An underground oil and gas pipeline excavation defect detection device

Abstract

The present invention relates to the technical field of pipeline detection, and particularly relates to a buried oil and gas pipeline excavation defect detection device, which includes a fixing part. The fixing part includes two fixing support rings, and moving detection parts are arranged on both sides of the fixing support rings; the moving detection parts include a number of moving rings. An annular airbag is fixedly connected by grooving inside each moving ring. A clamping component that is slidably connected to the side wall of the moving ring is arranged below each annular airbag. Moving wheels are arranged at the bottom of each clamping component. A pneumatic component for pneumatically propelling the movement of the moving ring is also arranged inside each moving ring; a detection component is fixedly connected to one side of each moving ring close to the fixing support ring, and a cleaning component is fixedly connected to one side of each moving ring away from the fixing support ring; by designing a control system with a pneumatic pressure balance module, a fastening threshold adjustment module and an ultrasonic detection module, the present invention realizes flexible adaptation to pipelines with different diameters and high-precision detection, and improves the detection efficiency and accuracy.

Description

Technical Field

[0001] The present invention relates to the technical field of pipeline detection, and particularly to an excavation defect detection device for buried oil and gas pipelines. Background Art

[0002] During long-term operation, buried oil and gas pipelines may develop defects due to factors such as corrosion, manufacturing defects, mechanical damage, welding defects, and third-party damage, threatening pipeline safety and the environment. Buried pipeline defect detection is generally divided into internal detection and external detection (including excavation detection and non-excavation detection). Whether it is internal detection or non-excavation external detection, when defects or excessive defects are found, it is necessary to confirm the defects through excavation (excavation detection). Therefore, excavation detection is a key link in the verification and evaluation of buried oil and gas pipeline defects. By locally exposing the pipeline and conducting direct detection, it is possible to accurately determine the type, size, and degree of harm of the defects.

[0003] In the prior art, the patent document with the publication number CN117072885A provides an automatically crawling pipeline ultrasonic detection device and its detection method. It includes a first sleeve sleeved on the pipeline. A plurality of rolling wheels in rolling contact with the outer wall of the pipeline are arranged on the circumferential direction 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. The driving mechanism includes a strip-shaped plate arranged at the end of the first sleeve. A strip-shaped limiting hole parallel to the axis of the pipeline is arranged on the strip-shaped plate, and a rubber head is slidably arranged on the strip-shaped limiting hole. 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 a circumferential movement mechanism. Through the cooperation of the clamping mechanism, the driving mechanism, and the rubber head, the patent document realizes automatic crawling along the pipeline. The ultrasonic probe realizes circumferential ultrasonic detection of the pipeline through the circumferential movement mechanism, thereby realizing automatic ultrasonic detection of the pipeline, and its automation degree is high.

[0004] However, in the actual application process, the rubber head in the driving mechanism mentioned in the above document and the strip-shaped limiting hole are difficult to adapt to the axial displacement difference caused by the change in pipe diameter. For example, in the variable diameter section, the curvature change of the outer wall of the pipeline may cause uneven distribution of the friction force between the rubber head and the pipeline, resulting in a decrease in driving efficiency and even the phenomenon of "slipping", interrupting the detection process. Therefore, it is necessary to propose an excavation defect detection device for buried oil and gas pipelines to solve the problems of decreased driving efficiency or detection interruption when the existing excavation defect detection device for buried oil and gas pipelines detects in variable diameter pipeline sections and complex areas such as bends. Summary of the Invention

[0005] 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 a pneumatic balance module, a fastening threshold adjustment module, and an ultrasonic detection module, it realizes flexible adaptation to pipelines of different diameters and high-precision detection, improving the detection efficiency and accuracy.

[0006] To achieve the above object, the technical solution of the present invention is as follows: A buried oil and gas pipeline excavation defect detection device includes a fixing part. The fixing part includes two fixing support rings. Disassembly connection components for connecting the two fixing support rings are provided at both opposite ends of the two fixing support rings. Moving detection parts are provided on both sides of the fixing support rings. Limiting connection components for restricting the radial swing of the moving detection parts are provided between the moving detection parts and the fixing support rings.

[0007] The moving detection parts each include a number of moving rings. Telescopic connection components for adjusting the ring diameter after connecting the number of moving rings are provided at the joints of the two opposite moving rings close to each other. Annular airbags are fixedly connected to the grooves inside the moving rings. Clamping components that are slidably connected to the side walls of the moving rings are provided below the annular airbags. Displacement wheels are provided on the side of the clamping components close to the pipeline to be detected. Pneumatic components for pneumatically pushing the moving rings to move are also provided inside the moving rings. The pneumatic components are communicated with the corresponding annular airbags. A pump component is fixedly connected to the fixing support ring. A number of annular airbags are communicated with the pump component. When the pump component is started, the pressure of the expanding volume of the annular airbag serves as the driving force for the clamping component to fasten the pipeline, and the excess gas is discharged through the pneumatic component as the displacement driving force of the moving ring. When the pipeline diameter changes or passes through a pipeline bend, the clamping component changes with the diameter and squeezes the annular airbag to realize dynamic adjustment of the fastening tightness of the moving ring.

[0008] Detection components are fixedly connected to the side of the moving rings close to the fixing support rings, and cleaning components are fixedly connected to the side of the moving rings away from the fixing support rings. During the movement, the cleaning components first clean the rust on the surface of the pipeline to be detected, and then the moving rings are pushed forward and the pipeline is ultrasonically scanned and detected by the detection components.

[0009] The technical principle of the above solution is as follows: Design a ring-shaped airbag to expand under the action of a pump assembly, and the pressure of its volume expansion is used as the driving force for the clamping assembly to clamp the pipeline, so that the clamping assembly can closely fit the outer wall of the pipeline. At the same time, the excess gas is discharged through the pneumatic assembly, which is used as the displacement driving force of the moving ring to push the moving ring to move along the axial direction of the pipeline. When the pipeline diameter changes or passes through a pipeline bend, the clamping assembly can change with the diameter and squeeze the ring-shaped airbag to realize the dynamic adjustment of the fastening density of the moving ring; in addition, the present invention also designs a cleaning assembly and a detection assembly. During the movement, the cleaning assembly first cleans the rust and other pollutants on the surface of the pipeline to be measured, providing a clean detection environment for the subsequent ultrasonic scanning detection. Then, the moving ring advances and the detection assembly performs ultrasonic scanning detection on the pipeline. The ultrasonic detection component emits and receives echo signals, real-time collects the reflection data of the inner wall of the pipeline to be measured, analyzes the echo time difference to determine the defect depth, and combines the spectral characteristics to distinguish the defect type, realizing the high-precision detection of pipeline defects.

[0010] The above solution has the following beneficial effects:

[0011] 1. Through the synergistic effect of the ring-shaped airbag and the clamping assembly, this solution realizes the dynamic adaptation to pipelines with different diameters and bent pipelines. The ring-shaped airbag expands after being inflated by the pump assembly, providing a stable clamping force for the clamping assembly. At the same time, the excess gas is discharged through the pneumatic assembly and converted into the propulsion power of the moving ring. When the pipeline diameter changes or passes through a bend, the clamping assembly makes multi-directional adjustments through a sliding connection, real-time adjusts the clamping outer diameter, and squeezes the ring-shaped airbag to complete the dynamic pressure balance. This design effectively solves the problems of slipping or jamming caused by uneven friction force in the variable diameter section of traditional devices, ensures the continuous and stable movement of the detection device in complex pipelines, avoids detection interruption, and significantly improves the operation efficiency.

[0012] 2. Through the collaborative layout of the pre-cleaning assembly and the post-detection assembly, this solution realizes the seamless connection between pipeline surface pretreatment and high-precision detection. The cleaning assembly uses a laser cleaning head to utilize the thermal expansion effect of short-pulse lasers to peel off the rust layer and pollutants on the pipeline surface, reducing the surface roughness; then the high-speed air flow discharged by the pneumatic assembly further blows away the residual debris to form a clean detection environment. The detection assembly continuously scans the pipeline in a full circumferential direction during the advancement of the moving ring. The cleaned pipeline surface reduces the scattering interference of ultrasonic echoes. Combined with the joint analysis of the control system, it can accurately identify defect types such as cracks and corrosion, reducing the false detection rate.

[0013] Furthermore, anti-slip layers are fixedly connected to the inner walls of the fixed support rings, and wedge-shaped textures are arranged in a staggered manner on the surfaces of the anti-slip layers.

[0014] Beneficial effects: The design of the anti-slip 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 textures not only improves the anti-slip effect but also forms a slight extrusion effect on the pipeline surface, which helps to remove the fine impurities attached to the pipeline surface, further ensuring the detection accuracy, enabling the detection device to maintain a good fit and operating stability in various complex pipeline environments, and improving the efficiency and reliability of the detection operation.

[0015] Furthermore, the clamping components each include a first clamping block, and symmetric second clamping blocks are slidably connected to the side of each first clamping block close to the pipeline to be measured. Both the first clamping block and the second clamping block are semi-circular structures, and a number of displacement wheels are rotatably connected to the side of the corresponding second clamping block close to the pipeline to be measured, and the installation directions of the displacement wheels are all consistent with the extension direction of the pipeline.

[0016] Beneficial effects: The combination of the semi-circular structures of the first clamping block and the second clamping block ensures that the device can tightly wrap around the outer wall of the pipeline. Through the sliding connection method, the second clamping block can be adjusted according to the actual size of the pipeline to achieve a stable clamping. The setting of the displacement wheels not only facilitates the movement of the detection device on the pipeline, but also its installation direction is consistent with the extension direction of the pipeline, reducing the frictional resistance during the movement process, making the detection operation smoother and more efficient, improving the applicability and flexibility of the detection device, and also ensuring the stable contact between the device and the pipeline during the detection process, thereby improving the accuracy and reliability of the detection.

[0017] Furthermore, the pneumatic components each include a driving cavity opened in the corresponding second clamping block. A rotating cylinder is rotatably connected in the driving cavity. A number of fan blades are fixedly connected to the rotating cylinder along its circumferential direction. A driving rod is fixedly connected to the side of the rotating cylinder close to the displacement wheel. One end of the driving rod close to the displacement wheel penetrates through the side wall of the second clamping block and is coaxially fixedly connected to the corresponding displacement wheel. The driving cavities are respectively communicated with an input channel and an output channel. The input channels are respectively communicated with the corresponding annular air bags. The output channels are respectively communicated with inclined pneumatic pipes. The pneumatic pipes are all located on the side of the moving ring away from the fixed support ring. One end of the pneumatic pipe is fixedly connected to the inner side wall of the moving ring, and the other end of the pneumatic pipe is inclined towards the side of the fixed support ring.

[0018] Beneficial effects: By using the linkage structure of the rotary drum, fan blades and drive rod, after gas is filled into the annular airbag, it pushes the fan blades on the rotary 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 pipe enables the kinetic energy of the discharged gas to be reused: by optimizing fluid mechanics, the jet reaction force acts on the advancing direction of the moving 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 air flow. In addition, when the pipe diameter of the pipeline to be measured suddenly changes and causes the clamping assembly to expand outward, the annular airbag is compressed, increasing the intake air pressure of the drive chamber, synchronously enhancing the rotational speed of the rotary drum and the exhaust speed of the pneumatic pipe, thereby intelligently compensating for the power loss caused by the increased contact surface friction, achieving a highly compact and functionally integrated pneumatic drive system, and improving the space utilization rate and structural stability of the device.

[0019] Furthermore, a pressure sensor is fixedly connected inside the annular airbag, and the pressure sensor is signal-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.

[0020] Beneficial effects: Through the linkage of the pressure sensor and the control system, the driving power of the pump assembly is monitored in real time and dynamically adjusted 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, causing pressure fluctuations. The control system quickly adjusts the air supply volume of the pump assembly through a feedback algorithm: in the case of an increase in pipe diameter or a bend, the air supply volume is reduced to avoid the clamping force imbalance caused by overpressure of the annular airbag; in the area where the pipe diameter is reduced, the air supply volume is increased to compensate for the pressure loss and maintain the clamping force stable. This not only improves the adaptive ability of the device to complex pipelines, but also avoids energy waste and mechanical wear in the traditional fixed-power air supply mode. At the same time, by ensuring pressure balance, the vertical contact angle between the ultrasonic detection component and the pipe wall is guaranteed, significantly improving the defect recognition accuracy and detection continuity.

[0021] Furthermore, the detection components all include a detection ring fixedly connected to the side of the moving ring close to the fixed support ring, and several ultrasonic detection components are arranged on the inner side wall of the detection ring.

[0022] Beneficial effects: The design of fixing the detection ring on the side of the moving ring close to the fixed support ring ensures that the ultrasonic detection components always adhere to the outer wall of the pipeline and maintain a perpendicular incident angle, and realizes a full-circumference continuous scan in combination with the pneumatic propulsion of the moving ring. Multiple ultrasonic detection components are arranged in an annular array along the inner side wall of the detection ring, covering a 360° range of the pipeline to avoid detection blind spots.

[0023] Furthermore, the cleaning components all include a cleaning ring fixedly connected to the side of the moving ring away from the fixed support ring, and several laser cleaning heads are inlaid on the inner side wall of the cleaning ring.

[0024] Beneficial effects: The cleaning component is preferentially arranged at the front end of the moving ring through the laser cleaning head, ensuring that rust, oil stains and attachments on the surface of the pipeline are completely removed before the detection component arrives, providing a smooth surface for subsequent ultrasonic detection.

[0025] Furthermore, the limiting connection component 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.

[0026] Beneficial effects: The folding connecting rod restricts the radial swing amplitude of the detection ring during movement through the geometric constraints of multiple hinge points, ensuring that the ultrasonic detection piece is always perpendicular to the outer wall of the pipeline. In the bend or variable diameter section, the adaptive bending function of the folding connecting rod synchronously adjusts the attitude of the detection ring, avoiding signal distortion caused by probe offset or vibration, improving the defect positioning accuracy and increasing the detection coverage rate.

[0027] Furthermore, annular structure baffles are fixedly connected to one side of each second clamp block close to the pneumatic tube.

[0028] Beneficial effects: The baffle covers the outer area of the pneumatic tube exhaust port, effectively blocking rust blocks and debris splashing during the laser cleaning process from entering the detection ring area, reducing the risk of contaminating the surface of the ultrasonic detection piece. At the same time, the high-speed airflow discharged from the pneumatic tube forms a vortex under the guidance of the baffle, further blowing the remaining particles to the bottom of the pipeline, improving the cleanliness of the detection environment, increasing the signal-to-noise ratio of the ultrasonic signal, and increasing the detection rate of micro defects.

[0029] Furthermore, the control system includes a pneumatic pressure balance module, a clamping threshold adjustment module and an ultrasonic detection module;

[0030] The pneumatic pressure balance module is used to monitor the internal pressure in real time through the pressure sensor in the annular airbag, combine the position feedback of the displacement wheel and the pipe diameter change rate of the pipeline to be measured, obtain the current dynamic parameters of the pipeline to be measured, automatically calculate the target pressure value of the annular airbag, and dynamically adjust the air supply volume of the air pump through the feedback control algorithm;

[0031] The clamping threshold adjustment module includes a displacement position recording unit, a clamping adjustment unit, and a number of displacement sensors and force sensors. The displacement sensors are respectively installed on the displacement wheels, and the force sensors are respectively installed on the first clamp blocks;

[0032] The position recording unit is used to collect the sliding amount of each displacement wheel through the displacement sensors and calculate the moving distance of each moving ring along the axial direction of the pipeline;

[0033] The clamping adjustment unit is used to detect the clamping force through the force sensors, evaluate the fitting state of the moving ring and the pipeline in real time, and when clamping failure is detected, calculate the expansion and contraction amount required to refit the pipeline to be measured and drive the telescopic connection component to adjust the clamping range of the moving ring;

[0034] The clamping adjustment unit is used to detect the clamping force through a force sensor, evaluate the fitting state between the moving ring and the pipeline in real time. When clamping failure is detected, it calculates the expansion and contraction amount required to refit the pipeline to be measured and drives the telescopic connection component to adjust the clamping range of the moving ring.

[0035] The ultrasonic detection module is used to emit and receive echo signals through an ultrasonic detector, collect the reflection data of the inner wall of the pipeline to be measured 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 in combination with the spectral characteristics.

[0036] Beneficial effects: The air pressure balance module dynamically balances the pressure of the annular airbag by adjusting the air supply volume of the pump component in real time, and adaptively adjusts the clamping force and moving speed at the sudden change of pipe diameter or bend. For example, when the pipe diameter increases, the air supply volume is reduced to avoid clamping failure caused by overpressure of the annular airbag, and at the same time, the speed is reduced to extend the detection time; the clamping threshold adjustment module calibrates the sliding amount and clamping force of the clamping component in real time based on the data fusion of the displacement and force sensors. When it is detected that the clamping force is insufficient due to the sudden change of pipe diameter, it drives the electric control telescopic rod to adjust the clamping range to ensure the fitting stability between the moving ring and the pipe wall and avoid detection interruption; the ultrasonic detection module combines time-domain and frequency-domain joint analysis to distinguish defect types such as cracks, corrosion, and slag inclusions, and optimizes detection parameters by learning the user's historical data through the AI model to improve detection efficiency.

[0037] Additional aspects and advantages of the present invention will be given in part in the following description, become apparent in part from the following description, or be learned through the practice of the present invention. Description of the Drawings

[0038] Figure 1 It is a schematic diagram of the overall structure of an embodiment of the buried oil and gas pipeline excavation defect detection device of the present invention;

[0039] Figure 2 It is an axonometric view of the fixed support ring in an embodiment of the buried oil and gas pipeline excavation defect detection device of the present invention;

[0040] Figure 3 It is an axonometric view of the moving ring in an embodiment of the buried oil and gas pipeline excavation defect detection device of the present invention;

[0041] Figure 4 It is a schematic diagram of the pneumatic pipe layout in an embodiment of the buried oil and gas pipeline excavation defect detection device of the present invention;

[0042] Figure 5 It is an axonometric view of the moving detection part in an embodiment of the buried oil and gas pipeline excavation defect detection device of the present invention;

[0043] Figure 6Schematic layout diagram of the telescopic connection assembly in the embodiment of the buried oil and gas pipeline excavation defect detection device of the present invention;

[0044] Figure 7 Axonometric sectional view of the layout in the driving cavity in the embodiment of the buried oil and gas pipeline excavation defect detection device of the present invention;

[0045] Figure 8 Operating schematic diagram of the control system in the embodiment of the buried oil and gas pipeline excavation defect detection device of the present invention.

[0046] Reference numerals in the accompanying drawings of the specification include: 1, fixed support ring; 2, disassembly connection assembly; 201, clamping rod; 202, tooth groove; 3, anti-slip layer; 4, moving ring; 5, limiting groove; 6, annular airbag; 7, vertical sliding groove; 8, sliding piece; 9, arc-shaped groove; 10, sliding rod; 11, first clamping block; 12, second clamping block; 13, displacement wheel; 14, pneumatic tube; 15, air pump; 16, detection ring; 17, ultrasonic detection piece; 18, cleaning ring; 19, laser cleaning head; 20, folding connecting rod; 21, telescopic connection assembly; 22, driving cavity; 23, rotating cylinder; 24, fan blade. Detailed implementation manners

[0047] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Apparently, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0048] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the accompanying drawings, and is 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 thus should not be construed as a limitation of the present invention. In addition, the terms "first", "second", "third" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0049] In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, the terms "installed", "connected", "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 directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0050] The following is a further detailed description through specific embodiments:

[0051] Embodiment 1

[0052] As shown in the attached Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 、 Figure 6 and Figure 7 shown: A buried oil and gas pipeline excavation defect detection device includes a fixing part. The fixing part includes two symmetric fixing support rings 1. A disassembly connection component 2 is provided between the opposite ends of the two fixing support rings 1. Specifically, as shown in Figure 2 shown, the disassembly connection component 2 includes a clamping rod 201 and a tooth groove 202. A number of clamping rings connected by springs are provided on the clamping rod 201. The clamping rods 201 are welded to both ends of one of the fixing support rings 1, and the tooth grooves 202 are opened at both ends of the other fixing support ring 1. The positions and shapes of the clamping rings and the tooth grooves 202 correspond one by one. Before the excavation detection, the operator only needs to insert the clamping rod 201 into the corresponding tooth groove 202 and apply a radial pressure. Due to the elastic connection between the clamping ring and the clamping rod 201, the clamping ring is clamped into the tooth groove 202, and stepless adjustable ring body locking can be achieved. Its unique self-locking inclined plane structure can effectively resist the axial movement and radial vibration generated during the detection process. In addition, to enhance the friction performance of the pipeline contact surface, the inner walls of the fixing support rings 1 are coated with an anti-slip layer 3. The anti-slip layer 3 is made of a polyurethane-based composite material reinforced with silicon carbide particles, and the surface of the anti-slip layer 3 is provided with wedge-shaped textures distributed in a staggered manner.

[0053] Moving detection parts are provided on both sides of the fixing support ring 1. Specifically, in combination with Figure 1 and Figure 3 shown, the moving detection parts each include two moving rings 4. A limiting groove 5 is opened in each of the moving rings 4. An annular airbag 6 is adhesively fixed in the limiting groove 5. Symmetric vertical sliding grooves 7 are opened on the side walls of the moving rings 4. A sliding piece 8 is slidably fitted in each of the vertical sliding grooves 7. An arc-shaped groove 9 is opened on the surface of the sliding piece 8. A sliding rod 10 is slidably connected in the arc-shaped groove 9. The end of the sliding rod 10 away from the arc-shaped groove 9 is fixedly connected with a clamping component. The clamping component includes a first clamping block 11. A symmetric second clamping block 12 is slidably connected to the side of the first clamping block 11 close to the pipeline to be detected. Both the first clamping block 11 and the second clamping block 12 are semi-circular structures. A number of displacement wheels 13 are vertically rotatably connected to the side of the second clamping block 12 close to the pipeline to be detected through bearings. The installation directions of the displacement wheels 13 are all consistent with the extension direction of the pipeline.

[0054] When the moving ring 4 is buckled on the surface of the pipeline, firstly, when there are irregular pipe walls such as bulges on the surface of the pipeline to be measured, 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 bulges at this time. For example, when the bulge is located between the two second clamp blocks 12, the two second clamp blocks 12 on the first clamp block 11 slide along the opposite circumferences of the pipeline. This design enables the moving ring to adapt to the irregular outer wall of the pipeline to be measured. Secondly, when the diameter of the pipeline decreases, the supporting force of the displacement wheel 13 in contact with the pipeline to be measured decreases. Due to the presence of the annular airbag 6, the first clamp block 11 slides towards the direction close to the pipeline to be measured under the pressure of the annular airbag 6, reducing the overall clamping outer diameter; while in the process of the pipeline diameter increasing, due to the flexible characteristics of the annular airbag 6, the first clamp block 11 can slide appropriately towards the direction away from the pipeline to be measured, increasing the outer diameter, so as to always maintain effective contact with the inner wall of the pipeline and appropriate clamping force, ensuring the stable movement and detection of the detection device in the pipeline. This multi-directional adjustment function also enables the entire detection device to be more flexible in adjustment and adaptation when encountering some local obstacles in the pipeline or sudden changes in the pipeline diameter and other complex situations, avoiding problems such as the entire device being stuck or the detection being interrupted due to local pipeline diameter changes or obstacles, and improving the reliability and adaptability of the detection device.

[0055] In order to achieve an intelligent detection process, specifically as Figure 7 shown, symmetric drive cavities 22 are respectively formed in the second clamp blocks 12. A rotating cylinder 23 is rotatably connected in each drive cavity 22 through a bearing. A plurality of fan blades 24 integrally formed with the rotating cylinder 23 are arranged along the circumference of the rotating cylinder 23. A drive rod is welded on one side of the rotating cylinder 23 close to the displacement wheel 13. One end of the drive rod close to the displacement wheel 13 penetrates through the side wall of the second clamp block 12 and is coaxially and fixedly connected to the corresponding displacement wheel 13. Each drive cavity 22 communicates with an input channel and an output channel. The input channels are respectively communicated with the corresponding annular airbags 6. The output channels are respectively communicated with inclined pneumatic pipes 14. Specifically as Figure 4 shown, the pneumatic pipes 14 are all located on the side of the limiting groove 5 far from the fixed support ring 1. One end of the pneumatic pipe 14 is welded to the side wall of the limiting groove 5. The other end of the pneumatic pipe 14 is biased towards the side of the fixed support ring 1. The pneumatic pipes 14 are all communicated with the annular airbags 6. An air pump 15 is fixedly connected to the outer wall of the fixed support ring 1 through bolts. The annular airbags 6 are all communicated with the air pump 15 through air pipes.

[0056] When the air pump 15 is started, gas is filled into the annular airbag 6 through the air pipe. The gas first causes the annular airbag 6 to expand, providing a uniform clamping force for the clamping assembly to ensure close fitting of the device to the pipe surface. Subsequently, the excess gas enters the driving cavity 22 through the input channel. The air flow impacts the fan blades 24 on the rotating drum 23 and generates pressure on the surface of the fan 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 pipe extension direction. The rolling of the displacement wheel 13 provides active traction for the device. Then, the gas in the driving cavity 22 flows into the pneumatic pipe 14 through the output channel. When the gas is ejected from the pneumatic pipe 14, the direction of the reaction force of the jet is opposite to the gas flow direction. The horizontal component of the reaction force acts along the pipe axis, generating an additional propulsion force to assist in pushing the moving ring 4 forward. In addition, when the pipe diameter changes and causes the clamping assembly to expand outward, the annular airbag 6 is compressed and its volume decreases, the air pressure in the driving cavity 22 increases, the exhaust speed of the pneumatic pipe 14 accelerates, the reaction force increases, and automatically compensates for the increased driving force required due to the increased resistance. Conversely, when the pipe diameter decreases, the airbag expands to slow down the exhaust speed and the driving speed, preventing propulsion overload.

[0057] Combined Figure 1 with Figure 5 As shown, on one side where the moving ring 4 is close to the fixed support ring 1, a detection ring 16 is fixedly connected by bolts. A number of ultrasonic detection components 17 are provided on the inner side wall of the detection ring 16. The ultrasonic detection components 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. Ultrasonic waves are excited on the pipe surface through the Lorentz force effect, and non-contact detection can be achieved without relying on a coupling agent. The ultrasonic detection components 17 realize dynamic detection of pipe defects through the emission and reception of ultrasonic waves and the movement combined with the fixed connection with the moving ring 4.

[0058] Particularly, when the moving ring 4 enters a bent pipe or an area with an increasing pipe diameter, the radial extrusion action of the first clamping block 11 and the second clamping block 12 will change the stress state of the annular airbag 6. When the clamping blocks apply radial pressure to the annular airbag 6 due to pipe bending or increasing pipe diameter, the volume of the annular airbag 6 is compressed. The decrease in the volume of the annular airbag 6 causes a significant increase in its internal pressure. When the pressure in the annular airbag 6 increases, the flow rate of the gas through the inclined pneumatic pipe 14 increases with the increase in the pressure difference, achieving the effect of adaptively adjusting the driving and propelling force of the moving ring 4. Based on this, pressure sensors are fixedly connected inside the annular airbag 6. The pressure sensors are signal-connected to a control system, and the air pump 15 is also signal-connected to the control system. The pressure of the annular airbag 6 is monitored in real time by the pressure sensors and fed back to the control system. In the area with an increasing pipe diameter, 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 rate of the pneumatic pipe 14 tends to be stable due to the dual adjustment of the flow rate and cross-sectional area, realizing the reduction of the speed of the moving ring 4. On the contrary, in the area with a decreasing pipe diameter, the speed of the moving ring 4 increases. Since the wall thicknesses of the pipe walls in the area with an increasing pipe diameter and the bent pipe area are different, reducing the speed of the moving ring 4 is beneficial to increasing the detection time. On the contrary, in the area with a decreasing pipe diameter, increasing the moving speed of the moving ring 4 is beneficial to improving the detection efficiency, realizing the design of dynamically adjusting the detection time according to the pipe diameter change.

[0059] On one side of the moving ring 4 away from the fixed support ring 1, a cleaning ring 18 is fixedly connected by bolts. A number of laser cleaning heads 19 are inlaid on the inner side wall of the cleaning ring 18. The laser cleaning heads 19 are preferably short-pulse fiber lasers. The laser energy is absorbed by the rust layer or pollutants, and the pollutants are peeled off through the thermal expansion effect, reducing the surface roughness after cleaning, improving the signal-to-noise ratio of the ultrasonic echo after movement, and reducing the false detection rate of ultrasonic detection.

[0060] On one side of the detection ring 16 close to the fixed support ring 1, a limiting connection assembly is provided. The limiting connection assemblies each include 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. The folding connecting rod 20 includes a number of short connecting rods hinged to each other. Since the detection ring 16 may generate radial displacement due to inertia during the movement of the moving ring 4, the design of the folding connecting rod 20 forcibly limits the radial displacement of the detection ring 16 within the geometric deformation range of the connecting rod, thereby reducing the radial swing amplitude. In addition, when the moving ring 4 enters the bent pipe section, the folding connecting rod 20 bends adaptively through the hinge points 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.

[0061] Embodiment 2

[0062] The difference from Embodiment 1 is that on the side of the second clamp block 12 close to the pneumatic pipe 14, baffles with an annular structure are welded. The baffles cover the outer regions of the exhaust ports of several pneumatic pipes 14. The design of the baffles can block the splashing after the cleaning block peels off the rust blocks, reduce the risk of the splashing rust blocks affecting the detection of the detection ring 16, and improve the signal-to-noise ratio of the ultrasonic echo. In addition, the compressed gas discharged from the pneumatic pipe 14 can not only be used to push the moving ring 4, but the shear force generated by the high-speed air flow acts on the interface between the rust layer and the substrate, weakening the adhesion of the rust layer. Especially for the rust blocks that have not completely fallen off, it has an auxiliary peeling effect, so that the loose rust chips after laser ablation can be timely blown away by the air flow, avoiding the influence of secondary deposition on the detection effect of the detection ring 16.

[0063] Embodiment 3

[0064] As shown in the attached Figure 6 figure, the difference from Embodiment 2 is that telescopic connection components 21 are provided at the joints of the two ends of the opposite moving rings 4 close to each other. The telescopic connection components 21 each include a magnetic attraction groove and an electric control telescopic rod. The electric control telescopic rod is signal-connected to the control system. The magnetic attraction groove and the electric control telescopic rod are respectively embedded in the ends of the two moving rings 4. A magnet piece is welded to the output shaft of the electric control telescopic rod, and the shape of the magnet piece fits the shape of the magnetic attraction groove. When the two moving rings 4 are buckled together, the magnet piece will be attracted and fixed in the magnetic attraction groove, achieving the effect of buckling the moving ring 4 on the surface of the pipeline.

[0065] Embodiment 4

[0066] As shown in the attached Figure 8 figure, the difference from Embodiment 3 is that the control system includes a pneumatic pressure balance module, a buckling threshold adjustment module, and an ultrasonic detection module;

[0067] The pneumatic pressure balance module is used to monitor the internal pressure in real time through the pressure sensor in the annular airbag 6, combine the position feedback of the displacement wheel 13 and the pipe diameter change rate of the pipeline to be measured, obtain the current dynamic parameters of the pipeline to be measured, automatically calculate the target pressure value of the annular airbag 6, and dynamically adjust the air supply volume of the air pump 15 through the feedback control algorithm. When the pipe diameter of the pipeline to be measured increases or enters a bend, the air supply volume is reduced to slow down the moving speed and extend the detection time; in the straight pipe section, the speed is increased to improve the efficiency;

[0068] The buckling threshold adjustment module includes a displacement position recording unit, a buckling adjustment unit, and several displacement sensors and force sensors. The displacement sensors are respectively installed on the displacement wheels 13, and the force sensors are respectively installed on the first clamp blocks 11;

[0069] The position recording unit collects the sliding amounts of the displacement wheels 13 through the displacement sensors, and combines the number of rotation turns of the displacement wheels 13 and the preset wheel diameter parameters to calculate the moving distance of the displacement ring 4 along the axial direction of the pipeline.

[0070] 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.

[0071] 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.

[0072] 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. An underground oil and gas pipeline excavation defect detection device, comprising a fixing part, the fixing part includes two fixing support rings (1), and disassembly connection components (2) for connecting the two fixing support rings (1) are provided at both opposite ends of the two fixing support rings (1), characterized in that, Moving detection parts are provided on both sides of the fixed support ring (1), and a limiting connection component for restricting the radial swing of the moving detection part is provided between the moving detection part and the fixed support ring (1); The moving detection parts each include a number of moving rings (4). Telescopic connection components (21) for adjusting the ring diameter after the connection of the several moving rings (4) are provided at the joints of the two opposite ends of the relatively close moving rings (4). Annular air bags (6) are fixedly connected in grooves inside the moving rings (4). Clamping components that are slidably connected to the side walls of the moving rings (4) are provided below the annular air bags (6). Displacement wheels (13) are provided on one side of each clamping component close to the pipeline to be measured. Pneumatic components for pneumatically propelling the movement of the moving rings (4) are also provided inside the moving rings (4). The pneumatic components are communicated with the corresponding annular air bags (6). A pump component is fixedly connected to the fixed support ring (1). The several annular air bags (6) are all communicated with the pump component. When the pump component is started, the pressure of the volume expansion of the annular air bag (6) serves as the driving force for the clamping component to clamp the pipeline. The excess gas is converted into the rotational drive of the displacement wheel (13) through the pneumatic component and discharged as the auxiliary propulsion driving force of the moving ring (4). When the pipeline diameter changes or passes through a pipeline bend, the clamping component changes with the diameter of the pipeline and squeezes the annular air bag (6) to realize the dynamic adjustment of the clamping tightness of the moving ring (4); Detection components are fixedly connected to one side of the moving ring (4) close to the fixed support ring (1), and cleaning components are fixedly connected to one side of the moving ring (4) far from the fixed support ring (1). During the movement, the cleaning component first cleans the rust on the surface of the pipeline to be measured, and then the moving ring (4) advances and the pipeline is ultrasonically scanned and detected by the detection component.

2. The buried oil and gas pipeline excavation defect detection device according to claim 1, wherein, Anti-slip layers (3) are fixedly connected to the inner walls of the fixed support rings (1), and wedge-shaped textures are provided on the surfaces of the anti-slip layers (3) and are distributed in a staggered manner.

3. The buried oil and gas pipeline excavation defect detection device according to claim 2, wherein, The clamping components each include a first clamping block (11). Symmetrical second clamping blocks (12) are slidably connected to one side of the first clamping block (11) close to the pipeline to be measured. The first clamping block (11) and the second clamping block (12) are both semi-circular structures. Several displacement wheels (13) are rotatably connected to one side of the corresponding second clamping block (12) close to the pipeline to be measured, and the installation directions of the displacement wheels (13) are all consistent with the extension direction of the pipeline.

4. The buried oil and gas pipeline excavation defect detection device according to claim 3, characterized in that, The pneumatic components all include a driving cavity (22) opened in the corresponding second clamping block (12). A rotating cylinder (23) is rotatably connected in the driving cavity (22). A plurality of fan blades (24) are fixedly connected to the rotating cylinder (23) along its circumferential direction. A driving rod is fixedly connected to one side of the rotating cylinder (23) close to the displacement wheel (13). One end of the driving rod close to the displacement wheel (13) penetrates through the side wall of the second clamping block (12) and is fixedly connected to the corresponding displacement wheel (13) coaxially. The driving cavity (22) is communicated with an input channel and an output channel. The input channels are all communicated with the corresponding annular air bag (6). The output channels are all communicated with an inclined pneumatic pipe (14). The pneumatic pipes (14) are all located on the side far from the fixed support ring (1) inside the moving ring (4). One end of the pneumatic pipe (14) is fixedly connected to the inner side wall of the moving ring (4), and the other end of the pneumatic pipe (14) inclines towards the side of the fixed support ring (1).

5. The buried oil and gas pipeline excavation defect detection device according to claim 4, characterized in that A pressure sensor is fixedly connected inside the annular air bag (6). The pressure sensor is signal-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 air bag (6).

6. The buried oil and gas pipeline excavation defect detection device according to claim 5, characterized in that, The detection components all include a detection ring (16) fixedly connected to the side of the moving ring (4) close to the fixed support ring (1). A plurality of ultrasonic detection parts (17) are arranged 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 include a cleaning ring (18) fixedly connected to the side of the moving ring (4) far from the fixed support ring (1). A plurality of laser cleaning heads (19) are inlaid 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 limiting connection component includes 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 clamping block (12) close to the pneumatic pipe (14).

10. The buried oil and gas pipeline excavation defect detection device according to claim 9, characterized in that, The control system includes a pressure balance module, a clamping threshold adjustment module, and an ultrasonic detection module; The pressure balance module is used to monitor the internal pressure in real time through the pressure sensor in the annular air bag (6), combine the position feedback of the displacement wheel (13) and the diameter change rate of the pipeline to be measured, obtain the current dynamic parameters of the pipeline to be measured, automatically calculate the target pressure value of the annular air bag (6), and dynamically adjust the air supply volume of the air pump (15) through the feedback control algorithm; The clamping threshold adjustment module includes a displacement position recording unit, a clamping adjustment unit, and a plurality of displacement sensors and force sensors. The displacement sensors are respectively installed on the displacement wheels (13), and the force sensors are respectively installed on the first clamping block (11); The position recording unit is used to collect the sliding amount of each displacement wheel (13) through the displacement sensors and calculate the moving distance of each moving ring (4) along the axial direction of the pipeline; The clamping adjustment unit is used to detect the clamping force through the force sensors, evaluate the fitting state of the moving ring (4) and the pipeline in real time. When it detects that the clamping fails, calculate the telescopic amount required to refit the pipeline to be measured and drive the telescopic connection component (21) to adjust the clamping range of the moving ring (4); An ultrasonic detection module, which is used to transmit and receive echo signals through an ultrasonic detector (17), collect the reflection data of the inner wall of the pipeline to be measured 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 then distinguish the defect type by combining the spectral characteristics.

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