arm 19, and drives the telescopic arm 19 to move. The output shaft of the drive motor 3 18 rotates, reacts on the mechanical arm 17, and drives the mechanical arm 17 to move, thereby driving the clamping mechanisms 3 at the corresponding positions to move. The two mechanical arm mechanisms 2 on the same side in front and behind and the clamping mechanisms 3 at the corresponding positions thereon are staggered and clamped on the pipeline, that is, the drive The motion control module controls the start and stop of the electric push rod 1 23, the electric push rod 25 and the electric push rod 3 28. The telescopic end of the electric push rod 1 23 drives the arc clamping seat 24 and the two arc clamping arms 26 to move, so that the fixed plate 27 on the arc clamping seat 24 contacts the pipe. Then, the telescopic ends of the two electric push rods 25 drive the arc clamping arms 26 at the corresponding positions to move. The fixed plates 27 on the two arc clamping arms 26 adjust their positions during the clamping process and contact the outer coating of the pipe. The fixed plates 27 cooperate with the fixed plates 27 on the arc clamping seat 24 to clamp the pipe to avoid interference. Then, the two mechanical arm mechanisms 2 on the same side drive the clamping mechanisms 3 at the corresponding positions to move in pairs, clamp the pipe, release the clamping, move forward for a distance and continue to clamp, and complete the pipe walking.

[0096] When passing through the pipe connection, the two mechanical arm mechanisms 2 located on the same side of the front and rear and the clamping mechanisms 3 at the corresponding positions thereon are staggered to clamp on the pipe, and the clamping position is adjusted so that the device is facing the pipe at the connection. Then the two mechanical arm mechanisms 2 located on the front side drive the corresponding clamping mechanisms 3 to release the clamping and move to the pipe at the connection. Then the two clamping mechanisms 3 move to clamp the pipe at the connection. After clamping, the two mechanical arm mechanisms 2 located on the rear side drive the corresponding clamping mechanisms 3 to release the clamping, repeat the above operation, clamp on the pipe at the connection, complete the connection pipe walking, record the pipe path and pipe data during the walking process, and upload them to the data processing module for modeling;

[0097] When measuring thickness, the device stops at the thickness measuring position according to the scanning data and the set instructions, and then scans the surface environment of the pipeline, and cleans, washes and dries the dust and garbage on the surface of the pipeline coating layer. The cleaning mechanism 4 moves to the pipeline surface, that is, the driving control module controls the electric push rod 6 35, the fan 40 and the electric cleaning head 36 to start and stop, and the telescopic end of the electric push rod 6 35 drives the electric cleaning head 36 to move. The movement of the electric cleaning head 36 will clean the pipeline surface and clean the pipeline surface. At the same time, the fan 40 starts to suck away the dust during cleaning, and the sucked away dust is filtered by the filter box 41. The cleaning mechanism 4 returns to the initial position, and then the four mechanical arm mechanisms 2 drive the clamping mechanism 3 at the corresponding position to move forward, so that the smearing and cleaning mechanism 5 moves to the thickness measuring position. At the top, the smearing and cleaning mechanism 5 moves downward to approach the thickness measuring place, that is, the driving control module controls the driving motor five, the electric push rod four 29 and the electric rotating seat 32 to start and stop, and the telescopic end of the electric push rod four 29 drives the electric rotating seat 32 and the smearing tube 30 to move, so that the end of the smearing tube 30 is close to the pipe surface, and then the dual-channel injection pump 10 pumps the water in the water tank 11 into the smearing and cleaning mechanism 5, and the thickness measuring place is cleaned by the smearing and cleaning mechanism 5. After the cleaning is completed, the smearing and cleaning mechanism 5 returns to the initial position, and the four mechanical arm mechanisms 2 drive the clamping mechanism 3 at the corresponding position to move forward, so that the drying mechanism 7 moves to the top of the thickness measuring place, and the drying mechanism 7 moves downward to approach the thickness measuring place, and the fan 40 sucks air and transports the air to the filter box 41, and then the air is filtered by the filter box 41 and transported to the drying The drying mechanism 7 heats the air blown in by the drying mechanism 7 and blows it toward the thickness measuring place to dry the thickness measuring place, that is, the driving control module controls the start and stop of the electric push rod 5 33 and the dryer 34, and the telescopic end of the electric push rod 5 33 drives the dryer 34 to move, and the dryer 34 approaches the thickness measuring place, and the dryer 34 heats the air blown in by the fan 40 and then blows it out to dry the thickness measuring place, and the drying mechanism 7 returns to the initial position, and then the four mechanical arm mechanisms 2 drive the clamping mechanism 3 at the corresponding position to move backward, so that the coating and cleaning mechanism 5 moves to the top of the thickness measuring place, and the coating and cleaning mechanism 5 moves downward to approach the thickness measuring place. When the coupling agent is applied, the coupling agent enters the coating cylinder 30 from one of the liquid inlet pipes, and then the output shaft of the driving motor 5 rotates to drive the screw 43 to rotate, and the screw 43 rotates to drive The movable extrusion plate 42 moves along the screw 43 in the coating barrel 30, and the extrusion plate 42 squeezes the coupling agent in the coating barrel 30 so that the coupling agent is squeezed out from the coating port 31 and falls on the thickness measuring surface after cleaning and drying. After the coupling agent injection is completed, the extrusion plate 42 returns to the initial position, and the electric rotating seat 32 drives the coating barrel 30 to rotate forward and reversely to evenly smooth the extruded coupling agent. Then, the four mechanical arm mechanisms 2 drive the clamping mechanisms 3 at the corresponding positions to move forward, so that the ultrasonic thickness measuring mechanism 6 moves to the top of the thickness measuring location, and then the ultrasonic thickness measuring mechanism 6 moves downward, that is, the drive control module controls the electric push rod 7 37 and the ultrasonic thickness measuring probe 38 to start and stop, and the telescopic end of the electric push rod 7 37 drives the ultrasonic thickness measuring probe 38 to move, and the ultrasonic thickness measuring probe 38 extends into the coupling agent.The thickness of the pipeline is measured, and the measured data is uploaded to the data processing module. The pipeline is inserted into the coupling agent, and the thickness of the pipeline is measured. The result of the thickness measurement is uploaded to the data processing module. The data processing module pre-processes the data and distributes it to the 3D modeling module. The 3D modeling module adjusts the wall thickness of the pipeline at this location, and then continues to move to the next thickness measurement location. While measuring the thickness, the dual-channel injection pump 10 allows the water in the water tank 11 to enter the coating cylinder 30 from another liquid inlet pipe, and then the output shaft of the driving motor 5 is rotated to drive the screw 43 to rotate. The rotation of the screw 43 drives the extrusion plate 42 to move on the screw 43. The extrusion plate 42 squeezes the water in the coating cylinder 30 to clean the inside of the coating cylinder 30 to prevent the coupling agent from adhering to the coating cylinder 30. After completing a thickness measurement, the wiping cylinder moves to the bottom of the ultrasonic thickness measuring mechanism 6 to wipe off the coupling agent remaining on the ultrasonic thickness measuring mechanism 6;

[0098] After the data of thickness measurement path record and environmental scanning are collected, they are pre-processed by the data processing module and then distributed to the 3D modeling module. Then the 3D modeling module performs 3D pipeline modeling based on the pre-processed data, analyzes the best path and evaluates possible thickness danger points, provides reference for the next thickness measurement, and stores the data and modeling model in the data storage module and uploads them to the cloud through the wireless communication module;

[0099] The positioning module accurately records the specific position of the ultrasonic thickness measuring mechanism 6 on the pipeline each time the thickness is measured, including the axial position (along the length of the pipeline) and the circumferential position (around the circumference of the pipeline), so that the collected thickness data can accurately correspond to the corresponding part of the pipeline, and send the thickness data with precise position information to the data processing module. The data processing module performs pre-processing operations such as sorting and screening on the data based on these positioning information, and then passes it to the 3D modeling module, so that the 3D modeling module can construct a 3D pipeline model that conforms to the actual spatial distribution of the pipeline according to the accurate position coordinates, thereby realizing a coherent and orderly operation from measurement to 3D modeling.

[0100] In summary, the battery management module cooperates with the storage battery 13 to monitor the battery status, control the battery charging and discharging process, and ensure the safe operation of the battery and keep the storage battery 13 working stably;

[0101] The driving control module cooperates with four mechanical arm mechanisms 2 and four clamping mechanisms 3 to drive the mechanical arm mechanisms 2 and the clamping mechanisms 3 at corresponding positions to move, thereby realizing pipeline walking, and cooperates with several visual cameras and positioning modules to accurately scan the position of the pipeline environment positioning device to ensure stable walking;

[0102] The driving control module cooperates with the dual-channel injection pump 10, the cleaning mechanism 4, the smearing and cleaning mechanism 5, the drying mechanism 7, and the ultrasonic thickness measuring mechanism 6 to automatically clean, clean, dry, and evenly smear the coupling agent on the thickness measuring position, thereby ensuring the accuracy of the thickness measurement data, avoiding interference, and automatically and accurately measuring the thickness, with a high level of automation;

[0103] The driving control module cooperates with the smearing and cleaning mechanism 5, the dual-channel injection pump 10, the water tank 11 and the coupling agent box 12 to complete the smearing and cleaning of the coupling agent, avoid contamination inside the smearing and cleaning mechanism 5, and ensure accurate measurement results;

[0104] The 3D modeling module cooperates with several visual cameras and positioning modules to record the thickness measurement path and pipeline environmental data, perform 3D modeling on the measured pipeline, analyze the best path for the next thickness measurement and evaluate possible thickness danger points.

[0105] The specific embodiments described herein are merely examples of the spirit of the present invention. Those skilled in the art may make various modifications or additions to the specific embodiments described or replace them in similar ways, but they will not deviate from the spirit of the present invention or exceed the scope defined by the appended claims.

Claims

1. A device for measuring the thickness of a pipe with a coating layer based on digital ultrasonic technology, comprising a box (1), characterized in that: The four corners of the machine box (1) are all rotatably provided with mechanical arm mechanisms (2), and the ends of the mechanical arm mechanisms (2) are all detachably provided with clamping mechanisms (3). The interior of the machine box (1) is provided with a main control board (9), a dual-channel injection pump (10), a cleaning mechanism (4), a smearing and cleaning mechanism (5), a drying mechanism (7), an ultrasonic thickness measuring mechanism (6), and a battery (13) in sequence from the back to the front. The cleaning mechanism (4), the smearing and cleaning mechanism (5), the drying mechanism (7), and the ultrasonic thickness measuring mechanism (6) are located in the middle of the machine box (1). The cleaning mechanism (4), the smearing and cleaning mechanism (5), the drying mechanism (7), and the ultrasonic thickness measuring mechanism (6) all pass through the machine box (1) and extend to the bottom of the machine box (1). The interior of the machine box (1) is also provided with a water tank (11), a fan (40). , a filter box (41) and a coupling agent box (12), the water tank (11) and the coupling agent box (12) are respectively located on the left and right sides of the smearing and cleaning mechanism (5), and the water tank (11) and the coupling agent box (12) are respectively connected to the dual-channel injection pump (10) through pipelines, the fan (40) and the filter box (41) are respectively located on the left and right sides of the cleaning mechanism (4), and the cleaning mechanism (4), the filter box (41), the fan (40) and the drying mechanism (7) are sequentially connected through pipelines, and the mechanical arm mechanism (2), the clamping mechanism (3), the dual-channel injection pump (10), the cleaning mechanism (4), the smearing and cleaning mechanism (5), the drying mechanism (7), the ultrasonic thickness measuring mechanism (6), the fan (40) and the battery (13) are all electrically connected to the main control board (9); The main control board (14) is provided with a data processing module, a data storage module, a wireless communication module, a drive control module, a 3D modeling module, a positioning module, a battery management module and a data security module.

2. According to claim 1, a device for measuring the thickness of a pipe with a coating layer based on digital ultrasonic technology is characterized in that: The front side of the machine box (1) is provided with a front side plate (39), and the front side end surface and the lower end surface of the front side plate (39) are provided with a plurality of visual cameras, and the plurality of visual cameras are electrically connected to the main control board (9).

3. The device for measuring the thickness of a pipe with a coating layer based on digital ultrasonic technology according to claim 2 is characterized in that: The mechanical arm mechanism (2) comprises a rotating seat (14), a second mechanical arm (21), a telescopic arm (19) and a first mechanical arm (17); a driving motor (15) is fixed inside the rotating seat (14); an output shaft of the driving motor (15) is fixed to a corner of the machine box (1); a driving motor (16) and a driving motor (20) are respectively fixed to the two side ends of the second mechanical arm (21); an output shaft of the driving motor (16) is fixed to the end of the rotating seat (14); an output shaft of the driving motor (20) is fixed to the inner side of one end of the telescopic arm (19); a driving motor (18) is fixed to the inner side of one end of the first mechanical arm (17); an output shaft of the driving motor (18) is fixed to the inner side of the other end of the telescopic arm (19); and the driving motor (15), the driving motor (16), the driving motor (20) and the driving motor (18) are all electrically connected to the main control board (9).

4. The device for measuring the thickness of a pipe with a coating layer based on digital ultrasonic technology according to claim 3 is characterized in that: The clamping mechanism (3) comprises an electric push rod (23), on which a plurality of mounting seats (22) are provided, and the plurality of mounting seats (22) are detachably arranged on the inner side of the end of the mechanical arm (17), an arc-shaped clamping seat (24) is fixed on the telescopic end of the electric push rod (23), an electric push rod (28) is provided in the middle position of the arc-shaped clamping seat (24), and a fixing plate (27) is fixed on the telescopic end of the electric push rod (28), the arc-shaped clamping seat (24) is Y-shaped, and both ends of the arc-shaped clamping seat (24) are hinged with arc-shaped clamping arms (26), and there is a space between the arc-shaped clamping arms (26) and the arc-shaped clamping seat (24). The outer side of the hinged electric push rod 2 (25) is hinged with the electric push rod 2 (25), the ends of the two arc-shaped arms are hinged with arc-shaped clamping arms (26), the telescopic ends of the two electric push rods 2 (25) are respectively hinged with the arc-shaped clamping arms (26) on the same side, the inner sides of the ends of the two arc-shaped clamping arms (26) are hinged with fixed plates (27), and the fixed plates (27) are detachably provided with friction pads. The electric push rod 1 (23), the electric push rod 3 (28), and the electric push rod 2 (25) are all electrically connected to the main control board (9), and a wiping cylinder is provided on the arc-shaped clamping arm (26) close to the ultrasonic thickness measuring mechanism (6), and a wiping sponge is provided on the wiping cylinder.

5. The device for measuring the thickness of a pipe with a coating layer based on digital ultrasonic technology according to claim 4 is characterized in that: The cleaning mechanism (4) comprises an electric push rod (35), which is fixed at a middle position inside the machine box (1) and is located at the rear side of the dual-channel injection pump (10). An electric cleaning head (36) is detachably provided below the telescopic end of the electric push rod (35), a dust cover (39) is provided on the outside of the electric cleaning head (36), the dust cover (39) is connected to the filter box via a pipeline, and the electric push rod (35) and the electric cleaning head (36) are both electrically connected to the main control board (9).

6. The device for measuring the thickness of a pipe with a coating layer based on digital ultrasonic technology according to claim 5 is characterized in that: The smear cleaning mechanism (5) comprises an electric push rod (29), which is fixed at the middle position inside the machine box (1) and is located directly behind the electric push rod (35). An electric rotating seat (32) is detachably provided below the telescopic end of the electric push rod (29), and an smear barrel (30) is detachably provided at the lower end of the electric rotating seat (32). An smearing port (31) is provided at the end of the smearing barrel (30), and two symmetrically arranged liquid inlets are provided on the smearing barrel (30). A pipe, a driving motor five is arranged inside the smear barrel (30), a screw (43) is fixed on the output shaft of the driving motor five, a stop plate (44) is arranged at the end of the screw (43), an extrusion plate (42) is arranged on the screw (43), and the extrusion plate (42) is slidably arranged inside the smear barrel (30), two liquid inlet pipes are respectively connected to two liquid outlets of the dual-channel injection pump (10) through pipes, and the driving motor five, the electric push rod four (29) and the electric rotating seat (32) are all electrically connected to the main control board (9).

7. The device for measuring the thickness of a pipe with a coating layer based on digital ultrasonic technology according to claim 6 is characterized in that: The drying mechanism (7) comprises an electric push rod (5) (33), which is fixed at a middle position inside the machine box (1) and is located directly behind the electric push rod (4) (29). A dryer (34) is detachably provided below the telescopic end of the electric push rod (5) (33), and the dryer (34) is connected to the air outlet of the fan (40) through a pipeline. The electric push rod (5) (33) and the dryer (34) are both electrically connected to the main control board (9).

8. The device for measuring the thickness of a pipe with a coating layer based on digital ultrasonic technology according to claim 7 is characterized in that: The ultrasonic thickness measuring mechanism (6) comprises an electric push rod (7) (37), which is fixed at a middle position inside the machine box (1), and is located directly behind the electric push rod (5) (33). An ultrasonic thickness measuring probe (38) is detachably provided below the telescopic end of the electric push rod (37), and both the electric push rod (37) and the ultrasonic thickness measuring probe (38) are electrically connected to the main control board (9).

9. The device for measuring the thickness of a pipe with a coating layer based on digital ultrasonic technology according to claim 8 is characterized in that: The data processing module includes an image processing submodule and a data optimization submodule, which preprocess the collected images, test data and feedback processing data. The processing methods include but are not limited to data cleaning, data filtering, data denoising and data alignment. The preprocessed data is further identified and analyzed or assigned to the corresponding module for processing. After the processing is completed, an analysis result is generated, a decision is made based on the analysis result, and a decision control instruction is generated and transmitted to the corresponding execution module. After the execution is completed, the execution module feeds back the execution data to the data processing module, and the data optimization submodule processes and optimizes the feedback data; The data storage module provides data storage and management functions, stores one or more programs, and stores processed data in a database, storage device or cloud for subsequent analysis and utilization, and manages the data; The wireless communication module receives wireless signal instructions and sends wireless data, uploading the thickness measurement results and 3D modeling data to the cloud; The drive control module receives the control instructions and drives the corresponding electrical components to move, completes the control instructions and feeds back the execution results; The 3D modeling module further processes the pre-processed path data and scanned environment data to complete the 3D modeling; The positioning module receives signals from satellites, base stations or other wireless signal sources, calculates the propagation time and angle of these signals, determines the location of the device, and uploads the location data to the data processing module; The battery management module monitors the battery status, controls the battery charging and discharging process, and ensures the safe operation of the battery; The data security module encrypts the transmitted and stored data to protect privacy.

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