Robot for nondestructive detection of mine filling pipeline and detection method

Abstract

The invention discloses a robot for nondestructive testing of a mine filling pipeline and a testing method, and belongs to the technical field of pipeline testing technologies. The robot for nondestructive testing of the mine filling pipeline comprises a shell and a power module, and further comprises a filling pipeline defect detection module used for detecting the side wall of the filling pipeline at the position where the filling pipeline defect detection module is located; the positioning module is used for positioning the position of the shell in the filling pipeline; and the central processing module is electrically connected with an analysis module and an alarm module, the analysis module compares the detection information with an abnormal information threshold, and when the detection information exceeds the abnormal information threshold, the central processing module controls the alarm module to give an alarm and marks the position of the shell at the moment. According to the robot for nondestructive testing of the mine filling pipeline, the whole area of the filling pipeline can be detected, accurate positioning and alarming can be conducted on the area, seriously abraded, in the filling pipeline, and therefore reference is provided for work such as polling, maintaining and repairing of the filling pipeline.

Description

Technical Field

[0001] This invention relates to the field of pipeline inspection technology, specifically to a robot and inspection method for non-destructive testing of mine backfill pipelines. Background Technology

[0002] Backfill mining, due to its green, safe, and efficient characteristics, has become the most widely used mining method in metal mines both domestically and internationally. During backfill mining, the reliable and stable operation of the backfill system is crucial for ensuring safe and efficient mining, and the backfill pipeline is the vital passage for the backfill slurry to reach the underground goaf from the surface preparation station. Affected by the dynamic changes in the operating conditions of the backfill pipeline transportation system, the wear and tear on the backfill pipeline by the slurry exhibits randomness and uncertainty, but is mainly influenced by factors such as aggregate properties, backfill pipeline material, pipeline layout and installation quality, and pipeline expansion ratio. In recent years, numerous accidents related to wear and blockage of backfill pipelines have frequently occurred in mines both domestically and internationally, causing significant economic losses and seriously affecting normal mine production.

[0003] As the scale of mining production and the depth of mining increase, the cumulative filling volume of the goaf also increases. At the same time, the gradually decreasing filling ratio causes the slurry transportation pressure to increase continuously, which also makes the wear and damage of the filling pipeline more serious. Therefore, it is a key measure to ensure the reliability of the filling pipeline transportation system by regularly and dynamically and accurately grasping the wear condition of the filling pipeline and improving its service life through fine maintenance.

[0004] Due to the long distances and complex routes of mine backfill pipelines, current methods for achieving simple local inspections mainly include endoscopic scanning imaging, X-ray inspection, eddy current testing, and ultrasonic testing. However, these methods only allow the instruments to enter and exit from one end of the pipeline, thus limiting the acquisition of internal wear information to a localized area. They cannot inspect the entire pipeline or accurately locate and alarm severely worn areas. Summary of the Invention

[0005] The purpose of this invention is to overcome the problems in the prior art and provide a robot for non-destructive testing of mine filling pipelines. This robot can inspect the entire area of ​​filling pipelines with large path undulations and accurately locate and alarm severely worn areas within the filling pipelines, thus providing a reference for the inspection, maintenance and repair of filling pipelines.

[0006] This invention not only provides a robot for non-destructive testing of mine filling pipes, including a shell and a power module, but also includes:

[0007] A filling pipe defect detection module is located at one end of the housing. The filling pipe defect detection module is used to detect the side wall of the filling pipe at its location.

[0008] The positioning module, located on the housing, is used to position the housing within the filling pipe.

[0009] The central processing module is electrically connected to the filling pipe defect detection module and the positioning module. The central processing module is also electrically connected to an analysis module and an alarm module. The central processing module receives the real-time position information of the shell and the detection information from the filling pipe defect detection module, and transmits the position information and detection information to the analysis module. The analysis module has a preset abnormal information threshold. The analysis module compares the detection information with the abnormal information threshold. When the detection information exceeds the abnormal information threshold, the central processing module controls the alarm module to sound an alarm and marks the current position of the shell.

[0010] Preferably, the filling pipe defect detection module includes an image acquisition system and a scanning radar system. Both the image acquisition system and the scanning radar are electrically connected to the central processing module. The image acquisition system is used to acquire real-time image information of the inner wall of the filling pipe, and the scanning radar system is used to detect the real-time wall thickness value of the side wall of the filling pipe. The analysis module identifies the wear points of the inner wall of the filling pipe based on the real-time image information. The abnormal information threshold includes a minimum wall thickness threshold. When the wall thickness value of the wear point of the inner wall of the filling pipe is less than the minimum wall thickness threshold, the central processing module controls the alarm module to sound an alarm.

[0011] Preferably, the analysis module includes a three-dimensional imaging system, which is capable of synthesizing a three-dimensional image of the inner wall of the filling pipe based on real-time image information of the inner wall of the filling pipe acquired by the image acquisition system and the position information of the shell inside the filling pipe acquired by the positioning module.

[0012] Preferably, the image acquisition system includes a vision sensor and an illumination system, both of which are electrically connected to the central processing module. The vision sensor is used to capture images of the inner wall of the filling pipe, and the illumination system is used to illuminate the inner wall of the filling pipe.

[0013] Preferably, the scanning radar system includes a processor, an ultrasonic exciter, and multiple ultrasonic sensors. The processor is electrically connected to the central processing module, and the ultrasonic exciter and multiple ultrasonic sensors are electrically connected to the processor. The ultrasonic exciter is used to generate ultrasonic pulses and guide the ultrasonic pulses toward the sidewall of the filling pipe. The multiple ultrasonic sensors are used to receive the echoes from the sidewall of the filling pipe. The processor is used to determine the thickness of the sidewall of the filling pipe based on the echoes received by the multiple ultrasonic sensors.

[0014] Preferably, the power module includes a telescopic walking device and an adaptive posture control system. The telescopic walking device is used to drive the shell to move within the filling pipe. The adaptive posture control system is electrically connected to the telescopic walking device and is used to control the movement of the telescopic walking device to control the speed of the shell within the filling pipe.

[0015] Preferably, the telescopic walking device includes two sets of walking mechanisms, which are respectively located at the front and rear ends of the housing. Multiple walking mechanisms in each set are evenly distributed around the periphery of the housing. Each walking mechanism includes a telescopic rod, a pressure sensor, and a drive wheel. One end of the telescopic rod is connected to the housing, and the other end is connected to the drive wheel. The drive wheel abuts against the inner wall of the filling pipe. The pressure sensor is located on the telescopic rod and is used to detect the real-time pressure value applied by the drive wheel to the inner wall of the filling pipe. The pressure sensor is electrically connected to an attitude controller, which is electrically connected to the telescopic rod. The attitude controller has a preset pressure threshold. The attitude controller compares the real-time pressure value with the pressure threshold and controls the telescopic rod's movement based on the comparison result, thereby making the real-time pressure value applied by the drive wheel to the inner wall of the filling pipe equal to the pressure threshold.

[0016] Preferably, the adaptive posture control system includes a speed sensor and a speed controller. The speed sensor is mounted on the housing and is used to detect the real-time travel speed of the housing within the filling pipe. The speed controller is electrically connected to the drive wheel and the speed sensor. A preset travel speed threshold is stored in the speed controller. The speed controller compares the real-time travel speed with the travel speed threshold and controls the drive wheel to move according to the comparison result, so that the real-time travel speed of the housing within the filling pipe is equal to the travel speed threshold.

[0017] Preferably, the central processing module is electrically connected to a data transmission module, and the data transmission module is wirelessly connected to a surface control module. The data transmission module is used to transmit the real-time image information, real-time wall thickness value, and real-time location information received by the central processing module to the surface control module in the form of radio signals. The data transmission module receives the control signals from the surface control module and transmits the control signals to the central processing module.

[0018] Methods for inspecting mine backfilled pipelines using robots for non-destructive testing include:

[0019] The central processing module controls the power module to move inside the filling pipe to be tested, thereby driving the filling pipe defect detection module and the positioning module to move inside the filling pipe;

[0020] The positioning module locates the position of the shell inside the filling pipe and transmits the position information of the shell to the central processing module. At the same time, the filling pipe defect detection module detects the side wall of the filling pipe at its location and transmits the detection information to the central processing module.

[0021] The central processing module transmits the location information and detection information to the analysis module. The analysis module compares the detection information with the abnormal information threshold. When the detection information exceeds the abnormal information threshold, the central processing module controls the alarm module to sound an alarm and marks the location of the housing at this time.

[0022] This invention also provides a process for preparing a semi-solid metal paste, comprising:

[0023] Compared with the prior art, the beneficial effects of the present invention are: the robot for non-destructive testing of mine filling pipelines of the present invention can detect the entire area of ​​filling pipelines with large path undulations, and accurately locate and alarm areas with severe wear inside the filling pipeline, thereby providing a reference for the inspection, maintenance and repair of filling pipelines.

[0024] The filling pipe defect detection module of this device can accurately identify the wear on the inner wall of the filling pipe, determine the severity of the wear, and mark and alarm severely worn areas, thereby improving the accuracy of identifying severely worn areas. By setting up a 3D imaging system, a 3D image of the inner wall of the filling pipe can be generated, allowing users to intuitively understand the wear condition inside the filling pipe and immediately notice potential problems. High-resolution images of the filling pipe surface are captured by the optical lens of the vision sensor, covering the entire filling pipe surface without blind spots, ensuring clear and accurate surface images of the inner wall of the filling pipe in the downhole environment. The entire robot is driven to move inside the filling pipe by a telescopic walking device. During this process, the adaptive attitude control system adjusts the attitude of the shell in real time, ensuring that the ultrasonic pulses excited by the ultrasonic exciter are accurately transmitted to the sidewall of the filling pipe, thus ensuring the normal operation of the scanning radar system. The walking mechanism of this device can control the length of the telescopic rod according to the real-time pressure value applied by the drive wheel to the inner wall of the filling pipe, thereby enabling the entire robot to smoothly pass through areas of severe wear in the filling pipe and to pass through narrow areas of the filling pipe, thus improving the robot's overall passability. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the structure of the present invention during operation;

[0026] Figure 2 This is a schematic diagram of the structure of the present invention;

[0027] Figure 3This is a schematic diagram of the first working state of the present invention in the filling pipe;

[0028] Figure 4 This is a schematic diagram of the second working state of the present invention within a filling pipe;

[0029] Figure 5 This is a schematic diagram of the left-side structure of the present invention;

[0030] Figure 6 This is a schematic diagram of the main structure of the telescopic walking mechanism of the present invention;

[0031] Figure 7 This is a schematic diagram of the telescopic walking mechanism of the present invention from the left side.

[0032] Figure 8 This is a top view of the telescopic walking mechanism of the present invention.

[0033] Explanation of reference numerals in the attached figures:

[0034] 1. Filling pipe, 101. Shell, 102. Power module, 103. Filling pipe defect detection module, 2. Telescopic walking device, 301. Telescopic rod, 302. Drive wheel, 4. Bearing seat, 5. Well wall. Detailed Implementation

[0035] The following is in conjunction with the appendix Figure 1-8 The specific embodiments of the present invention will be described in detail below, but it should be understood that the scope of protection of the present invention is not limited to the specific embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0036] like Figure 1-8As shown, the present invention provides a robot for non-destructive testing of mine filling pipes, including a shell 101 and a power module 102, and further including: a filling pipe defect detection module 103, a positioning module, and a central processing module. The filling pipe defect detection module 103 is disposed at one end of the shell 101 and is used to detect the side wall of the filling pipe 1 at its location. The positioning module is disposed on the shell 101 and is used to locate the position of the shell 101 inside the filling pipe 1. The central processing module is electrically connected to the filling pipe defect detection module 103 and the positioning module. The central processing module is electrically connected to an analysis module and an alarm module. The central processing module is used to receive the real-time position information of the shell 101 and the detection information of the filling pipe defect detection module 103, and transmit the position information and detection information to the analysis module. The analysis module has a preset abnormal information threshold. The analysis module compares the detection information with the abnormal information threshold. When the detection information exceeds the abnormal information threshold, the central processing module controls the alarm module to sound an alarm and marks the current location of the shell 101.

[0037] The working principle of the above embodiments is briefly described below:

[0038] The central processing module is electrically connected to a power system, which includes multiple lithium batteries. During operation, the central processing module controls the power module 102 to move within the filling pipe 1, thereby driving the filling pipe defect detection module 103 and the positioning module within the filling pipe 1. The positioning module locates the position of the housing 101 within the filling pipe 1 and transmits this position information to the central processing module. Simultaneously, the filling pipe defect detection module 103 detects the sidewall of the filling pipe 1 at its location and transmits the detection information to the central processing module. The central processing module then transmits the position and detection information to the analysis module. The analysis module compares the detection information with anomaly threshold values. When the detection information exceeds the anomaly threshold, the central processing module controls the alarm module to sound an alarm and marks the current location of the housing 101.

[0039] The robot for non-destructive testing of mine filling pipelines of the present invention can inspect the entire area of ​​filling pipeline 1 with large path undulations, and accurately locate and alarm areas with severe wear within filling pipeline 1, thereby providing a reference for the inspection, maintenance and repair of filling pipeline 1.

[0040] Based on the above embodiments, in order to mark and alarm the severely worn parts of the filling pipe 1, thereby improving the accuracy of identifying the severely worn parts of the filling pipe 1.

[0041] like Figure 2As shown, the filling pipe defect detection module 103 includes an image acquisition system and a scanning radar system. Both the image acquisition system and the scanning radar are electrically connected to the central processing module. The image acquisition system is used to acquire real-time image information of the inner wall of the filling pipe 1. The scanning radar system is used to detect the real-time wall thickness value of the side wall of the filling pipe 1. The analysis module identifies the wear points of the inner wall of the filling pipe 1 based on the real-time image information. The abnormal information threshold includes a minimum wall thickness threshold. When the wall thickness value of the wear point of the inner wall of the filling pipe 1 is less than the minimum wall thickness threshold, the central processing module controls the alarm module to sound an alarm.

[0042] The image acquisition system of the filling pipe defect detection module 103 of this device can acquire real-time image information of the inner wall of the filling pipe 1 and identify wear characteristics of the inner wall of the filling pipe 1. The image acquisition system transmits the wear characteristics to the central processing module. The analysis module identifies the wear points on the inner wall of the filling pipe 1 based on the real-time image information. The scanning radar system can detect the real-time wall thickness value of the side wall of the filling pipe 1. The central processing module transmits the real-time wall thickness value to the analysis module for analysis and judgment. The images acquired by the image acquisition system are analyzed in real time through the built-in image processing algorithm. Using feature extraction and image matching technology, it accurately identifies signs of wear on the surface of the filling pipe 1. When wear is detected on the inner wall of the filling pipe 1 and the wall thickness value of the filling pipe 1 at that location is less than the minimum wall thickness threshold, the first controller controls the alarm module to sound an alarm. The filling pipe defect detection module 103 of this device can accurately identify the wear on the inner wall of the filling pipe 1, determine the severity of the wear, and mark and alarm the more severely worn areas of the filling pipe 1, thereby improving the accuracy of identifying severely worn areas of the filling pipe 1.

[0043] As a preferred option, such as Figure 2 As shown, the analysis module includes a three-dimensional imaging system. This system can synthesize a three-dimensional image of the inner wall of the filling pipe 1 based on real-time image information of the inner wall acquired by the image acquisition system and the position information of the shell 101 within the filling pipe 1 acquired by the positioning module. By setting up the three-dimensional imaging system, a three-dimensional image of the inner wall of the filling pipe 1 can be generated, allowing users to intuitively understand the wear condition inside the filling pipe 1 and immediately notice potential problems.

[0044] As a preferred option, such as Figure 2-5As shown, the image acquisition system includes a vision sensor and an illumination system, both electrically connected to the central processing module. The vision sensor captures images of the inner wall of the filling pipe 1, and the illumination system illuminates the inner wall of the filling pipe 1. The illumination system provides ample and uniform light, and the vision sensor has 360° rotation shooting capability. Through its optical lens, the vision sensor captures high-resolution images of the surface of the filling pipe 1, covering the entire surface of the filling pipe 1 without blind spots, ensuring clear and accurate surface images of the inner wall of the filling pipe 1 in the downhole environment.

[0045] As a preferred option, such as Figure 2 As shown, the scanning radar system includes a processor, an ultrasonic exciter, and multiple ultrasonic sensors. The processor is electrically connected to the central processing module, and the ultrasonic exciter and multiple ultrasonic sensors are electrically connected to the processor. The ultrasonic exciter is used to generate ultrasonic pulses and guide them towards the sidewall of the filling pipe 1. The multiple ultrasonic sensors are used to receive the echoes from the sidewall of the filling pipe 1. The processor is used to determine the thickness of the sidewall of the filling pipe 1 based on the echoes received by the multiple ultrasonic sensors. The ultrasonic exciter generates ultrasonic pulses and guides them towards the sidewall of the filling pipe 1, penetrating the sidewall material and reflecting off the well wall 5. The multiple ultrasonic sensors receive the echoes from the sidewall of the filling pipe 1. The received echo signals are processed by signal processing algorithms within the processor, including waveform, time domain, and frequency domain analysis, to extract key features such as signal amplitude, time delay, and spectrum, thereby determining the thickness of the sidewall of the filling pipe 1 and accurately assessing its wear condition.

[0046] As a preferred option, such as Figure 2-8 As shown, the power module 102 includes a telescopic walking device 2 and an adaptive posture control system. The telescopic walking device 2 drives the shell 101 to move within the filling pipe 1. The adaptive posture control system is electrically connected to the telescopic walking device 2 and controls the movement of the telescopic walking device 2 to control the speed of the shell 101 within the filling pipe 1. The telescopic walking device 2 drives the shell 101 to move within the filling pipe 1, thus driving the entire robot to move within the filling pipe 1. During this process, the adaptive posture control system controls the movement of the telescopic walking device 2 in real time, thereby adjusting the posture of the shell 101 during movement. This ensures that the ultrasonic pulses excited by the ultrasonic exciter are accurately transmitted to the sidewall of the filling pipe 1, thus ensuring the normal operation of the scanning radar system.

[0047] As a preferred option, such as Figure 2-5As shown, the telescopic walking device 2 includes two sets of walking mechanisms, which are respectively located at the front and rear ends of the housing 101. Multiple walking mechanisms in each set are evenly distributed around the outside of the housing 101. Each walking mechanism includes a telescopic rod 301, a pressure sensor, and a drive wheel 302. One end of the telescopic rod 301 is connected to the housing 101, and the other end is connected to the drive wheel 302. The drive wheel 302 abuts against the inner wall of the filling pipe 1. The pressure sensor is located on the telescopic rod 301 and is used to detect the real-time pressure value applied by the drive wheel 302 to the inner wall of the filling pipe 1. The pressure sensor is electrically connected to an attitude controller, which is electrically connected to the telescopic rod 301. The attitude controller has a preset pressure threshold. The attitude controller compares the real-time pressure value with the pressure threshold and controls the telescopic rod 301 to move according to the comparison result, so that the real-time pressure value applied by the drive wheel 302 to the inner wall of the filling pipe 1 is equal to the pressure threshold. The telescopic rod 301 is connected to the housing 101 via the support seat 4. When the robot travels to a severely worn or narrow area of ​​the filling pipe 1, the pressure exerted by the drive wheels 302 on different walking mechanisms on the inner wall of the filling pipe 1 changes. The pressure sensor detects a change in the real-time pressure value exerted by the drive wheels 302 on the inner wall of the filling pipe 1. When the real-time pressure value is less than the pressure threshold, the attitude controller controls the telescopic rod 301, where the drive wheel 302 is located, to extend, thereby increasing the pressure exerted by the telescopic rod 301 on the inner wall of the filling pipe 1 through the drive wheel 302. When the real-time pressure value is greater than the pressure threshold, the attitude controller controls the telescopic rod 301, where the drive wheel 302 is located, to shorten, thereby reducing the pressure exerted by the telescopic rod 301 on the inner wall of the filling pipe 1 through the drive wheel 302. This allows the robot to smoothly pass through severely worn areas and narrow areas of the filling pipe 1, improving the robot's overall passability.

[0048] As a preferred option, such as Figure 2As shown, the adaptive posture control system includes a speed sensor and a speed controller. The speed sensor is mounted on the housing 101 and is used to detect the real-time travel speed of the housing 101 within the filling pipe 1. The speed controller is electrically connected to the drive wheel 302 and the speed sensor. A preset travel speed threshold is included in the speed controller. The speed controller compares the real-time travel speed with the travel speed threshold and controls the drive wheel 302 to move according to the comparison result, thereby ensuring that the real-time travel speed of the housing 101 within the filling pipe 1 is equal to the travel speed threshold. By setting up the speed sensor, which detects the real-time travel speed of the housing 101 within the filling pipe 1, and the speed controller compares the real-time travel speed with the travel speed threshold, the speed controller controls the drive wheel 302 to move according to the comparison result. When the real-time travel speed of the housing 101 within the filling pipe 1 is greater than the speed threshold, the controller controls the drive wheel 302 to reduce its rotation speed, and vice versa, thus ensuring the stability of the robot's travel speed within the pipe and guaranteeing the accuracy of detecting defects in the pipe.

[0049] As a preferred option, such as Figure 2 As shown, the central processing module is electrically connected to a data transmission module, which is wirelessly connected to a surface control module. The data transmission module transmits real-time image information, real-time wall thickness values, and real-time location information received by the central processing module to the surface control module via radio signals. The data transmission module receives control signals from the surface control module and transmits these signals back to the central processing module. By setting up a surface control module and utilizing the data transmission module to transmit the real-time image information, real-time wall thickness values, and real-time location information received by the central processing module to the surface control module via radio signals, and then the data transmission module receiving and transmitting the control signals back to the central processing module, remote control of the robot can be achieved, thereby improving the robot's ease of use.

[0050] This invention also provides a method for non-destructive testing of mine backfill pipelines using a robot, comprising:

[0051] The central processing module controls the power module 102 to move inside the filling pipe 1 to be tested, thereby driving the filling pipe defect detection module 103 and the positioning module to move inside the filling pipe 1.

[0052] The positioning module locates the position of the housing 101 inside the filling pipe 1 and transmits the position information of the housing 101 to the central processing module. At the same time, the filling pipe defect detection module 103 detects the side wall of the filling pipe 1 at its location and transmits the detection information to the central processing module.

[0053] The central processing module transmits the location information and detection information to the analysis module. The analysis module compares the detection information with the abnormal information threshold. When the detection information exceeds the abnormal information threshold, the central processing module controls the alarm module to sound an alarm and marks the location of the housing 101 at this time.

[0054] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A robot for non-destructive testing of mine filling pipelines, comprising a shell (101) and a power module (102), characterized in that, Also includes: A filling pipe defect detection module (103) is provided at one end of the housing (101). The filling pipe defect detection module (103) is used to detect the side wall of the filling pipe (1) at its location. The positioning module is located on the housing (101) and is used to position the housing (101) within the filling pipe (1); The central processing module is electrically connected to the filling pipe defect detection module (103) and the positioning module. The central processing module is electrically connected to the analysis module and the alarm module. The central processing module is used to receive the real-time position information of the shell (101) and the detection information of the filling pipe defect detection module (103), and transmit the position information and detection information to the analysis module. The analysis module has a preset abnormal information threshold. The analysis module compares the detection information with the abnormal information threshold. When the detection information exceeds the abnormal information threshold, the central processing module controls the alarm module to sound an alarm and marks the position of the shell (101) at this time.

2. The robot for non-destructive testing of mine backfilling pipelines as described in claim 1, characterized in that, The filling pipe defect detection module (103) includes an image acquisition system and a scanning radar system. Both the image acquisition system and the scanning radar are electrically connected to the central processing module. The image acquisition system is used to acquire real-time image information of the inner wall of the filling pipe (1). The scanning radar system is used to detect the real-time wall thickness value of the side wall of the filling pipe (1). The analysis module identifies the wear points of the inner wall of the filling pipe (1) based on the real-time image information. The abnormal information threshold includes a minimum wall thickness threshold. When the wall thickness value of the wear point of the inner wall of the filling pipe (1) is less than the minimum wall thickness threshold, the central processing module controls the alarm module to sound an alarm.

3. The robot for non-destructive testing of mine backfilling pipelines as described in claim 1, characterized in that, The analysis module includes a three-dimensional imaging system, which can synthesize a three-dimensional image of the inner wall of the filling pipe (1) based on the real-time image information of the inner wall of the filling pipe (1) acquired by the image acquisition system and the position information of the shell (101) in the filling pipe (1) acquired by the positioning module.

4. The robot for non-destructive testing of mine backfilling pipelines as described in claim 3, characterized in that, The image acquisition system includes a vision sensor and an illumination system. Both the vision sensor and the illumination system are electrically connected to the central processing module. The vision sensor is used to capture images of the inner wall of the filling pipe (1), and the illumination system is used to illuminate the inner wall of the filling pipe (1).

5. The robot for non-destructive testing of mine backfilling pipelines as described in claim 2, characterized in that, The scanning radar system includes a processor, an ultrasonic exciter, and multiple ultrasonic sensors. The processor is electrically connected to the central processing module. The ultrasonic exciter and multiple ultrasonic sensors are electrically connected to the processor. The ultrasonic exciter is used to excite ultrasonic pulses and guide the ultrasonic pulses toward the side wall of the filling pipe (1). The multiple ultrasonic sensors are used to receive the echoes from the side wall of the filling pipe (1). The processor is used to determine the thickness of the side wall of the filling pipe (1) based on the echoes received by the multiple ultrasonic sensors.

6. The robot for non-destructive testing of mine backfilling pipelines as described in claim 1, characterized in that, The power module (102) includes a telescopic walking device (2) and an adaptive posture control system. The telescopic walking device (2) is used to drive the shell (101) to move within the filling pipe (1). The adaptive posture control system is electrically connected to the telescopic walking device (2). The adaptive posture control system is used to control the movement of the telescopic walking device (2) to control the speed of the shell (101) within the filling pipe (1).

7. The robot for non-destructive testing of mine backfilling pipelines as described in claim 6, characterized in that, The telescopic walking device (2) includes two sets of walking mechanisms, which are respectively located at the front and rear ends of the housing (101). Multiple walking mechanisms in each set are evenly distributed around the periphery of the housing (101). Each walking mechanism includes a telescopic rod (301), a pressure sensor, and a drive wheel (302). One end of the telescopic rod (301) is connected to the housing (101), and the other end is connected to the drive wheel (302). The drive wheel (302) abuts against the inner wall of the filling pipe (1). The pressure sensor is located at... On the telescopic rod (301), a pressure sensor is used to detect the real-time pressure value applied by the drive wheel (302) to the inner wall of the filling pipe (1). The pressure sensor is electrically connected to an attitude controller, which is electrically connected to the telescopic rod (301). The attitude controller has a preset pressure threshold. The attitude controller compares the real-time pressure value with the pressure threshold. The attitude controller controls the telescopic rod (301) to move according to the comparison result, so that the real-time pressure value applied by the drive wheel (302) to the inner wall of the filling pipe (1) is equal to the pressure threshold.

8. The robot for non-destructive testing of mine backfilling pipelines as described in claim 7, characterized in that, The adaptive posture control system includes a speed sensor and a speed controller. The speed sensor is located on the housing (101) and is used to detect the real-time travel speed of the housing (101) in the filling pipe (1). The speed controller is electrically connected to the drive wheel (302) and the speed sensor. The speed controller has a preset travel speed threshold. The speed controller compares the real-time travel speed with the travel speed threshold. The speed controller controls the drive wheel (302) to move according to the comparison result, so that the real-time travel speed of the housing (101) in the filling pipe (1) is equal to the travel speed threshold.

9. The robot for non-destructive testing of mine backfilling pipelines as described in claim 1, characterized in that, The central processing module is electrically connected to a data transmission module, and the data transmission module is wirelessly connected to a surface control module. The data transmission module is used to transmit the real-time image information, real-time wall thickness value, and real-time location information received by the central processing module to the surface control module in the form of radio signals. The data transmission module receives the control signals from the surface control module and transmits the control signals to the central processing module.

10. A method for inspecting a mine filling pipeline (1) using the robot for non-destructive testing of mine filling pipelines as described in claim 1, characterized in that, include: The central processing module controls the power module (102) to move inside the filling pipe (1) to be tested, thereby driving the filling pipe defect detection module (103) and the positioning module to move inside the filling pipe (1); The positioning module locates the position of the shell (101) inside the filling pipe (1) and transmits the position information of the shell (101) to the central processing module. At the same time, the filling pipe defect detection module (103) detects the side wall of the filling pipe (1) at its location and transmits the detection information to the central processing module. The central processing module transmits the location information and detection information to the analysis module. The analysis module compares the detection information with the abnormal information threshold. When the detection information exceeds the abnormal information threshold, the central processing module controls the alarm module to sound an alarm and marks the location of the housing (101) at this time.

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