A pipeline inspection gauge with variable diameter

Abstract

The application provides a pipeline inspection device with a variable diameter function, and relates to the technical field of pipeline inspection. The pipeline inspection device comprises an in-pipe data acquisition module, which is configured to acquire inner diameter data of a pipeline and real-time pressure data inside the pipeline; a travel control module, which is configured to generate a first control instruction according to the inner diameter data and a second control instruction according to the inner diameter data and the real-time pressure data; and a travel execution module, which is a telescopic structure in a vertical direction. The travel control module and the in-pipe data acquisition module are arranged in a frame of the travel execution module. The travel execution module is configured to execute the first control instruction or the second control instruction. The application solves the problems of high cost, low adjustment efficiency and incapability of adapting to changes in the internal structure of the pipeline in the prior art.

Description

Technical Field

[0001] This invention relates to the field of pipeline inspection technology, and in particular to an internal pipeline detector with a variable diameter function. Background Technology

[0002] Pipeline inspection robots are crucial tools for automated pipeline inspection, and the performance of their drive mechanisms directly impacts inspection efficiency and reliability. This is especially true for complex pipeline environments with multiple diameters and operating conditions, where the robot's ability to change diameter and its adaptability become key limiting factors. Currently, various diameter-changing mechanism designs exist in this field, but a series of unresolved technical challenges remain.

[0003] In existing technologies, a typical solution employs a two-stage diameter-changing structure. This structure uses a series screw-slider mechanism and a spring-loaded diameter-changing rod to achieve two-stage diameter changes, driven by a stepper motor to expand the diameter-changing range. The spring rod enhances the contact between the track wheels and the pipe wall, thereby improving maneuverability in curved pipes. This structure expands the robot's pipe diameter adaptability to some extent and can integrate multiple sensors to improve the accuracy of pose detection and image acquisition. However, this solution still has significant drawbacks: its complex transmission structure leads to reduced system reliability and a high failure rate in actual operation; furthermore, the screw drive exhibits a significant response delay, making it difficult to meet the requirements of applications with rapid diameter changes or high dynamic response demands.

[0004] Another approach uses a ball screw as the core transmission component. A brushless motor drives the ball screw, which in turn pushes the connecting parts, causing the drive wheel and driven wheel to achieve radial extension and retraction. This mechanism integrates a pressure sensor to detect the contact force between the track and the pipe wall in real time, and uses a closed-loop control algorithm to precisely adjust the wheel assembly's attitude. This structure offers high accuracy in variable diameter control and can dynamically adjust the output pressure to maintain stable contact. However, its drawbacks are also significant: firstly, this approach relies on high-precision motors and sensors, resulting in high manufacturing costs; secondly, its waterproofing and sealing design is inadequate, making it difficult to operate stably for extended periods in humid, waterlogged, or corrosive environments, limiting its applicability in drainage and sewage pipelines.

[0005] In addition to the specific problems of the two typical solutions mentioned above, existing pipeline inspection robots still face the following common technical problems in a wider range of applications:

[0006] First, the adaptability to pipe diameter is generally poor. Most traditional inspection robots require custom-made drive wheel sets for specific pipe diameters. Once the pipe diameter changes, the entire walking module needs to be replaced. The modification process is cumbersome and costly, which seriously limits the robot's versatility and economy.

[0007] Secondly, the diameter adjustment efficiency is low. Existing mechanical diameter adjustment mechanisms mostly rely on manual intervention for component replacement or posture adjustment, and each adjustment takes a long time, making it impossible to achieve rapid adaptive switching during operation, thus reducing inspection efficiency.

[0008] Third, insufficient motion stability, especially in bends and irregularly shaped pipe sections. Common spring-loaded telescopic boom structures are prone to radial movement or attitude instability when passing through bends, and may even cause the entire machine to jam, which not only affects the continuity of detection data, but may also bring operational risks. Summary of the Invention

[0009] This application provides a pipe internal detector with variable diameter function to solve the problems of high cost, low adjustment efficiency and inability to adapt to changes in the internal structure of pipes in existing pipe internal detection technologies for different pipe diameters.

[0010] The in-pipe detector includes:

[0011] The pipe data acquisition module is configured to acquire the inner diameter data of the pipe and the real-time pressure data inside the pipe; the real-time pressure data is used to characterize the pressure between the pipe and the travel execution module.

[0012] A travel control module, configured to generate a first control command based on the inner diameter data and a second control command based on the inner diameter data and the real-time pressure data;

[0013] The traveling execution module is a vertically extendable structure. The traveling control module and the pipe data acquisition module are both housed within the frame of the traveling execution module. When the pipe detector travels within the pipe, the traveling execution module abuts against the top and bottom of the pipe, respectively. The traveling execution module is configured to execute either a first control command or a second control command. The first control command drives the traveling execution module to travel within the pipe at a preset speed and a first extension / retraction degree, the first extension / retraction degree being determined based on the pipe's inner diameter. The second control command drives the traveling execution module to travel within the pipe at a preset speed and a second extension / retraction degree, the second extension / retraction degree being a dynamically adjusted value based on the first extension / retraction degree and the real-time pressure data.

[0014] Preferably, the in-pipe data acquisition module includes:

[0015] An inner diameter data acquisition unit is configured to acquire a pipe image inside the pipe, calculate the pipe diameter based on the pipe image, and obtain the inner diameter data.

[0016] A pressure sensing unit is configured to acquire real-time pressure data between the traveling actuator and the top and bottom of the pipeline, respectively.

[0017] Preferably, the travel execution module includes:

[0018] The first traveling unit is located at the top of the pipe detector. When the pipe detector travels inside the pipe, the first traveling unit abuts against the top of the pipe. The first traveling unit is configured to travel inside the pipe at the preset speed according to the first control command or the second control command.

[0019] The second traveling unit is located at the bottom of the pipe detector. When the pipe detector travels inside the pipe, the second traveling unit abuts against the bottom of the pipe. The second traveling unit is configured to travel inside the pipe at the preset speed according to the first control command or the second control command.

[0020] A telescopic adjustment unit is disposed between the first traveling unit and the second traveling unit, and is hinged to the first traveling unit and the second traveling unit respectively; the telescopic adjustment unit is configured to adjust the distance between the bottom end of the first traveling unit and the top end of the second traveling unit according to the first control command or the second control command.

[0021] Preferably, the travel control module is further configured to:

[0022] The expansion and contraction degree is calculated based on the inner diameter data, and the first control command is generated; the first control command includes the first expansion and contraction degree.

[0023] When the real-time pressure data changes abruptly, the second control command is generated based on the first expansion degree and the real-time pressure data.

[0024] Preferably, the travel control module includes:

[0025] A pressure mutation judgment unit is configured to determine whether the real-time pressure data is greater than a pressure mutation threshold, and if so, generate pressure mutation information; the pressure mutation threshold is the sum of the average value of the real-time pressure data within a preset time and a preset pressure fluctuation value.

[0026] Instruction generation unit, the instruction generation unit being configured as follows:

[0027] The expansion and contraction are calculated based on the inner diameter data, and the first control command is generated.

[0028] Upon receiving the pressure change information, the second control command is generated based on the real-time pressure data and the first expansion degree.

[0029] Preferably, the second traveling unit has the same structure as the first traveling unit, and the second traveling unit includes:

[0030] Install the base plate;

[0031] A drive wheel assembly, comprising two drive wheels arranged diagonally on the mounting base plate;

[0032] The driven wheel assembly includes two driven wheels, which are diagonally arranged on the mounting base plate. Each side of the mounting base plate has a driving wheel and a driven wheel. When the pipe detector travels inside the pipe, both the driving wheel assembly and the driven wheel assembly abut against the bottom of the pipe.

[0033] A drive assembly is connected to the drive wheel assembly via bearings; the drive assembly is configured to drive two drive wheels in the drive wheel assembly to rotate counterclockwise or clockwise according to a first control command, or to drive one drive wheel in the drive wheel assembly to rotate counterclockwise or clockwise according to a second control command.

[0034] Preferably, the second traveling unit further includes:

[0035] A timing belt assembly, wherein the timing belt assembly connects the driving pulley and the driven pulley arranged on the same side;

[0036] A speed reducer is connected to the driven wheel assembly via bearings; the speed reducer is configured to drive the driven wheel assembly to rotate in the opposite direction to the driving wheel assembly when the detector in the pipeline needs to stop or decelerate, until the detector in the pipeline stops or reaches a specified speed;

[0037] A geared motor is connected to the reducer via bearings; the geared motor is configured to provide rotational power to the reducer.

[0038] Preferably, the pipeline detector further includes a protective shell, which is disposed between the first traveling unit and the second traveling unit, and the traveling control module is disposed in the protective shell.

[0039] Preferably, the stretchability adjustment unit includes:

[0040] An electric push rod, one end of which is hinged to the second traveling unit; the electric push rod is configured to adjust the distance between the bottom end of the first traveling unit and the top end of the second traveling unit according to the first control command or the second control command via a built-in push motor;

[0041] A push rod base is disposed inside the protective housing, and the end of the electric push rod away from the second traveling unit is hinged to the push rod base.

[0042] Preferably, the stretchability adjustment unit further includes:

[0043] A power supply battery is disposed within the protective housing; the power supply battery is configured to provide power to the telescopic adjustment unit, the first travel unit, and the second travel unit.

[0044] As described above, this application provides a pipe internal detector with a variable diameter function. The pipe internal detector includes a pipe internal data acquisition module configured to acquire the pipe's internal diameter data and real-time pressure data inside the pipe; the real-time pressure data is used to characterize the pressure between the pipe and a travel execution module; a travel control module configured to generate a first control command based on the internal diameter data and a second control command based on the internal diameter data and the real-time pressure data; and a travel execution module, which is a vertically retractable structure. The travel control module and the pipe internal data acquisition module... All modules are housed within the framework of the traveling execution module. When the pipe detector travels within the pipe, the traveling execution module abuts against the top and bottom of the pipe, respectively. The traveling execution module is configured to execute either the first control command or the second control command. The first control command drives the traveling execution module to travel within the pipe at a preset speed and a first degree of expansion, the first degree of expansion depending on the pipe's inner diameter. The second control command drives the traveling execution module to travel within the pipe at a preset speed and a second degree of expansion, the second degree of expansion being a dynamically adjusted value based on the first degree of expansion and the real-time pressure data. This application solves the problems of high cost, low adjustment efficiency, and inability to adapt to changes in the internal structure of pipes in existing pipe detection technologies for different pipe diameters through the above solution. Attached Figure Description

[0045] To more clearly illustrate the technical solution of this application, the drawings used in the embodiments will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0046] Figure 1This is a side cross-sectional view of a pipe internal detector with variable diameter function according to this application;

[0047] Figure 2 This is a schematic diagram of the pipe data acquisition module in a pipe internal detector with variable diameter function according to this application;

[0048] Figure 3 This is a schematic diagram of the travel control module in a pipe internal detector with variable diameter function according to this application;

[0049] Figure 4 This is a bottom cross-sectional view of the second traveling unit in a pipe internal detector with variable diameter function according to this application;

[0050] Figure 5 This is a three-dimensional structural diagram of a pipe internal detector with variable diameter function according to this application.

[0051] Legend:

[0052] 100 - Pipe data acquisition module; 200 - Travel control module; 300 - Travel execution module; 400 - Protective shell; 110 - Inner diameter data acquisition unit; 120 - Pressure sensing unit; 210 - Pressure sudden change judgment unit; 220 - Command generation unit; 310 - First travel unit; 320 - Second travel unit; 330 - Telescopic adjustment unit; 321 - Mounting base plate; 322 - Drive wheel assembly; 323 - Driven wheel assembly; 324 - Driver assembly; 325 - Synchronous belt assembly; 326 - Reducer; 327 - Gear motor; 331 - Electric push rod; 332 - Push rod base; 333 - Power supply battery. Detailed Implementation

[0053] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0054] It should be noted that the brief descriptions of terms in this application are only for the convenience of understanding the embodiments described below, and are not intended to limit the embodiments of this application. Unless otherwise stated, these terms should be understood in their ordinary and common meaning.

[0055] It should be noted that, in this application, the terms "exemplary" or "for example" are used to indicate that something is being described as an example, illustration, or illustration. Any embodiment or design described as "exemplary" or "for example" in this application should not be construed as being more preferred or advantageous than other embodiments or design solutions. Specifically, the use of terms such as "exemplary" or "for example" is intended to present the relevant concepts in a concrete manner.

[0056] Figure 1 This is a side cross-sectional view of a pipe internal detector with variable diameter function according to this application.

[0057] Figure 5 This is a three-dimensional structural diagram of a pipe internal detector with variable diameter function according to this application.

[0058] See Figure 1 and Figure 5 As can be seen, this embodiment provides a pipe internal detector with a variable diameter function, the pipe internal detector comprising:

[0059] Pipe data acquisition module 100 is configured to acquire the inner diameter data of the pipe and the real-time pressure data inside the pipe; the real-time pressure data is used to characterize the pressure between the pipe and the travel execution module 300.

[0060] Specifically, in this embodiment, the pipe data acquisition module 100 is used to acquire data inside the pipe, including the inner diameter data and the real-time pressure data. The inner diameter data can be understood as the inner diameter size of the pipe, and the real-time pressure data can be understood as the interaction force generated by the pipe detector and the inner wall of the pipe.

[0061] Figure 2 This is a schematic diagram of the pipe data acquisition module in a pipe internal detector with variable diameter function according to this application.

[0062] See Figure 2 It can be seen that, further, in some embodiments, the in-pipe data acquisition module 100 includes:

[0063] The inner diameter data acquisition unit 110 is configured to acquire a pipe image inside the pipe, calculate the pipe diameter based on the pipe image, and obtain the inner diameter data.

[0064] Specifically, in this embodiment, the inner diameter data is acquired by the inner diameter data acquisition unit 110, which can be a lidar image acquisition device, and the pipe image inside the pipe is acquired by acquiring the image. The inner diameter of the pipe is then obtained by performing image analysis based on the image.

[0065] The in-pipe data acquisition module 100 further includes:

[0066] Pressure sensing unit 120 is configured to acquire real-time pressure data between the travel execution module 300 and the top and bottom of the pipeline, respectively.

[0067] Specifically, in this embodiment, the pressure sensing unit 120 obtains the interaction forces between the detector inside the pipe and the top and bottom of the inner wall of the pipe, respectively, thereby obtaining the real-time pressure data.

[0068] It should be noted that, in order to ensure the smooth movement of the detector inside the pipeline, it is necessary to simultaneously obtain the interaction forces between the detector and the top and bottom of the inner wall of the pipeline, so as to maintain the balance of the forces acting on the detector in the vertical direction.

[0069] The in-pipe detector also includes:

[0070] The travel control module 200 is configured to generate a first control command based on the inner diameter data and a second control command based on the inner diameter data and the real-time pressure data.

[0071] Specifically, in this embodiment, the travel control module 200 issues relevant commands to control the detector inside the pipeline. The control commands are generated from the inner diameter data and / or the real-time pressure data.

[0072] The in-pipe detector also includes:

[0073] The traveling execution module 300 is a vertically extendable structure. The traveling control module 200 and the pipe data acquisition module 100 are both housed within the frame of the traveling execution module 300. When the pipe detector travels within the pipe, the traveling execution module 300 abuts against the top and bottom of the pipe. The traveling execution module 300 is configured to execute either a first control command or a second control command. The first control command drives the traveling execution module 300 to travel within the pipe at a preset speed and a first degree of extension, the first degree of extension depending on the pipe's inner diameter. The second control command drives the traveling execution module 300 to travel within the pipe at a preset speed and a second degree of extension, the second degree of extension being a dynamically adjusted value based on the first degree of extension and the real-time pressure data.

[0074] Specifically, in this embodiment, the travel execution module 300 is a component that executes the instructions issued by the travel control module 200. By executing the first control instruction or the second control instruction through the travel execution module 300, the detector inside the pipeline can travel smoothly inside the pipeline.

[0075] The difference between the first control command and the second control command is that the first control command is determined only by the inner diameter of the pipe. It can be understood that the first control command is used to drive the traveling execution module 300 to travel in the pipe. At this time, there is no excessive obstruction or silt in the pipe. Therefore, the state of traveling under the first control command can be understood as a stable state.

[0076] The first control command includes the travel distance, travel speed, and vertical extension / retraction of the travel execution module 300. It should be noted that this embodiment focuses on adjusting the extension / retraction as its core technical aspect; therefore, it does not elaborate on how to adjust the travel distance and travel speed. Any solution that satisfies and is applicable to the conditions provided in this embodiment can be used as a specific solution for adjusting the travel distance and travel speed. Therefore, under the first control command, the travel execution module 300, by adjusting its extension / retraction to abut against the inner wall of the pipe, achieves stable travel within the pipe.

[0077] The second control command is obtained by adding the real-time pressure data to the first control command. The second control command can be understood as a dynamic adjustment of the first control command. That is, by monitoring the pressure between the travel execution module 300 and the inner wall of the pipe in real time, if there is a large obstruction or silt in the pipe, the monitored pressure will inevitably change abruptly. If no corresponding treatment is given to this change, the travel of the detector inside the pipe will inevitably become unstable, and there is a risk that the detector will tilt.

[0078] The second control command dynamically adjusts the expansion and contraction degree according to the change of monitoring pressure, thereby ensuring that the interaction force between the travel execution module 300 and the inner wall of the pipeline is always kept within a safe range, thus avoiding the problem of unstable operation or even tilting of the detector in the pipeline due to sudden changes in the internal environment of the pipeline.

[0079] Furthermore, in some embodiments, the movement execution module 300 includes:

[0080] The first traveling unit 310 is located at the top of the pipe detector. When the pipe detector travels inside the pipe, the first traveling unit 310 abuts against the top of the pipe. The first traveling unit 310 is configured to travel inside the pipe at the preset speed according to the first control command or the second control command.

[0081] The second traveling unit 320 is located at the bottom of the pipe detector. When the pipe detector travels inside the pipe, the second traveling unit 320 abuts against the bottom of the pipe. The second traveling unit 320 is configured to travel inside the pipe at the preset speed according to the first control command or the second control command.

[0082] Specifically, in this embodiment, when the detector inside the pipe travels inside the pipe, the first traveling unit 310 and the second traveling unit 320 abut against the top and bottom of the inner wall of the pipe, respectively, so that the detector inside the pipe travels stably in the pipe.

[0083] The travel execution module 300 further includes:

[0084] A telescopic adjustment unit 330 is disposed between the first traveling unit 310 and the second traveling unit 320, and is hinged to the first traveling unit 310 and the second traveling unit 320 respectively; the telescopic adjustment unit 330 is configured to adjust the distance between the bottom end of the first traveling unit 310 and the top end of the second traveling unit 320 according to the first control command or the second control command.

[0085] Specifically, in this embodiment, the expansion and contraction adjustment unit 330 is used to adjust the expansion and contraction, which is the distance between the bottom end of the first traveling unit 310 and the top end of the second traveling unit 320. By adjusting the expansion and contraction, the pipe detector can achieve the function of changing diameter, thus making it suitable for pipes of different sizes.

[0086] Furthermore, in some embodiments, the specific method by which the travel control module 200 generates control commands includes:

[0087] The expansion and contraction degree is calculated based on the inner diameter data, and the first control command is generated; the first control command includes the first expansion and contraction degree.

[0088] When the real-time pressure data changes abruptly, the second control command is generated based on the first expansion degree and the real-time pressure data.

[0089] Figure 3This is a schematic diagram of the travel control module in a pipe internal detector with variable diameter function according to this application.

[0090] See Figure 3 It is understood that, furthermore, in some embodiments, the travel control module 200 includes:

[0091] Pressure mutation judgment unit 210 is configured to determine whether the real-time pressure data is greater than the pressure mutation threshold, and if so, generate pressure mutation information; the pressure mutation threshold is the sum of the average value of the real-time pressure data within a preset time and a preset pressure fluctuation value.

[0092] Instruction generation unit 220, the instruction generation unit 220 being configured to:

[0093] The expansion and contraction are calculated based on the inner diameter data, and the first control command is generated.

[0094] Upon receiving the pressure change information, the second control command is generated based on the real-time pressure data and the first expansion degree.

[0095] Specifically, in this embodiment, considering that there will inevitably be certain abnormalities inside the pipeline, and that not all abnormalities will affect the movement of the detector inside the pipeline, a pressure change judgment unit 210 is set up. The pressure change judgment unit 210 judges whether a change has occurred according to preset conditions, and then dynamically adjusts the expansion and contraction. Moreover, the evaluation conditions for the change are adaptively adjusted according to pipelines of different sizes, thus eliminating the need for repeated parameter adjustment.

[0096] Once the pressure change judgment unit 210 obtains the corresponding data or information, it generates the corresponding control command based on the data.

[0097] Figure 4 This is a bottom cross-sectional view of the second traveling unit in a pipe internal detector with variable diameter function according to this application.

[0098] Furthermore, in some embodiments, the second traveling unit 320 has the same structure as the first traveling unit 310, and the second traveling unit 320 includes:

[0099] Install base plate 321;

[0100] The active wheel assembly 322 includes two active wheels, which are diagonally arranged on the mounting base plate 321.

[0101] Driven wheel assembly 323 includes two driven wheels, which are diagonally arranged on the mounting base plate 321. Each side of the mounting base plate 321 has a driving wheel and a driven wheel. When the pipe detector moves inside the pipe, both the driving wheel assembly 322 and the driven wheel assembly 323 abut against the bottom of the pipe.

[0102] A driver assembly 324 is connected to the drive wheel assembly 322 via bearings; the driver assembly 324 is configured to drive two drive wheels in the drive wheel assembly 322 to rotate counterclockwise or clockwise according to a first control command, or to drive one drive wheel in the drive wheel assembly 322 to rotate counterclockwise or clockwise according to a second control command.

[0103] Specifically, in this embodiment, the second traveling unit 320 and the first traveling unit 310 are two components with the same structure, so only the second traveling unit 320 will be described. The mounting base plate 321 in the second traveling unit 320 is used to mount other components. The active wheel set 322 and the driven wheel set 323 are arranged diagonally, so that each side of the detector inside the pipeline has an active wheel and a driven wheel. Each active wheel is equipped with an independent driver, so it can turn inside the pipeline.

[0104] When only one drive wheel rotates, the detector inside the pipeline can rotate in place. However, turning and other schemes are not the main protection content of this embodiment, so the specific turning and other movement methods will not be described in detail here.

[0105] Furthermore, in some embodiments, the second traveling unit 320 further includes:

[0106] Synchronous belt assembly 325, wherein the synchronous belt assembly 325 connects the driving pulley and the driven pulley arranged on the same side;

[0107] The reducer 326 is connected to the driven wheel set 323 via a bearing; the reducer 326 is configured to drive the driven wheel set 323 to rotate in the opposite direction to the driving wheel set 322 when the detector in the pipeline needs to stop or decelerate, until the detector in the pipeline stops or reaches a specified speed.

[0108] A geared motor 327 is connected to the reducer 326 via bearings; the geared motor 327 is configured to provide rotational power to the reducer 326.

[0109] Specifically, in this embodiment, to further improve the stability of the pipeline detector, a synchronous belt group 325 is set between the driving wheel and the driven wheel on the same side to bind the movement of the driving wheel and the movement of the driven wheel, and a geared motor 327 is provided to provide equipment support for the deceleration and stopping of the pipeline detector.

[0110] Furthermore, in some embodiments, the pipe detector further includes a protective housing 400, which is disposed between the first traveling unit 310 and the second traveling unit 320, and the traveling control module 200 is disposed in the protective housing 400.

[0111] Specifically, in this embodiment, since the movement control module 200 and other components are relatively precise devices, a protective shell 400 is installed on their exterior to protect them to a certain extent in order to avoid the influence of unnecessary factors.

[0112] Furthermore, in some embodiments, the stretchability adjustment unit 330 includes:

[0113] An electric push rod 331 is provided, one end of which is hinged to the second traveling unit 320. The electric push rod 331 is configured to adjust the distance between the bottom end of the first traveling unit 310 and the top end of the second traveling unit 320 according to the first control command or the second control command via a built-in push motor.

[0114] A push rod base 332 is disposed inside the protective shell 400, and the end of the electric push rod 331 away from the second traveling unit 320 is hinged to the push rod base 332.

[0115] Specifically, in this embodiment, the telescopic adjustment unit 330 consists of the electric push rod 331, the push rod base 332, and a corresponding push motor. By pushing the electric push rod 331 with the push motor, the hinge angle between the telescopic adjustment unit 330 and the first traveling unit 310 and the second traveling unit 320 is adjusted, thereby adjusting the telescopic degree.

[0116] Furthermore, in some embodiments, the telescopic adjustment unit 330 further includes a power supply battery 333 disposed in the protective housing 400; the power supply battery 333 is configured to provide power to the telescopic adjustment unit 330, the first travel unit 310 and the second travel unit 320.

[0117] Specifically, in this embodiment, the power supply battery 333 provides power to the telescopic adjustment unit 330, the first travel unit 310 and the second travel unit 320 respectively, so as to realize the detection of the pipeline without physical wire restraint.

[0118] This embodiment has the following advantages:

[0119] The detector automatically generates control commands to drive the telescopic structure by acquiring real-time data on the pipe's inner diameter and travel pressure. Employing an electric actuator with a hinged design, the distance between the top and bottom travel units can be dynamically adjusted according to the pipe size, eliminating the need for manual intervention or component replacement and significantly improving adaptability to pipes of different diameters.

[0120] When foreign objects or structural changes occur inside the pipeline, the pressure sensing unit monitors the contact pressure between the traveling unit and the pipe wall in real time, triggering a dynamic adjustment command. Based on the initial expansion and contraction plus the pressure feedback value, it ensures stable contact force under complex operating conditions, preventing equipment jamming or tilting.

[0121] The top and bottom traveling units adopt a symmetrical structure, each equipped with a driving wheel set, a driven wheel set, and a synchronous belt drive. The drive unit independently controls the steering and speed of the wheel sets, and the reducer dynamically adjusts the traveling speed to ensure posture stability in bends and irregular pipe sections.

[0122] The travel control module presets a pressure fluctuation threshold. When the real-time pressure exceeds the safe range, it immediately generates a dynamic adjustment command. By shortening the response delay, it effectively suppresses the risk of radial movement caused by sludge accumulation or pipe wall deformation.

[0123] For ease of explanation, the above description has been provided in conjunction with specific embodiments. However, the discussion in some embodiments is not intended to be exhaustive or to limit the embodiments to the specific forms disclosed above. Various modifications and variations can be obtained based on the above teachings.

Claims

1. A pipe internal detector with variable diameter function, characterized in that, The in-pipe detector includes: Pipe data acquisition module (100), the pipe data acquisition module (100) is configured to acquire the inner diameter data of the pipe and the real-time pressure data inside the pipe; the real-time pressure data is used to characterize the pressure between the pipe and the travel execution module (300); The travel control module (200) is configured to generate a first control command based on the inner diameter data and a second control command based on the inner diameter data and the real-time pressure data. The traveling execution module (300) is a vertically extendable structure. The traveling control module (200) and the pipe data acquisition module (100) are both located within the frame of the traveling execution module (300). The traveling execution module (300) includes a first traveling unit (310) and a second traveling unit (320). The second traveling unit (320) has the same structure as the first traveling unit (310). The first traveling unit (310) is located at the top of the pipe detector, and the second traveling unit (320) is located at the bottom of the pipe detector. When the pipe... When the internal detector travels in the pipeline, the travel execution module (300) abuts against the top and bottom of the pipeline respectively; the travel execution module (300) is configured to execute the first control command or the second control command; the first control command is used to drive the travel execution module (300) to travel in the pipeline at a preset speed and a first extension degree, the first extension degree being determined according to the inner diameter of the pipeline; the second control command is used to drive the travel execution module (300) to travel in the pipeline at a preset speed and a second extension degree, the second extension degree being a dynamically adjusted value based on the first extension degree and the real-time pressure data; The second traveling unit (320) includes: Install the base plate (321); The active wheel assembly (322) includes two active wheels, which are diagonally arranged on the mounting base plate (321); Driven wheel assembly (323), the driven wheel assembly (323) includes two driven wheels, the two driven wheels are diagonally arranged on the mounting base plate (321), and each side of the mounting base plate (321) has a driving wheel and a driven wheel; when the pipe detector moves in the pipe, the driving wheel assembly (322) and the driven wheel assembly (323) abut against the bottom of the pipe; A drive assembly (324) is connected to the drive wheel assembly (322) via bearings; the drive assembly (324) is configured to drive two drive wheels in the drive wheel assembly (322) to rotate counterclockwise or clockwise according to the first control command, or to drive one drive wheel in the drive wheel assembly (322) to rotate counterclockwise or clockwise according to the second control command; A timing belt assembly (325) is provided, which connects the driving pulley and the driven pulley located on the same side.

2. A pipe internal detector with variable diameter function according to claim 1, characterized in that, The in-pipe data acquisition module (100) includes: The inner diameter data acquisition unit (110) is configured to acquire a pipe image inside the pipe, calculate the pipe diameter based on the pipe image, and obtain the inner diameter data. A pressure sensing unit (120) is configured to acquire real-time pressure data of the travel execution module (300) at the top and bottom of the pipe, respectively.

3. A pipe internal detector with variable diameter function according to claim 1, characterized in that, When the detector inside the pipe travels inside the pipe, the first traveling unit (310) abuts against the top of the pipe; the first traveling unit (310) is configured to travel inside the pipe at the preset speed according to the first control command or the second control command; when the detector inside the pipe travels inside the pipe, the second traveling unit (320) abuts against the bottom of the pipe; the second traveling unit (320) is configured to travel inside the pipe at the preset speed according to the first control command or the second control command. The movement execution module (300) also includes: A telescoping adjustment unit (330) is disposed between the first traveling unit (310) and the second traveling unit (320), and the telescoping adjustment unit (330) is hinged to the first traveling unit (310) and the second traveling unit (320) respectively; the telescoping adjustment unit (330) is configured to adjust the distance between the bottom end of the first traveling unit (310) and the top end of the second traveling unit (320) according to the first control command or the second control command.

4. A pipe internal detector with variable diameter function according to claim 1, characterized in that, The travel control module (200) is also configured to: The expansion and contraction degree is calculated based on the inner diameter data, and the first control command is generated; the first control command includes the first expansion and contraction degree. When the real-time pressure data changes abruptly, the second control command is generated based on the first expansion degree and the real-time pressure data.

5. A pipe internal detector with variable diameter function according to claim 4, characterized in that, The travel control module (200) includes: Pressure mutation judgment unit (210) is configured to determine whether the real-time pressure data is greater than the pressure mutation threshold, and if so, generate pressure mutation information; the pressure mutation threshold is the sum of the average value of the real-time pressure data within a preset time and the preset pressure fluctuation value; Instruction generation unit (220), the instruction generation unit (220) is configured to: The expansion and contraction are calculated based on the inner diameter data, and the first control command is generated. Upon receiving the pressure change information, the second control command is generated based on the real-time pressure data and the first expansion degree.

6. A pipe internal detector with variable diameter function according to claim 1, characterized in that, The second traveling unit (320) further includes: A speed reducer (326) is connected to the driven wheel assembly (323) via bearings; the speed reducer (326) is configured to drive the driven wheel assembly (323) to rotate in the opposite direction to the driving wheel assembly (322) when the detector in the pipeline needs to stop or decelerate, until the detector in the pipeline stops or reaches a specified speed; A geared motor (327) is connected to the reducer (326) via bearings; the geared motor (327) is configured to provide rotational power to the reducer (326).

7. A pipe internal detector with variable diameter function according to claim 3, characterized in that, The pipeline detector also includes a protective shell (400), which is disposed between the first traveling unit (310) and the second traveling unit (320), and the traveling control module (200) is disposed in the protective shell (400).

8. A pipe internal detector with variable diameter function according to claim 7, characterized in that, The stretchability adjustment unit (330) includes: An electric push rod (331) is provided, one end of which is hinged to the second traveling unit (320); the electric push rod (331) is configured to adjust the distance between the bottom end of the first traveling unit (310) and the top end of the second traveling unit (320) by means of a built-in push motor according to the first control command or the second control command. A push rod base (332) is disposed inside the protective shell (400), and the end of the electric push rod (331) away from the second travel unit (320) is hinged to the push rod base (332).

9. A pipe internal detector with variable diameter function according to claim 8, characterized in that, The stretchability adjustment unit (330) also includes: A power supply battery (333) is disposed in the protective housing (400); the power supply battery (333) is configured to provide power to the telescopic adjustment unit (330), the first travel unit (310) and the second travel unit (320).

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