Underground oil and gas pipeline excavation defect detection device

Abstract

The invention relates to the technical field of pipeline detection, in particular to a buried oil and gas pipeline excavation defect detection device which comprises a fixed part, the fixed part comprises two fixed supporting rings, and movable detection parts are arranged on the two sides of the fixed supporting rings; the moving detection part comprises a plurality of moving rings, the moving rings are internally provided with grooves and fixedly connected with annular air bags, clamping assemblies slidably connected with the side walls of the moving rings are arranged below the annular air bags, moving wheels are arranged at the bottoms of the clamping assemblies, and pneumatic assemblies used for pneumatically propelling the moving rings to move are further arranged in the moving rings; the sides, close to the fixed supporting ring, of the movable rings are fixedly connected with detection assemblies, and the sides, away from the fixed supporting ring, of the movable rings are fixedly connected with cleaning assemblies. By designing the control system with the air pressure balance module, the buckling threshold value adjusting module and the ultrasonic detection module, flexible adaptation and high-precision detection of pipelines with different pipe diameters are achieved, and the detection efficiency and accuracy are improved.

Description

Technical Field

[0001] The invention relates to the technical field of pipeline detection, and in particular to a device for detecting excavation defects of buried oil and gas pipelines. Background Art

[0002] During long-term operation, buried oil and gas pipelines may have defects due to corrosion, manufacturing defects, mechanical damage, welding defects, third-party sabotage, etc., threatening pipeline safety and the environment. Buried pipeline defect detection is usually divided into internal detection and external detection (including excavation detection and trenchless detection). Whether it is internal detection or trenchless external detection, when defects or defects exceeding the standard are found, they need to be confirmed by excavation (excavation detection). Therefore, excavation detection is a key link in the verification and evaluation of buried oil and gas pipeline defects. By partially exposing the pipeline and conducting direct detection, the defect type, size and degree of harm can be accurately determined.

[0003] In the prior art, the patent document with publication number CN117072885A provides an automatic crawling pipeline ultrasonic detection device and a detection method thereof, which includes a first sleeve sleeved on the pipeline, a plurality of rolling wheels that are in rolling contact with the outer wall of the pipeline are arranged on the circumference of the inner wall of the first sleeve, and a clamping mechanism is also arranged on the inner wall of the first sleeve; a driving mechanism is arranged at one end of the first sleeve, and the driving mechanism includes a strip plate arranged at the end of the first sleeve, a strip limit hole parallel to the axis of the pipeline is arranged on the strip plate, a rubber head is slidably arranged on the strip limit hole, and the rubber head is connected to the driving mechanism; an ultrasonic probe is arranged at the other end of the first sleeve, and the ultrasonic probe is arranged on the circumferential moving mechanism. The patent document realizes automatic crawling along the pipeline through the cooperation of the clamping mechanism, the driving mechanism and the rubber head, and the ultrasonic probe realizes circumferential ultrasonic detection of the pipeline through the circumferential moving mechanism, thereby realizing automatic ultrasonic detection of the pipeline, and its automation degree is high.

[0004] However, in actual application, the rubber head and the strip limit hole in the driving mechanism mentioned in the above document are difficult to adapt to the axial displacement difference caused by the change in pipe diameter. For example, in the variable diameter section, the change in curvature of the outer wall of the pipe may cause uneven distribution of friction between the rubber head and the pipe, reduced driving efficiency, and even "slipping", interrupting the detection process. For this reason, it is necessary to propose a buried oil and gas pipeline excavation defect detection device to solve the problem of reduced driving efficiency or detection interruption in the existing buried oil and gas pipeline excavation defect detection device when detecting complex areas such as variable diameter pipeline sections and bends. Summary of the invention

[0005] In order to solve the above problems, the present invention provides a buried oil and gas pipeline excavation defect detection device. By designing a control system with an air pressure balance module, a locking threshold adjustment module and an ultrasonic detection module, flexible adaptation and high-precision detection of pipelines with different diameters are achieved, thereby improving detection efficiency and accuracy.

[0006] In order to achieve the above-mentioned purpose, the technical solution of the present invention is as follows: a buried oil and gas pipeline excavation defect detection device, comprising a fixed part, the fixed part comprising two fixed support rings, both opposite ends of the two fixed support rings are provided with a disassembly connection assembly for connecting the two fixed support rings, both sides of the fixed support ring are provided with a mobile detection part, and a limit connection assembly for limiting the radial swing of the mobile detection part is provided between the mobile detection part and the fixed support ring; The mobile detection parts include a plurality of mobile rings. The two end connections of the two relative mobile rings close to each other are provided with telescopic connection components for adjusting the ring diameters of the mobile rings after they are connected. The mobile rings are grooved and fixedly connected with annular airbags. A clamping component slidably connected to the side wall of the mobile ring is provided below the annular airbags. The clamping component is provided with a displacement wheel on the side of the pipeline to be tested. The mobile rings are also provided with a pneumatic component for pneumatically propelling the mobile rings to move. The pneumatic component is connected to the corresponding annular airbags. A pump component is fixedly connected to the fixed support ring. The plurality of annular airbags are connected to the pump component. When the pump component is started, the pressure of the volume expansion of the annular airbags is used as the driving force for the clamping component to buckle the pipeline. Excess gas is discharged through the pneumatic component as the displacement driving force of the mobile ring. When the pipeline diameter changes or passes through a bend in the pipeline, the clamping component changes with the pipeline diameter and squeezes the annular airbag to achieve dynamic adjustment of the buckling tightness of the mobile ring. The side of the moving ring close to the fixed support ring is fixedly connected with a detection component, and the side of the moving ring away from the fixed support ring is fixedly connected with a cleaning component. During the movement, the cleaning component first cleans the rust on the surface of the pipeline to be tested, and then the moving ring is pushed forward and the detection component performs ultrasonic scanning and detection on the pipeline.

[0007] The technical principle of the above scheme is as follows: the annular airbag is designed to expand under the action of the pump assembly, and the pressure of its volume expansion is used as the driving force for the clamp assembly to buckle the pipeline, so that the clamp assembly can fit the outer wall of the pipeline tightly. At the same time, the excess gas is discharged through the pneumatic assembly, which serves as the displacement driving force of the moving ring, pushing the moving ring to move along the axial direction of the pipeline. When the pipeline diameter changes or passes through the bend of the pipeline, the clamp assembly can change with the diameter and squeeze the annular airbag to achieve dynamic adjustment of the tightness of the moving ring. In addition, the present invention also uses the designed cleaning assembly and detection assembly. During the movement, the cleaning assembly first cleans the rust and other pollutants on the surface of the pipeline to be tested, providing a clean detection environment for subsequent ultrasonic scanning detection. Then, the moving ring is pushed forward and the detection assembly performs ultrasonic scanning detection on the pipeline. The ultrasonic detection component transmits and receives echo signals, collects the reflection data of the inner wall of the pipeline to be tested in real time, analyzes the echo time difference to determine the defect depth, and distinguishes the defect type in combination with the spectrum characteristics, thereby achieving high-precision detection of pipeline defects.

[0008] The above scheme has the following beneficial effects: 1. This solution achieves dynamic adaptation to different pipe diameters and curved pipes through the synergistic effect of the annular airbag and the clamp assembly. The annular airbag expands after the pump assembly is inflated, providing a stable clamping force for the clamp assembly. At the same time, excess gas is discharged through the pneumatic assembly and converted into propulsion power for the moving ring. When the pipe diameter changes or passes through a bend, the clamp assembly performs multi-directional adjustment through a sliding connection, adjusts the clamping outer diameter in real time, and squeezes the annular airbag to achieve dynamic pressure balance. This design effectively solves the problem of slipping or jamming caused by uneven friction in the variable diameter section of traditional devices, ensures that the detection device moves continuously and stably in complex pipelines, avoids detection interruptions, and significantly improves operating efficiency.

[0009] 2. This solution achieves seamless connection between pipeline surface pretreatment and high-precision detection through the coordinated layout of the front cleaning component and the rear detection component. The cleaning component uses a laser cleaning head, which uses the thermal expansion effect of a short-pulse laser to peel off the rust layer and pollutants on the pipeline surface and reduce the surface roughness; then the high-speed airflow discharged by the pneumatic component further sweeps away the residual debris to form a clean detection environment. The detection component performs a full-circle continuous scan of the pipeline during the advancement of the moving ring, and the cleaned pipeline surface reduces the scattering interference of the ultrasonic echo. Combined with the joint analysis of the control system, it can accurately identify defect types such as cracks and corrosion and reduce the false detection rate.

[0010] Furthermore, the inner wall of the fixed support ring is fixedly connected with an anti-skid layer, and the surface of the anti-skid layer is provided with staggered wedge-shaped textures.

[0011] Beneficial effects: The design of the anti-skid layer enhances the friction between the fixed support ring and the outer wall of the pipeline, ensuring the stability and safety of the detection device on the pipeline. The staggered distribution of the wedge-shaped texture not only improves the anti-skid effect, but also forms a tiny squeezing effect on the pipeline surface, which helps to remove fine impurities attached to the pipeline surface, further ensuring the detection accuracy, so that the detection device can maintain good fit and operational stability in various complex pipeline environments, and improve the efficiency and reliability of the detection operation.

[0012] Furthermore, the clamping assemblies include a first clamp block, and the first clamp block is slidably connected to a symmetrical second clamp block on one side close to the pipe to be tested. The first clamp block and the second clamp block are both semicircular structures, and a plurality of displacement wheels are rotatably connected to the corresponding second clamp block on one side close to the pipe to be tested, and the installation direction of the displacement wheels is consistent with the extension direction of the pipe.

[0013] Beneficial effects: The semicircular structure of the first clamp block and the second clamp block ensures that the device can be tightly wrapped around the outer wall of the pipe. Through the sliding connection, the second clamp block can be adjusted according to the actual size of the pipe to achieve a stable clamp. The setting of the displacement wheel not only facilitates the movement of the detection device on the pipe, but also its installation direction is consistent with the extension direction of the pipe, reducing the friction resistance during the movement, making the detection operation smoother and more efficient, improving the applicability and flexibility of the detection device, and ensuring stable contact between the device and the pipe during the detection process, thereby improving the accuracy and reliability of the detection.

[0014] Furthermore, the pneumatic components all include a driving cavity opened in the corresponding second clamp block, a rotating cylinder is rotatably connected in the driving cavity, a plurality of fan blades are fixedly connected to the rotating cylinder along its circumference, a driving rod is fixedly connected to the side of the rotating cylinder close to the displacement wheel, the end of the driving rod close to the displacement wheel penetrates the side wall of the second clamp block and is coaxially fixedly connected to the corresponding displacement wheel, the driving cavity is connected to an input channel and an output channel, the input channel is connected to the corresponding annular airbag, the output channel is connected to an inclined pneumatic tube, the pneumatic tube is located in the moving ring on the side away from the fixed support ring, one end of the pneumatic tube is fixedly connected to the inner wall of the moving ring, and the other end of the pneumatic tube is inclined toward the fixed support ring.

[0015] Beneficial effects: This design utilizes the linkage structure of the drum, blades and drive rod. After the gas is filled into the annular airbag, it drives the blades on the drum to rotate, converting the kinetic energy of the gas into the mechanical energy of the drive rod, and then driving the displacement wheel to roll actively; at the same time, the coordinated design of the output channel and the inclined pneumatic tube enables the kinetic energy of the exhaust gas to be reused for the second time: by utilizing fluid mechanics optimization, the jet reaction force acts on the propulsion direction of the mobile ring, forming a vector superposition effect with the mechanical traction force of the displacement wheel, enhancing the propulsion efficiency, and realizing the adaptive distribution of the driving force through the dynamic diversion of the airflow. In addition, when the diameter of the pipeline to be tested suddenly changes and causes the clamping assembly to expand outward, the annular airbag is compressed to increase the intake pressure of the drive chamber, and the drum speed and the pneumatic tube exhaust speed are simultaneously enhanced, thereby intelligently compensating for the power loss caused by the increased friction of the contact surface, realizing the high compactness and functional integration of the pneumatic drive system, and improving the space utilization and structural stability of the device.

[0016] Furthermore, an air pressure sensor is fixedly connected inside the annular airbag, and the air pressure sensor signal is connected to a control system. The control system adjusts the driving power of the pump assembly according to the air pressure change of the annular airbag.

[0017] Beneficial effects: The air pressure sensor is linked to the control system to monitor and dynamically adjust the driving power of the pump assembly in real time to ensure that the internal pressure of the annular airbag is always maintained within the set threshold range. When the pipe diameter changes or passes through a curved section, the clamping assembly squeezes the annular airbag to cause pressure fluctuations. The control system quickly adjusts the air supply of the pump assembly through a feedback algorithm: when the pipe diameter increases or at a bend, the air supply is reduced to avoid an imbalance in the clamping force caused by overpressure in the annular airbag; in areas where the pipe diameter decreases, the air supply is increased to compensate for pressure loss and maintain a stable clamping force. This not only improves the device's ability to adapt to complex pipelines, but also avoids energy waste and mechanical wear in the traditional fixed-power air supply mode. At the same time, the vertical contact angle between the ultrasonic detection assembly and the pipe wall is guaranteed through pressure balance, significantly improving the accuracy of defect recognition and detection continuity.

[0018] Furthermore, the detection components all include a detection ring fixedly connected to a side of the movable ring close to the fixed support ring, and a plurality of ultrasonic detection components are arranged on the inner side wall of the detection ring.

[0019] Beneficial effects: The design of fixing the detection ring on the side of the mobile ring close to the fixed support ring ensures that the ultrasonic detection parts are always close to the outer wall of the pipeline and maintain a vertical incident angle. Combined with the pneumatic propulsion of the mobile ring, continuous scanning in all directions is achieved. Multiple ultrasonic detection parts are distributed in a circular array along the inner wall of the detection ring, covering the 360° range of the pipeline and avoiding detection blind spots.

[0020] Furthermore, the cleaning components all include a cleaning ring fixedly connected to a side of the moving ring away from the fixed supporting ring, and a plurality of laser cleaning heads are embedded on the inner side wall of the cleaning ring.

[0021] Beneficial effect: The cleaning component is preferentially arranged at the front end of the moving ring by the laser cleaning head, ensuring that rust, oil stains and attachments on the pipe surface are completely removed before the detection component arrives, providing a smooth surface for subsequent ultrasonic testing.

[0022] Furthermore, the position limiting connection assembly includes a folding connecting rod, one end of the folding connecting rod is hinged to the outer side wall of the detection ring, and the other end of the folding connecting rod is hinged to the side wall of the fixed support ring.

[0023] Beneficial effects: The folding link limits the radial swing amplitude of the detection ring during movement through geometric constraints of multiple hinge points, ensuring that the ultrasonic detection part is always perpendicular to the outer wall of the pipe. In the bend or diameter change section, the adaptive bending function of the folding link synchronously adjusts the posture of the detection ring to avoid signal distortion caused by probe offset or vibration, thereby improving the defect positioning accuracy and the detection coverage.

[0024] Furthermore, a baffle with an annular structure is fixedly connected to one side of the second clamp block close to the pneumatic tube.

[0025] Beneficial effects: The baffle covers the outer area of ​​the pneumatic tube exhaust port, effectively blocking the rust and debris splashed during laser cleaning from entering the detection ring area, reducing the risk of contaminating the surface of the ultrasonic test piece. At the same time, the high-speed airflow discharged from the pneumatic tube forms a vortex under the guidance of the baffle, further sweeping the residual particles to the bottom of the pipeline, improving the cleanliness of the detection environment, improving the ultrasonic signal-to-noise ratio, and improving the detection rate of small defects.

[0026] Further, the control system includes an air pressure balance module, a buckling threshold adjustment module and an ultrasonic detection module; The air pressure balance module is used to monitor the internal pressure in real time through the air pressure sensor in the annular airbag, obtain the current dynamic parameters of the pipeline to be tested by combining the position feedback of the displacement wheel and the diameter change rate of the pipeline to be tested, automatically calculate the target pressure value of the annular airbag, and dynamically adjust the air supply of the air pump through the feedback control algorithm; The buckle threshold adjustment module includes a displacement position recording unit, a buckle adjustment unit, and a plurality of displacement sensors and force sensors. The displacement sensors are correspondingly mounted on the displacement wheels, and the force sensors are correspondingly mounted on the first clamp block. The position recording unit is used to collect the sliding amount of each displacement wheel through the displacement sensor and calculate the moving distance of each moving ring along the axial direction of the pipeline; The fastening adjustment unit is used to detect the clamping force through a force sensor, evaluate the fit state of the moving ring and the pipe in real time, and when the clamping failure is detected, calculate the expansion and contraction amount required to re-fit the pipe to be tested and drive the telescopic connection assembly to adjust the fastening range of the moving ring; The fastening adjustment unit is used to detect the clamping force through a force sensor, evaluate the fit state of the moving ring and the pipe in real time, and when the clamping failure is detected, calculate the expansion and contraction amount required to re-fit the pipe to be tested and drive the telescopic connection assembly to adjust the fastening range of the moving ring; The ultrasonic detection module is used to transmit and receive echo signals through ultrasonic detection parts, collect reflection data of the inner wall of the pipeline to be tested in real time, analyze the echo time difference to determine the defect depth, record the moving distance of the current moving ring, mark the defect position, and then distinguish the defect type based on the spectrum characteristics.

[0027] Beneficial effects: The air pressure balance module dynamically balances the annular airbag pressure by adjusting the air supply of the pump assembly in real time, and adaptively adjusts the clamping force and moving speed at sudden changes in pipe diameter or bends. For example, when the pipe diameter increases, the air supply is reduced to avoid clamping failure caused by overpressure in the annular airbag, and the speed is reduced to extend the detection time; the fastening threshold adjustment module calibrates the sliding amount and clamping force of the clamping assembly in real time based on the data fusion of the displacement and force sensors. When a sudden change in pipe diameter is detected, resulting in insufficient clamping force, the electrically controlled telescopic rod is driven to adjust the fastening range to ensure the stability of the fit between the moving ring and the pipe wall and avoid detection interruption; the ultrasonic detection module combines time-domain-frequency domain joint analysis to distinguish between cracks, corrosion, slag inclusions and other defect types, and uses the AI ​​model to learn user historical data, optimize detection parameters, and improve detection efficiency.

[0028] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a schematic diagram of the overall structure of an embodiment of a buried oil and gas pipeline excavation defect detection device of the present invention; Figure 2 It is an axonometric schematic diagram of a fixed support ring in an embodiment of the buried oil and gas pipeline excavation defect detection device of the present invention; Figure 3 It is an axonometric schematic diagram of a moving ring in an embodiment of a buried oil and gas pipeline excavation defect detection device of the present invention; Figure 4 It is a schematic diagram of the pneumatic tube arrangement of an embodiment of the buried oil and gas pipeline excavation defect detection device of the present invention; Figure 5 It is an axonometric schematic diagram of a mobile detection unit of an embodiment of a buried oil and gas pipeline excavation defect detection device of the present invention; Figure 6 It is a schematic diagram of the arrangement of the telescopic connection assembly in the embodiment of the buried oil and gas pipeline excavation defect detection device of the present invention; Figure 7 It is an axonometric cross-sectional schematic diagram of the arrangement in the driving cavity in the embodiment of the buried oil and gas pipeline excavation defect detection device of the present invention; Figure 8 It is a schematic diagram of the operation of the control system in the embodiment of the buried oil and gas pipeline excavation defect detection device of the present invention.

[0030] The figure marks in the drawings of the specification include: 1. fixed support ring; 2. disassembly connection assembly; 201. clamping rod; 202. tooth groove; 3. anti-skid layer; 4. movable ring; 5. limit groove; 6. annular airbag; 7. vertical slide groove; 8. slide plate; 9. arc groove; 10. slide rod; 11. first clamp block; 12. second clamp block; 13. displacement wheel; 14. pneumatic tube; 15. air pump; 16. detection ring; 17. ultrasonic detection part; 18. cleaning ring; 19. laser cleaning head; 20. folding connecting rod; 21. telescopic connection assembly; 22. drive chamber; 23. rotating drum; 24. fan blade. DETAILED DESCRIPTION

[0031] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0032] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0033] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0034] The following is further described in detail through specific implementation methods: Example 1

[0035] As attached Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 and Figure 7 As shown: a buried oil and gas pipeline excavation defect detection device, including a fixing part, the fixing part includes two symmetrical fixing support rings 1, and a disassembly connection component 2 is provided between the opposite ends of the two fixing support rings 1. Figure 2 As shown, the disassembly connection assembly 2 includes a clamping rod 201 and a tooth groove 202. The clamping rod 201 is provided with a plurality of clamping rings connected by springs. The clamping rod 201 is welded to the two ends of one of the fixed support rings 1, and the tooth grooves 202 are provided at the two ends of the other fixed support ring 1. The position and shape of the clamping ring and the tooth groove 202 correspond to each other. Before excavation detection, the operator only needs to insert the clamping rod 201 into the corresponding tooth groove 202 and apply radial pressure. Due to the elastic connection between the clamping ring and the clamping rod 201, the clamping ring is inserted into the tooth groove 202 to achieve stepless adjustment of the ring body locking. Its unique self-locking inclined surface structure can effectively resist the axial movement and radial vibration generated during the detection process. In addition, in order to enhance the friction performance of the pipeline contact surface, the inner wall of the fixed support ring 1 is coated with an anti-skid layer 3. The anti-skid layer 3 is made of a polyurethane-based composite material reinforced with silicon carbide particles, and the surface of the anti-skid layer 3 is provided with a staggered wedge texture.

[0036] Both sides of the fixed support ring 1 are provided with a mobile detection part, specifically combined with Figure 1 and Figure 3 As shown, the mobile detection parts include two mobile rings 4, the mobile rings 4 are provided with limit grooves 5, the limit grooves 5 are adhered and fixed with annular air bags 6, the side walls of the mobile rings 4 are provided with symmetrical vertical slide grooves 7, the vertical slide grooves 7 are slidably matched with slide plates 8, the surfaces of the slide plates 8 are provided with arc grooves 9, the arc grooves 9 are slidably connected with slide rods 10, the ends of the slide rods 10 away from the arc grooves 9 are fixedly connected with clamping assemblies, the clamping assemblies include a first clamp block 11, the side of the first clamp block 11 close to the pipeline to be tested is slidably connected with a symmetrical second clamp block 12, the first clamp block 11 and the second clamp block 12 are both semicircular structures, the side of the second clamp block 12 close to the pipeline to be tested is vertically rotatably connected with a plurality of displacement wheels 13 through bearings, and the installation direction of the displacement wheels 13 is consistent with the extension direction of the pipeline.

[0037] When the moving ring 4 is buckled on the surface of the pipeline, firstly, when there are irregular pipe walls such as ridges on the surface of the pipeline to be tested, the two second clamp blocks 12 connected to the same first clamp block 11 will perform corresponding sliding displacements according to the different heights of the ridges. For example, when the ridge is located between the two second clamp blocks 12, the second clamp blocks 12 on both sides slide on the first clamp block 11 along opposite pipe circumferential directions. This design enables the moving ring to adapt to the irregular outer wall of the pipeline to be tested. Secondly, when the diameter of the pipeline is reduced, the supporting force of the contact between the displacement wheel 13 and the pipeline to be tested is reduced. Due to the presence of the annular airbag 6, the first clamp block 11 slides in the direction close to the pipeline to be tested under the pressure of the annular airbag 6, thereby reducing the outer diameter of the overall clamping. When the diameter of the pipeline increases, due to the flexible characteristics of the annular airbag 6, the first clamp block 11 can slide appropriately in the direction away from the pipeline to be tested, thereby increasing the outer diameter, thereby always maintaining effective contact with the inner wall of the pipeline and appropriate clamping force, thereby ensuring stable movement and detection of the detection device in the pipeline. This multi-directional adjustment function also enables the entire detection device to adjust and adapt more flexibly when encountering complex situations such as some local obstacles in the pipeline or sudden changes in pipe diameter, thereby avoiding problems such as the entire device getting stuck or detection interruption due to local changes in pipe diameter or obstacles, thereby improving the reliability and adaptability of the detection device.

[0038] In order to realize the intelligent detection process, Figure 7 As shown, a symmetrical driving cavity 22 is provided in each of the second clamp blocks 12, and a rotating cylinder 23 is rotatably connected in each of the driving cavities 22 through a bearing, and a plurality of blades 24 integrally formed with the rotating cylinder 23 are provided on the rotating cylinder 23 along its circumference, and a driving rod is welded on the side of the rotating cylinder 23 close to the displacement wheel 13, and the end of the driving rod close to the displacement wheel 13 penetrates the side wall of the second clamp block 12 and is coaxially fixedly connected to the corresponding displacement wheel 13, and the driving cavity 22 is connected to an input channel and an output channel, and the input channel is connected to the corresponding annular airbag 6, and the output channel is connected to the inclined pneumatic tube 14, as shown in FIG. Figure 4 As shown, the pneumatic tubes 14 are all located in the limiting groove 5 away from the side of the fixed support ring 1, one end of the pneumatic tubes 14 is welded to the side wall of the limiting groove 5, and the other end of the pneumatic tubes 14 is biased toward the side of the fixed support ring 1, the pneumatic tubes 14 are all connected to the annular airbags 6, and the outer wall of the fixed support ring 1 is fixedly connected to the air pump 15 by bolts, and the annular airbags 6 are connected to the air pump 15 through the air pipe.

[0039] When the air pump 15 is started, the gas is filled into the annular airbag 6 through the air pipe. The gas first expands the annular airbag 6, providing a uniform clamping force for the clamping assembly to ensure that the device fits tightly with the pipe surface. Subsequently, the excess gas enters the drive chamber 22 through the input channel, and the airflow impacts the blades 24 on the rotating drum 23 and generates pressure on the surface of the blades 24, pushing the rotating drum 23 to rotate around the driving rod. The rotation of the rotating drum 23 drives the driving rod to rotate, thereby driving the displacement wheel 13 to roll along the extension direction of the pipe. The rolling of the displacement wheel 13 provides active traction for the device; then the gas in the driving chamber 22 flows into the pneumatic tube 14 through the output channel. When the gas is ejected from the pneumatic tube 14, the direction of the reaction force of the jet is opposite to the direction of the gas flow. The horizontal component of the reaction force acts along the axial direction of the pipe, generating additional propulsion force to assist in pushing the moving ring 4 forward. In addition, when the change in pipe diameter causes the clamp assembly to expand outward, the compressed volume of the annular airbag 6 decreases, the air pressure in the driving chamber 22 increases, the exhaust speed of the pneumatic tube 14 increases, the reaction force increases, and the required driving force required for the increase in resistance is automatically compensated. Conversely, when the pipe diameter decreases, the expansion of the airbag slows down the exhaust speed and the driving speed to prevent propulsion overload.

[0040] Combination Figure 1 and Figure 5 As shown, the movable ring 4 is fixedly connected with a detection ring 16 on one side close to the fixed support ring 1 by bolts, and a plurality of ultrasonic detection parts 17 are provided on the inner wall of the detection ring 16. The ultrasonic detection parts 17 are preferably pulse echo electromagnetic ultrasonic sensors. The electromagnetic ultrasonic sensor is composed of a high-frequency coil, a permanent magnet and a signal processing unit. The ultrasonic waves are excited on the pipeline surface through the Lorentz force effect, and non-contact detection can be achieved without relying on a coupling agent. The ultrasonic detection parts 17 transmit and receive ultrasonic waves, combined with the fixed connection and movement with the movable ring 4, to achieve dynamic detection of pipeline defects.

[0041] The special thing is that when the moving ring 4 enters a curved pipe or an area with increased pipe diameter, the radial squeezing action of the first clamp block 11 and the second clamp block 12 will change the stress state of the annular airbag 6. When the clamp blocks apply radial pressure to the annular airbag 6 due to the bending of the pipe or the increase in pipe diameter, the volume of the annular airbag 6 is compressed, and the volume of the annular airbag 6 is reduced, resulting in a significant increase in its internal pressure. When the pressure inside the annular airbag 6 increases, the flow rate of the gas through the inclined pneumatic tube 14 increases as the pressure difference increases, thereby achieving the effect of adaptively adjusting the driving propulsion force of the moving ring 4. Based on this, an air pressure sensor is fixedly connected to the annular airbag 6, and the air pressure sensor signal is connected to the control system, and the air pump 15 is connected to the control system. The control system signal is connected, and the pressure of the annular airbag 6 is monitored in real time through the air pressure sensor and fed back to the control system. In the area where the pipe diameter increases, the control system reduces the air supply of the air pump 15 to maintain the dynamic balance of the pressure of the annular airbag 6. The exhaust flow of the pneumatic tube 14 tends to be stable due to the dual adjustment of the flow velocity and the cross-sectional area, thereby reducing the speed of the moving ring 4. On the contrary, in the area where the pipe diameter decreases, the speed of the moving ring 4 increases. Due to the different wall thicknesses of the pipes in the area where the pipe diameter increases and the area where the pipe is curved, reducing the speed of the moving ring 4 is beneficial to increasing the detection time. On the contrary, in the area where the pipe diameter decreases, increasing the moving speed of the moving ring 4 is beneficial to improving the detection efficiency, thereby realizing a design that dynamically adjusts the detection time according to the change in the pipe diameter.

[0042] A cleaning ring 18 is fixedly connected to the movable ring 4 on one side away from the fixed support ring 1 by bolts. A plurality of laser cleaning heads 19 are inlaid on the inner wall of the cleaning ring 18. The laser cleaning head 19 is preferably a short-pulse fiber laser. The laser energy is absorbed by the rust layer or contaminants, and the contaminants are peeled off through the thermal expansion effect, thereby reducing the surface roughness after cleaning, improving the ultrasonic echo signal-to-noise ratio after movement, and reducing the false detection rate of ultrasonic detection.

[0043] The detection ring 16 is provided with a limit connection assembly on the side close to the fixed support ring 1. The limit connection assembly includes a folding link 20. One end of the folding link 20 is hinged to the outer wall of the detection ring 16, and the other end of the folding link 20 is hinged to the side wall of the fixed support ring 1. The folding link 20 includes a number of short links hinged to each other. Since the detection ring 16 may produce radial displacement due to inertia during the movement of the moving ring 4, the design of the folding link 20 forces the radial displacement of the detection ring 16 to be limited within the range of the link geometric deformation, thereby reducing the radial swing amplitude. In addition, when the moving ring 4 enters the curved pipe section, the folding link 20 adaptively bends through the hinge point to maintain a constant vertical distance between the detection ring 16 and the inner wall of the pipe, ensuring the stability of the incident angle of the ultrasonic probe, avoiding signal distortion, and improving the accuracy of detection.

[0044] Example 2

[0045] The difference from Example 1 is that a ring-shaped baffle is welded on the side of the second clamp block 12 close to the pneumatic tube 14, and the baffle covers the outer area of ​​the exhaust port of several pneumatic tubes 14. The design of the baffle can block the splashing of the rust block after the cleaning block completes the peeling, reduce the risk of the splashing rust block affecting the detection of the detection ring 16, and improve the ultrasonic echo signal-to-noise ratio. In addition, the compressed gas discharged from the pneumatic tube 14 can not only be used to propel the moving ring 4, but the shear force generated by the high-speed airflow acts on the interface between the rust layer and the substrate, weakening the adhesion of the rust layer, especially for the rust block that has not completely fallen off, it has an auxiliary peeling effect, so that the loose rust debris after laser ablation is swept by the airflow in time, avoiding the secondary deposition from affecting the detection effect of the detection ring 16.

[0046] Example 3

[0047] As attached Figure 6 As shown, the difference from Example 2 is that telescopic connection components 21 are provided at the two end connections of the two relative moving rings 4 that are close to each other, and the telescopic connection components 21 include magnetic suction grooves and electric-controlled telescopic rods, which are connected to the control system signal, and the magnetic suction grooves and the electric-controlled telescopic rods are respectively embedded in the ends of the two moving rings 4, and the output shafts of the electric-controlled telescopic rods are welded with magnets, and the shapes of the magnets match the shapes of the magnetic suction grooves. When the two moving rings 4 are buckled together, the magnets will be attracted and fixed in the magnetic suction grooves, thereby achieving the effect of the moving rings 4 buckling on the surface of the pipeline.

[0048] Example 4

[0049] As attached Figure 8 As shown, the difference from Example 3 is that the control system includes an air pressure balance module, a buckling threshold adjustment module and an ultrasonic detection module; The air pressure balance module is used to monitor the internal pressure in real time through the air pressure sensor in the annular airbag 6, and obtain the current dynamic parameters of the pipeline to be tested by combining the position feedback of the displacement wheel 13 and the diameter change rate of the pipeline to be tested, automatically calculate the target pressure value of the annular airbag 6, and dynamically adjust the air supply of the air pump 15 through the feedback control algorithm. When the diameter of the pipeline to be tested increases or enters a curve, the air supply is reduced to slow down the moving speed and extend the detection time; the straight pipe section increases the speed to improve efficiency; The buckle threshold adjustment module includes a displacement position recording unit, a buckle adjustment unit, and a plurality of displacement sensors and force sensors. The displacement sensors are correspondingly mounted on the displacement wheel 13, and the force sensors are correspondingly mounted on the first clamp block 11. The position recording unit collects the sliding amount of each displacement wheel 13 through the displacement sensor, and calculates the moving distance of the displacement ring 4 along the axial direction of the pipeline in combination with the number of rotations of the displacement wheel 13 and the preset wheel diameter parameter.

[0050] The fastening adjustment unit monitors the sliding amount of each displacement wheel 13 through a displacement sensor, and detects the clamping force through a force sensor, and evaluates the fitting state of the moving ring 4 and the pipe to be tested in real time. When a clamping failure is detected (such as a sudden change in the diameter of the pipe to be tested or insufficient clamping force), the expansion and contraction amount required to re-fit the pipe to be tested is calculated and the electric-controlled telescopic rod is driven to adjust the fastening range of the moving ring 4. The output signal drives the telescopic rod to expand and contract, ensuring that the moving ring 4 is reliably fixed in a complex pipe.

[0051] The ultrasonic detection module transmits and receives echo signals through the ultrasonic detection component 17, and collects reflection data from the inner wall of the pipeline in real time. The echo time difference is analyzed to determine the defect depth, and the spectral characteristics (such as energy distribution and frequency offset) are combined to distinguish between cracks, corrosion and other defect types, and the AI ​​model is used to improve the classification accuracy. According to the detection results, the laser cleaning head 19 is linked to increase the power to remove surface contaminants. At the same time, the ultrasonic detection module dynamically associates the moving distance with the timestamp of the ultrasonic detection signal. When the defect echo is detected, the axial displacement and circumferential angle of the current moving ring 4 are automatically matched to generate the precise coordinates of the defect on the pipeline surface (axial position + circumferential angle), which are synchronously stored in the detection log and marked in the three-dimensional pipeline model to provide a positioning reference for subsequent defect re-inspection and repair.

[0052] Obviously, the above embodiments are merely examples for the purpose of clear explanation, and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived therefrom are still within the scope of protection of the invention.

Claims

1. A buried oil and gas pipeline excavation defect detection device, comprising a fixing part, the fixing part comprising two fixing support rings (1), the two fixing support rings (1) having two opposite ends provided with a disassembly connection assembly (2) for connecting the two fixing support rings (1), characterized in that: Both sides of the fixed support ring (1) are provided with a moving detection part, and between the moving detection part and the fixed support ring (1) there is a limit connection assembly for limiting the radial swing of the moving detection part; The mobile detection parts each comprise a plurality of mobile rings (4), wherein the two end connections of two opposite mobile rings (4) close to each other are each provided with a telescopic connection assembly (21) for adjusting the ring diameter of the plurality of mobile rings (4) after being connected, wherein the mobile rings (4) are each provided with a groove fixedly connected with an annular air bag (6), wherein a clamp assembly slidably connected to the side wall of the mobile ring (4) is provided below the annular air bag (6), wherein a displacement wheel (13) is provided on the side of the clamp assembly close to the pipeline to be tested, and wherein a pneumatic assembly for pneumatically propelling the mobile ring (4) to move is also provided in the mobile ring (4), wherein the pneumatic assembly is connected to the corresponding The annular airbag (6) is connected, and a pump assembly is fixedly connected to the fixed support ring (1). The plurality of annular airbags (6) are connected to the pump assembly. When the pump assembly is started, the pressure of the volume expansion of the annular airbag (6) is used as a driving force for the clamp assembly to fasten the pipeline. The excess gas is converted into a rotation drive of the displacement wheel (13) through the pneumatic assembly and discharged as an auxiliary propulsion driving force for the moving ring (4). When the pipeline diameter changes or passes through a bend in the pipeline, the clamp assembly changes with the diameter and squeezes the annular airbag (6) to achieve dynamic adjustment of the fastening tightness of the moving ring (4); The side of the moving ring (4) close to the fixed support ring (1) is fixedly connected with a detection component, and the side of the moving ring (4) away from the fixed support ring (1) is fixedly connected with a cleaning component. During the movement process, the cleaning component first cleans the rust on the surface of the pipeline to be tested, and then the moving ring (4) is pushed forward and the detection component performs ultrasonic scanning on the pipeline.

2. The buried oil and gas pipeline excavation defect detection device according to claim 1 is characterized in that: The inner wall of the fixed support ring (1) is fixedly connected with an anti-slip layer (3), and the surface of the anti-slip layer (3) is provided with staggered wedge-shaped textures.

3. The buried oil and gas pipeline excavation defect detection device according to claim 2 is characterized in that: The clamping assemblies each comprise a first clamp block (11), a side of the first clamp block (11) close to the pipeline to be tested being slidably connected to a symmetrical second clamp block (12), the first clamp block (11) and the second clamp block (12) both being semicircular structures, a plurality of displacement wheels (13) each being rotatably connected to a side of the corresponding second clamp block (12) close to the pipeline to be tested, and the installation direction of the displacement wheels (13) each being consistent with the extension direction of the pipeline.

4. The buried oil and gas pipeline excavation defect detection device according to claim 3 is characterized in that: The pneumatic components all include a drive cavity (22) opened in the corresponding second clamp block (12), a rotating cylinder (23) rotatably connected in the drive cavity (22), a plurality of fan blades (24) fixedly connected to the rotating cylinder (23) along its circumference, a drive rod fixedly connected to the side of the rotating cylinder (23) close to the displacement wheel (13), an end of the drive rod close to the displacement wheel (13) passes through the side wall of the second clamp block (12) and is coaxially fixedly connected to the corresponding displacement wheel (13), the drive cavity (22) is connected to an input channel and an output channel, the input channel is connected to the corresponding annular airbag (6), the output channel is connected to an inclined pneumatic tube (14), the pneumatic tube (14) is located in the moving ring (4) on a side away from the fixed support ring (1), one end of the pneumatic tube (14) is fixedly connected to the inner wall of the moving ring (4), and the other end of the pneumatic tube (14) is inclined toward the fixed support ring (1).

5. The buried oil and gas pipeline excavation defect detection device according to claim 4 is characterized in that: An air pressure sensor is fixedly connected inside the annular airbag (6), and a signal of the air pressure sensor is connected to a control system. The control system adjusts the driving power of the pump assembly according to the change of the air pressure in the annular airbag (6).

6. The buried oil and gas pipeline excavation defect detection device according to claim 5, characterized in that: The detection components all comprise a detection ring (16) fixedly connected to a side of the movable ring (4) close to the fixed support ring (1), and a plurality of ultrasonic detection components (17) are provided on the inner side wall of the detection ring (16).

7. The buried oil and gas pipeline excavation defect detection device according to claim 6, characterized in that: The cleaning components all comprise a cleaning ring (18) fixedly connected to a side of the moving ring (4) away from the fixed support ring (1), and a plurality of laser cleaning heads (19) are embedded on the inner side wall of the cleaning ring (18).

8. The buried oil and gas pipeline excavation defect detection device according to claim 7, characterized in that: The limit connection assembly comprises a folding connecting rod (20), one end of the folding connecting rod (20) is hinged to the outer side wall of the detection ring (16), and the other end of the folding connecting rod (20) is hinged to the side wall of the fixed support ring (1).

9. The buried oil and gas pipeline excavation defect detection device according to claim 8, characterized in that: A baffle with an annular structure is fixedly connected to one side of the second clamp block (12) close to the pneumatic tube (14).

10. The buried oil and gas pipeline excavation defect detection device according to claim 9, characterized in that: The control system includes an air pressure balance module, a buckling threshold adjustment module and an ultrasonic detection module; The air pressure balance module is used to monitor the internal pressure in real time through the air pressure sensor in the annular airbag (6), obtain the current dynamic parameters of the pipeline to be tested by combining the position feedback of the displacement wheel (13) and the diameter change rate of the pipeline to be tested, automatically calculate the target pressure value of the annular airbag (6), and dynamically adjust the air supply of the air pump (15) through a feedback control algorithm; A buckling threshold adjustment module, comprising a displacement position recording unit, a buckling adjustment unit, and a plurality of displacement sensors and force sensors, wherein the displacement sensors are correspondingly mounted on the displacement wheel (13), and the force sensors are correspondingly mounted on the first clamp block (11); A position recording unit, used to collect the sliding amount of each displacement wheel (13) through a displacement sensor, and calculate the moving distance of each moving ring (4) along the axial direction of the pipeline; A fastening adjustment unit is used to detect the clamping force through a force sensor, evaluate the fit state between the moving ring (4) and the pipe in real time, and when a clamping failure is detected, calculate the amount of expansion and contraction required to re-fit the pipe to be tested and drive the telescopic connection component (21) to adjust the fastening range of the moving ring (4); The ultrasonic detection module is used to transmit and receive echo signals through the ultrasonic detection component (17), collect reflection data of the inner wall of the pipeline to be tested in real time, analyze the echo time difference to determine the defect depth, record the moving distance of the current moving ring (4), mark the defect position, and distinguish the defect type in combination with the spectrum characteristics.

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