Pipeline quality detection device for water conservancy project

Abstract

The invention relates to the technical field of hydraulic engineering detection equipment. The pipeline quality detection device for the water conservancy project comprises a front connecting column and a rear connecting column, the front connecting column and the rear connecting column are connected through a spherical hinge, the other end of the front connecting column and the other end of the rear connecting column are coaxially and fixedly connected with fixing rings, and the fixing rings are slidably connected with a plurality of telescopic sliding columns; functional adjusting columns are connected to the telescopic sliding columns in a sliding mode, and walking wheels are arranged on the functional adjusting columns; the other side of each fixing ring is coaxially and fixedly connected with a fixing inner column, the other side of each fixing inner column is rotationally connected with a rotating inner column, the other end of each rotating inner column is fixedly connected with a fixing protection plate, and each fixing inner column is sleeved with a rotating shell; sliding base plates are connected to the adjusting bases in a sliding mode, friction cleaning plates and cleaning brush plates are arranged on the sliding base plates, and the friction cleaning plates and the cleaning brush plates are located on the sliding base plates of the corresponding rotating shells correspondingly. And an ultrasonic inspection tester is arranged on the rotary shell corresponding to the friction cleaning plate.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of water conservancy detection equipment, in particular to a pipeline quality detection device for water conservancy. BACKGROUND

[0002] In the field of water conservancy, as a core component of water conveying and water diversion systems, the operation state of the pipeline directly relates to the safety and stability of the whole project. With the expansion of the scale of water conservancy construction and the increase of service life, the inner wall of the pipeline is prone to accumulate dust and sundries, rust and corrosion due to water erosion, sediment deposition and microbial attachment. These defects not only lead to a decrease in the water conveying capacity of the pipeline, but also may cause safety hazards such as pipeline leakage and rupture. Therefore, it is crucial to regularly detect the quality of the inner wall of the pipeline.

[0003] At present, the existing pipeline quality detection equipment mainly focuses on the "detection" function itself, such as using ultrasonic waves and endoscopes to obtain the structural defect information of the inner wall of the pipeline. However, there is a common problem of single function, i.e., the dust and sundries, rust on the inner wall of the pipeline cannot be pretreated before detection. Due to the coverage of dust and sundries and the irregular distribution of rust, the accuracy of the detection signal is directly interfered, leading to false positives or false negatives of the actual defects of the pipeline (such as mistaking rust as cracks or failing to find hidden corrosion pits due to obstruction by sundries), which seriously affects the reliability of the detection results and makes it difficult to meet the demand of water conservancy for accurate evaluation of pipeline quality.

[0004] At the same time, the layout of the pipeline in water conservancy is complex and diverse, and not all of them are straight structures. Most of the pipelines are in the form of elbow pipes, including horizontal elbow pipes that turn in the horizontal direction (such as the turning section in the water conveying main line) and vertical elbow pipes that bend in the vertical direction (such as the vertical section connecting underground pipelines and ground structures). However, the existing detection equipment is limited by its own structural design, and its walking mechanism and detection components are mainly designed for straight pipeline scenarios, lacking adaptability to elbow pipe tracks. For example, the distance between the walking wheels of some equipment is fixed, and it cannot adjust the adhesion to the pipe wall according to the curvature of the elbow pipe, which may cause jamming or deviation from the detection path in the elbow pipe; the connection structure of some equipment is relatively rigid, and it cannot realize flexible turning at multiple angles, which may cause difficulties in passing through the elbow pipe section, and thus cannot effectively detect the quality of the inner wall of the elbow pipe.

[0005] The above-mentioned shortcomings of the existing technology make it difficult to fully and accurately ensure the safety of pipeline operation, and therefore, there is an urgent need for a detection device that can consider the pretreatment of the inner wall of the pipeline and the adaptability of the elbow pipe, to solve the practical problems in current detection work. SUMMARY

[0006] To solve the above problems, the water conservancy project pipe quality detection device is provided, which effectively solves the problem that the pipe wall pretreatment function is lacked in the prior art, and the detection scene of various elbow pipes cannot be adapted.

[0007] To achieve the above object, the technical scheme is as follows: a water conservancy project pipe quality detection device, which comprises a front connecting column and a rear connecting column, the front connecting column and the rear connecting column are connected through a ball hinge, the other end of the front connecting column and the rear connecting column is coaxially fixed with a fixing ring, a plurality of telescopic slide columns are slidably connected to the fixing ring, a first adjusting mechanism matched with the telescopic slide column is arranged in the fixing ring, a function adjusting column is slidably connected to the telescopic slide column, and a walking wheel is arranged on the function adjusting column; a fixed inner column is coaxially fixed on the other side of the fixing ring, a rotating inner column is rotatably connected to the other side of the fixed inner column, a fixed guard plate is fixedly connected to the other end of the rotating inner column, a rotating shell is sleeved on the fixed inner column, and the fixed inner column is rotatably connected with the corresponding rotating shell; a motor matched with the rotating inner column is arranged in the fixed inner column; the fixed guard plate and the rotating inner column are fixedly connected with the corresponding rotating shell; a plurality of adjusting bases are arranged on the rotating shell, and a second adjusting mechanism matched with the adjusting base is arranged on the rotating shell; a sliding seat plate is slidably connected to the adjusting base, a friction cleaning plate and a cleaning brush plate are arranged on the sliding seat plate, and the friction cleaning plate and the cleaning brush plate are arranged on the sliding seat plate of the corresponding rotating shell; an ultrasonic detector is arranged on the rotating shell corresponding to the friction cleaning plate.

[0008] Further, the first adjusting mechanism comprises a rotating worm rotatably connected in the fixing ring, a rotating worm wheel meshed with the rotating worm is rotatably connected in the fixing ring, a rotating adjusting plate is coaxially fixedly connected to the rotating worm wheel, a positioning block is fixedly connected to the telescopic slide column, and an arc-shaped sliding groove matched with the positioning block is arranged on the rotating adjusting plate.

[0009] Further, the second adjusting mechanism comprises a connecting large gear rotatably connected in the fixed guard plate, a plurality of connecting small gears are rotatably connected in the fixed guard plate, the connecting small gears are meshed with the connecting large gear, and the connecting small gears are arranged in a circular array around the connecting large gear; a double-thread screw is coaxially fixedly connected to the connecting small gear, a pair of positioning sleeves are screwed on the double-thread screw, a fixed sliding groove matched with the positioning sleeve is fixedly connected to the rotating shell, and a rotating connecting rod is rotatably connected to the positioning sleeve and the adjusting base.

[0010] Further, the threads on the two sides of the double-thread screw are opposite in direction, and the positioning sleeves are screwed with threads of different directions.

[0011] Further, a damping spring matched with the function adjusting column is arranged in the telescopic slide column, and a sliding groove matched with the function adjusting column is arranged in the telescopic slide column.

[0012] Further, the adjusting base is provided with a reset spring matched with the sliding base plate, and the adjusting base is provided with a sliding groove matched with the sliding base plate.

[0013] Further, the brush teeth on the cleaning brush plate are inclined.

[0014] Further, the upper surface of the friction cleaning plate is arc-shaped, and the upper surface of the friction cleaning plate is a layer of diamond sand.

[0015] Further, the ultrasonic detector is wirelessly connected with external detection equipment.

[0016] A detection method of a pipeline quality detection device for water conservancy projects comprises the following steps: S1: placing the device from one side of the pipeline to be detected; S2: adjusting the position of the walking wheel on the function adjusting column through the first adjusting mechanism, so that the walking wheel is in contact with the inner wall of the pipeline; S3: simultaneously adjusting the second adjusting mechanism to adjust the positions of the friction cleaning plate and the cleaning brush plate, so that they are in contact with the inside of the pipeline; S4: turning on the motor coaxially fixed with the rotating inner column, so that the motor can drive the rotating shell to rotate, and the rotation of the rotating shell can drive the corresponding friction cleaning plate and cleaning brush plate to rotate; S5: starting the walking wheel to drive the detection device to walk, with the cleaning brush plate on the front side, so that the cleaning brush plate can clean the attachments on the inner wall of the pipeline, and the friction cleaning plate can polish the cleaned inner wall of the pipeline to remove rust, and the ultrasonic detector can detect the treated pipeline.

[0017] Compared with the prior art, the gain effect of the present application is: Integrating pretreatment and detection: through the synergistic effect of the cleaning brush plate and the friction cleaning plate, the cleaning of the sundries on the inner wall of the pipeline and the polishing of the rust can be automatically completed before detection, the interference of impurities on the detection signal is eliminated, the accuracy of the detection result of the ultrasonic detector is improved, and the problem of "lack of pretreatment" of traditional equipment is solved.

[0018] Adapting to the detection of curved pipes: the spherical hinge design of the front connecting column and the rear connecting column, the buffering effect of the shock-absorbing spring, the adjustable walking wheel and the cleaning components, so that the device can flexibly adapt to complex pipeline forms such as horizontal curved pipes and vertical curved pipes, eliminate the "blind area of curved pipe detection", and realize full-pipeline coverage detection.

[0019] Adapting to multiple pipe diameters: the first adjusting mechanism can adjust the distance between the walking wheels, and the second adjusting mechanism can adjust the radial positions of the cleaning components and the detection components, so that the device can adapt to water conservancy pipelines with different diameters, without the need to configure separate equipment for different diameters, thereby reducing the detection cost. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 is a perspective view of the present application.

[0021] Figure 2 is a partial perspective view of the present application.

[0022] Figure 3 is a partial structural view of the present application.

[0023] Figure 4 is a partial sectional view of the present application.

[0024] Figure 5 is a partial perspective view of the second adjusting mechanism of the present application.

[0025] Figure 6 is a partial sectional view of the second adjusting mechanism of the present application.

[0026] Figure 7 is a partial enlarged view of the present application.

[0027] Figure 8 is a component view of the present application.

[0028] Figure 9 is a perspective view of the first adjusting mechanism of the present application.

[0029] In the figure: 1, fixed ring, 2, rotating outer shell, 3, front connecting column, 4, rear connecting column, 5, fixed sliding groove, 6, fixed guard plate, 7, friction cleaning plate, 8, ultrasonic detector, 9, telescopic sliding column, 10, function adjusting column, 11, cleaning brush plate, 12, rotating adjusting plate, 13, fixed inner column, 14, rotating inner column, 15, double thread screw, 16, positioning sliding sleeve, 17, rotating connecting rod, 18, adjusting base, 19, connecting pinion, 20, connecting spur gear, 21, damping spring, 22, positioning block, 23, rotating worm wheel, 24, rotating worm. DETAILED DESCRIPTION

[0030] The technical solutions of the present application will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of protection of the present application. Embodiment 1

[0031] The utility model provides a pipeline quality detection device for hydraulic engineering, including front connecting column 3 and rear connecting column 4, and the front connecting column 3 and rear connecting column 4 are connected through ball hinge, and the other end of front connecting column 3 and rear connecting column 4 is coaxially fixed with fixed ring 1, and a plurality of telescopic slide column 9 are slidably connected on the fixed ring 1, and the first adjusting mechanism that is matched with telescopic slide column 9 is arranged in the fixed ring 1, and the functional adjusting column 10 is slidably connected on telescopic slide column 9, and the walking wheel is arranged on functional adjusting column 10, and the other side of fixed ring 1 is coaxially fixed with fixed inner column 13, and the other side of fixed inner column 13 is rotatably connected with rotating inner column 14, and the other end of rotating inner column 14 is fixed with fixed guard plate 6, and the fixed inner column 13 is sleeved with rotating shell 2, and the fixed inner column 13 is rotatably connected with corresponding rotating shell 2, and the motor that is matched with rotating inner column 14 is arranged in the fixed inner column 13, and the fixed guard plate 6 and rotating inner column 14 are fixed with corresponding rotating shell 2, and a plurality of adjusting base 18 are arranged on rotating shell 2, and the second adjusting mechanism that is matched with adjusting base 18 is arranged on rotating shell 2, and the slide base plate is slidably connected on adjusting base 18, and the friction cleaning plate 7 and cleaning brush plate 11 are arranged on slide base plate, and the friction cleaning plate 7 and cleaning brush plate 11 are located on the slide base plate of corresponding rotating shell 2 respectively, and the ultrasonic detector 8 is arranged on the rotating shell 2 corresponding with friction cleaning plate 7.

[0032] The first adjusting mechanism includes the rotating worm 24 rotatably connected in the fixed ring 1, the rotating worm wheel 23 rotatably connected in the fixed ring 1 and engaged with the rotating worm 24, the rotating adjusting plate 12 coaxially fixed with the rotating worm wheel 23, the positioning block 22 fixed on the telescopic slide column 9, and the arc-shaped sliding groove matched with the positioning block 22 arranged on the rotating adjusting plate 12.

[0033] The second adjusting mechanism includes the connecting large gear 20 rotatably connected in the fixed guard plate 6, the plurality of connecting small gears 19 rotatably connected in the fixed guard plate 6 and engaged with the connecting large gear 20, the connecting small gears 19 arranged in a circular array around the connecting large gear 20, the double-threaded screw 15 coaxially fixed with the connecting small gear 19, the pair of positioning sliding sleeves 16 screwed on the double-threaded screw 15, the fixed sliding groove 5 matched with the positioning sliding sleeve 16 fixed on the rotating shell 2, and the rotating connecting rod 17 rotatably connected with the adjusting base 18 on the other end of the positioning sliding sleeve 16.

[0034] The double-threaded screw 15 has opposite screw threads on two sides, and the positioning sliding sleeve 16 is screwed with the screw threads in different directions.

[0035] The telescopic slide column 9 is provided with the shock-absorbing spring 21 matched with the functional adjusting column 10, and the sliding groove matched with the functional adjusting column 10 is arranged in the telescopic slide column 9.

[0036] The adjusting base 18 is equipped with a return spring that cooperates with the slide plate, and the adjusting base 18 is equipped with a slide groove that cooperates with the slide plate.

[0037] The brush teeth on the cleaning brush plate 11 are tilted.

[0038] The upper surface of the friction cleaning plate 7 is arc-shaped and has a diamond abrasive layer.

[0039] The ultrasonic testing instrument 8 can be wirelessly connected to external testing equipment.

[0040] like Figures 1-9 As shown: During the use of this device, it is first placed into the pipe to be inspected from one side. Then, the first adjustment mechanism and the second adjustment mechanism are adjusted according to the size of the pipe. The walking wheel, friction cleaning plate 7 and cleaning brush plate 11 are brought into contact with the inner wall of the pipe. At this time, the rotating outer shell 2 corresponding to the cleaning brush plate 11 is the front end. During this process, when the first adjustment mechanism moves, the rotating worm 24 rotates and drives the rotating worm wheel 23 to rotate. The rotation of the rotating worm wheel 23 will drive the rotating adjustment plate 12 to rotate. Under the action of the positioning block 22, the rotation of the rotating adjustment plate 12 will drive the telescopic sliding column 9 to slide in the fixed ring 1, thereby adjusting the position of the functional adjustment column 10 and the walking wheel. When the second adjustment mechanism moves, the motor drives the connecting large gear 20 to rotate, and the connecting large gear 20 drives the corresponding double-threaded screw 15 to rotate through the connecting small gear 19. Since the threads on both sides of the double-threaded screw 15 are opposite, the positioning sleeve 16 is screwed to the threads in different directions. The positioning sleeve 16 will slide in opposite directions in the fixed slide groove 5. The positioning sleeve 16 will adjust the position of the adjustment base 18 through the rotating connecting rod 17. The adjustment of the position of the adjustment base 18 will drive the slide plate to move. The movement of the slide plate will drive the corresponding friction cleaning plate 7 and cleaning brush plate 11 to contact the inner wall of the pipe. After completing the above operations, the driving wheels can be started to drive the detection device to move, and the corresponding motor can be started to drive the rotating inner column 14 to rotate, thereby realizing the rotation of the friction cleaning plate 7 and the cleaning brush plate 11, thus realizing the cleaning and rust removal of the inner wall of the pipeline during the movement of this device. When this device detects a bend in the pipe, the rotating connecting rod 17 and the adjusting base 18 slide relative to each other under the action of the damping spring 21 and the return spring, thereby adjusting the outer contour of the device and allowing it to pass through the bend. At the same time, the sliding plate also slides with the adjusting base 18, thus meeting the bend-passing conditions. Since the front connecting column 3 and the rear connecting column 4 are ball jointed, this device can pass smoothly through both vertical and horizontal bends. This solves the problem that existing detection devices cannot pass through vertical and horizontal bends for various reasons.

[0041] The setting of the ultrasonic detector realizes detection of the processed pipeline, and effectively guarantees the accuracy of the detection data. Embodiment 2

[0042] A detection method of the pipeline quality detection device for water conservancy projects comprises the following steps: S1: placing the device into the pipeline from one side of the pipeline to be detected; S2: adjusting the position of the walking wheel on the function adjusting column 10 through the first adjusting mechanism, so that the walking wheel is in contact with the inner wall of the pipeline; S3: simultaneously adjusting the second adjusting mechanism to adjust the positions of the friction cleaning plate 7 and the cleaning brush plate 11, so that they are in contact with the inner wall of the pipeline; S4: turning on the motor coaxially fixed with the rotating inner column 14, so that the motor drives the rotating shell 2 to rotate, and the rotating shell 2 drives the corresponding friction cleaning plate 7 and cleaning brush plate 11 to rotate; S5: starting the walking wheel to drive the detection device to walk, with the cleaning brush plate 11 on the front side, which can clean the attachments on the inner wall of the pipeline, and the friction cleaning plate 7 can polish the cleaned inner wall of the pipeline to remove rust, and the ultrasonic detector 8 can detect the processed pipeline.

[0043] As Figures 1-9 shown: on the basis of embodiment one, the pipeline quality detection device for water conservancy projects is placed into the pipeline from one side of the pipeline to be detected during use, and then the first adjusting mechanism and the second adjusting mechanism are adjusted according to the size of the pipeline, so that the walking wheel, the friction cleaning plate 7 and the cleaning brush plate 11 are in contact with the inner wall of the pipeline, and the rotating shell 2 corresponding to the cleaning brush plate 11 is the front end.

[0044] When detecting the quality of the pipeline, the cleaning brush plate 11 can first clean the inner wall of the pipeline, and the friction cleaning plate 7 can polish the cleaned inner wall of the pipeline, so as to avoid the influence of rust on the inspection results; after the above inspection work is completed, the ultrasonic detector 8 can detect the processed pipeline.

[0045] During the bending process, the front connecting column 3 and the rear connecting column 4 are ball-hinged, so that the device can smoothly pass through the vertical bend or the horizontal bend.

[0046] In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second", "third" are only for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0047] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the communication inside two elements; for those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

Claims

1. A pipeline quality inspection device for water conservancy projects, characterized in that: The utility model provides a kind of adjustable cleaning device for road, including front connecting column (3) and rear connecting column (4), front connecting column (3) and rear connecting column (4) are connected by ball hinge between, and the other end of front connecting column (3) and rear connecting column (4) is coaxially fixed with fixed ring (1), and multiple telescopic slide columns (9) are slidably connected on fixed ring (1), and first adjusting mechanism that is matched with telescopic slide column (9) is provided in fixed ring (1), and function adjusting column (10) is slidably connected on telescopic slide column (9), and walking wheel is provided on function adjusting column (10);Fixed ring (1) other side is coaxially fixed with fixed inner column (13), and fixed inner column (13) other side is rotatably connected with rotating inner column (14), and rotating inner column (14) other end is fixed with fixed guard plate (6), and fixed inner column (13) is all externally sleeved with rotating shell (2), and fixed inner column (13) is rotatably connected with corresponding rotating shell (2);Motor that is matched with rotating inner column (14) is provided in fixed inner column (13);Fixed guard plate (6) and rotating inner column (14) are fixed with corresponding rotating shell (2);Rotating shell (2) is provided with multiple adjusting base (18), and rotating shell (2) is provided with second adjusting mechanism that is matched with adjusting base (18);Adjusting base (18) is slidably connected with slide plate, and friction cleaning plate (7) and cleaning brush plate (11) are provided on slide plate, and friction cleaning plate (7) and cleaning brush plate (11) are respectively located on the slide plate of corresponding rotating shell (2);Ultrasonic detector (8) is provided on the rotating shell (2) corresponding with friction cleaning plate (7).

2. The pipeline quality detection device for hydraulic engineering according to claim 1, characterized in that: The first adjusting mechanism includes a rotating worm (24) rotatably connected in the fixed ring (1), a rotating worm wheel (23) rotatably connected in the fixed ring (1) and engaged with the rotating worm (24), and a rotating adjusting plate (12) coaxially fixed with the rotating worm wheel (23). The telescopic slide column (9) is fixed with a positioning block (22). The rotating adjusting plate (12) is provided with an arc-shaped sliding groove matched with the positioning block (22).

3. The pipeline quality detection device for hydraulic engineering according to claim 1, characterized in that: The second adjusting mechanism includes a connecting large gear (20) rotatably connected in the fixed guard plate (6), a plurality of connecting small gears (19) rotatably connected in the fixed guard plate (6) and engaged with the connecting large gear (20), and the connecting small gears (19) are arranged in a circular array around the connecting large gear (20). The connecting small gear (19) is coaxially fixed with a double-threaded screw (15). The double-threaded screw (15) is screwed with a pair of positioning sliding sleeves (16). The rotating shell (2) is fixed with a fixed sliding groove (5) matched with the positioning sliding sleeve (16). The positioning sliding sleeve (16) is rotatably provided with a rotating connecting rod (17). The other end of the rotating connecting rod (17) is rotatably connected with the adjusting base (18).

4. The pipeline quality detection device for hydraulic engineering according to claim 3, characterized in that: The double-threaded screw (15) has opposite screw threads on two sides. The positioning sliding sleeve (16) is screwed with the screw threads in different directions.

5. The hydraulic engineering pipeline quality detection device according to claim 1, characterized in that: The telescopic slide column (9) is provided with a damping spring (21) matched with the function adjusting column (10). The telescopic slide column (9) is provided with a sliding groove matched with the function adjusting column (10).

6. The hydraulic engineering pipeline quality detection device according to claim 1, characterized in that: The adjusting base (18) is provided with a reset spring matched with the sliding base plate, and is provided with a sliding groove matched with the sliding base plate.

7. The hydraulic engineering pipeline quality detection device according to claim 1, characterized in that: The brush teeth on the cleaning brush plate (11) are inclined.

8. The pipeline quality detection device for hydraulic engineering according to claim 1, characterized in that: The upper surface of the friction cleaning plate (7) is arc-shaped, and is a diamond layer.

9. The pipeline quality detection device for hydraulic engineering according to claim 1, characterized in that: The ultrasonic detector (8) is wirelessly connected with external detection equipment.

10. A method of detecting the device of any one of claims 1-9, characterized by: The method comprises the following steps: S1: placing the device from one side of the pipeline to be detected; S2: adjusting the position of the walking wheel on the function adjusting column (10) through the first adjusting mechanism, so that the walking wheel is in contact with the inner wall of the pipeline; S3: simultaneously adjusting the second adjusting mechanism to adjust the positions of the friction cleaning plate (7) and the cleaning brush plate (11), so that they are in contact with the inner wall of the pipeline; S4: turning on the motor coaxially fixed with the rotating inner column (14), so that the motor drives the rotating shell (2) to rotate, and the rotation of the rotating shell (2) drives the corresponding friction cleaning plate (7) and cleaning brush plate (11) to rotate; S5: starting the walking wheel to drive the detection device to walk, with the cleaning brush plate (11) on the front side, which can clean the attachments on the inner wall of the pipeline, and the friction cleaning plate (7) following behind, which can polish the cleaned inner wall of the pipeline to remove rust, and the ultrasonic detector (8) can detect the processed pipeline.

Images