Intelligent pipeline inspection robot and control method

Abstract

The application discloses an intelligent pipeline inspection robot and a control method, and relates to the technical field of pipeline maintenance.The application comprises a base, the upper surface of the base is fixed with an adjusting device, the top of the adjusting device is fixed with a mounting plate, the two sides of the mounting plate are fixed with connecting plates, mounting grooves are formed in the two sides of the connecting plates, mounting blocks are movably connected in the mounting grooves, the two sides of the mounting grooves are fixed with positioning plates, positioning grooves are formed in the surfaces of the positioning plates, and the one side of the mounting block is fixed with a fixing plate.The application has the advantages that compared with the traditional fixed-angle detection equipment, the application has a detection blind area, but the adjustable angle setting of the device effectively reduces the problem, at some special structures of the pipeline, such as valve, tee and other parts, the angle of the detector can be adjusted in advance, so that the detector can detect these complex parts in all directions when moving to the parts, the safety hidden danger caused by the detection failure is reduced, and the safe and stable operation of the pipeline system is ensured.

Description

Technical Field

[0001] This invention belongs to the field of pipeline maintenance technology, and in particular relates to an intelligent pipeline inspection robot and its control method. Background Technology

[0002] With the rapid development of modern industry, pipeline transportation has been widely used in fields such as petroleum, natural gas, chemical industry, water conservancy, urban water supply and drainage. As a crucial infrastructure for transporting various media, the safety and reliability of pipelines directly affect the normal operation of industrial production and people's lives. However, because pipelines are usually buried underground or laid in inaccessible areas, they are prone to corrosion, cracks, deformation, and blockages during long-term use. If these problems are not detected and addressed in a timely manner, they may lead to media leaks, environmental pollution, or even serious accidents such as explosions. Therefore, regular pipeline inspection and maintenance are essential measures to ensure the safe operation of pipelines.

[0003] Traditional pipeline inspection methods mainly include manual inspection and sensor-based fixed monitoring systems. Manual inspection relies on personnel periodically patrolling the pipeline route, identifying problems through visual observation, auditory detection, or the use of portable detection equipment. This method suffers from numerous drawbacks, including low efficiency, high missed detection rates, high labor intensity, and high safety risks, especially in harsh environments where its limitations become more pronounced. Meanwhile, while fixed monitoring systems using ordinary sensors can achieve some real-time monitoring of pipelines, they require pre-installation at critical locations, resulting in high installation and maintenance costs. Furthermore, fixed sensors can only monitor localized conditions at specific locations, making it difficult to comprehensively cover the entire pipeline system. Summary of the Invention

[0004] The purpose of this invention is to provide an intelligent pipeline inspection robot and its control method. By utilizing the mounting plate, this device effectively reduces blind spots compared to traditional fixed-angle detection equipment. At specific points in the pipeline structure, such as valves and tees, the detector angle can be pre-adjusted, allowing for comprehensive detection of these complex areas when the detector moves to that location. This reduces safety hazards caused by incomplete detection, ensuring the safe and stable operation of the pipeline system. It also solves the problem that while existing fixed-sensor monitoring systems can achieve real-time monitoring of pipelines to a certain extent, they require pre-installation at critical locations, resulting in high installation and maintenance costs.

[0005] To achieve the above objectives, the present invention provides the following technical solution:

[0006] As a first aspect, the present invention provides an intelligent pipeline inspection robot, including a base, wherein an adjustment device is fixed on the upper surface of the base;

[0007] A mounting plate is fixed to the top of the adjustment device;

[0008] Both sides of the mounting plate are fixed with connecting plates, and both sides of the connecting plates are provided with mounting grooves, with mounting blocks movably connected inside the mounting grooves;

[0009] Both sides of the mounting groove are fixed with positioning plates, and the surface of the positioning plates is provided with positioning grooves.

[0010] A fixing plate is fixed to one side of the mounting block, and a support frame is fixed to the side of the fixing plate away from the mounting block.

[0011] The support frame has an adjustment groove on one side, and a first adjustment block is fixed on both sides of the inner wall of the adjustment groove. The inner wall of the first adjustment block has a first slot.

[0012] A second adjusting block is movably connected between the two first adjusting blocks, and a second slot is fixed on both sides of the second adjusting block;

[0013] The first card slot engages with the second card slot;

[0014] The adjustment groove, the first adjustment block, and the second adjustment block each have an adjustment hole in the center, and a positioning rod passes through the adjustment hole.

[0015] One end of the positioning rod is rotatably connected to a fastening handle;

[0016] A connecting frame is fixed to one side of the second adjusting block, and a detector is fixed to one end of the connecting frame;

[0017] The detector includes a camera, a temperature sensor, a gas sensor, and a pressure sensor.

[0018] The present invention is further configured such that: a support plate is fixed inside the mounting block, and telescopic rods are fixed on both sides of the support plate;

[0019] An adjustment plate is fixed to one end of the telescopic rod.

[0020] The present invention is further configured such that a spring is sleeved on the outer side of the telescopic rod;

[0021] One end of the spring is fixedly connected to the adjusting plate, and the other end of the spring is fixedly connected to the support plate.

[0022] The present invention is further configured such that: a locking block is fixed on one side of the adjusting plate, and the locking block penetrates the mounting block;

[0023] The card block is inserted into the positioning slot.

[0024] The present invention is further configured such that: a drive seat is fixed to the bottom of the base, and a detection plate is fixed to one side of the base;

[0025] An infrared detector is fixed to one side of the detection plate; a CPU is fixed to the bottom of the mounting plate.

[0026] The infrared detector, CPU, and driver are all electrically connected;

[0027] The detector is electrically connected to the CPU.

[0028] The present invention is further configured such that: the adjusting device includes a first slide rail, the first slide rail being fixedly connected to the base;

[0029] A first positioning block is fixed on the upper surface of the first slide rail, and a first slider is slidably connected to the upper surface of the first slide rail;

[0030] A first connecting rod is fixed to one side of the first slider, and a second positioning block is fixed to one end of the first connecting rod.

[0031] The present invention is further configured such that: a second connecting rod is fixed to one side of the first positioning block, and a second slider is fixed to one end of the second connecting rod;

[0032] The first connecting rod and the second connecting rod are engaged and connected.

[0033] A second sliding groove is fixed on one side of the second positioning block, and the second sliding groove is fixedly connected to the mounting plate;

[0034] The second slider is slidably connected to the second groove.

[0035] The present invention is further configured such that: a motor is fixed on the upper surface of the base, and a threaded rod is fixed on the output shaft of the motor;

[0036] An adjusting rod is fixed between the two first sliders, and a connecting block is fixed in the center of the adjusting rod;

[0037] The threaded rod is threadedly connected to the connecting block.

[0038] Secondly, this invention provides a control method for an intelligent pipeline inspection robot based on the above description, comprising the following:

[0039] Place the robot at a preset location near the pipeline to be inspected;

[0040] Adjust the position of the mounting block in the mounting slot, and extend or retract the telescopic rod by pulling the adjustment plate, which will cause the locking block to engage in different positioning slots to make a preliminary adjustment to the horizontal position of the support frame and the detector.

[0041] The angle of different detectors is adjusted according to the detection requirements. Specifically, the fastening handle is rotated to loosen the positioning rod from the adjustment hole. The position of the second adjustment block between the first adjustment block is adjusted according to the requirements to change the engagement position of the first slot and the second slot. After adjustment, the fastening handle is rotated again to fix it.

[0042] Turn on the robot's power, and the drive unit starts working, moving the robot along the pipeline and monitoring in real time.

[0043] The present invention is further configured such that: during the robot's movement, an infrared detector is used to detect obstacles or abnormal situations in front in real time and transmits the signal to the CPU; if an abnormality is detected, the CPU controls the drive unit to stop or change the direction of movement.

[0044] The system captures images of the inside of the pipe using a camera, and uses temperature, gas, and pressure sensors to detect the temperature, gas composition, and pressure of the medium inside the pipe. The data is then transmitted to the CPU for analysis and processing, and the CPU determines whether there are any abnormalities in the pipe.

[0045] The present invention has the following beneficial effects:

[0046] 1. By using the mounting plate, this invention effectively reduces the blind spots in traditional fixed-angle detection devices. The adjustable angle setting in this device effectively reduces this problem. In some special structural parts of the pipeline, such as valves and tees, the detector angle can be pre-adjusted so that the detector can detect these complex parts from all angles when it moves to the part, reducing safety hazards caused by incomplete detection and ensuring the safe and stable operation of the pipeline system.

[0047] 2. This invention utilizes the threaded rod to adjust the height of the mounting plate, allowing the robot's detector to maintain a suitable detection distance from pipes of different diameters. This ensures the detector can fully cover the inner wall of the pipe, avoiding blind spots and guaranteeing clear and accurate detection data, thus improving detection precision.

[0048] Of course, any product implementing this invention does not necessarily need to achieve all of the advantages described above at the same time. Attached Figure Description

[0049] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0050] Figure 1 This is a structural schematic diagram of an intelligent pipeline inspection robot according to the present invention.

[0051] Figure 2 This is a schematic diagram of the structure from a low angle, representing the present invention.

[0052] Figure 3 This is a schematic diagram of the side view structure of the present invention.

[0053] Figure 4 This is a top-view structural diagram of the present invention.

[0054] Figure 5 This is a schematic diagram of the fixing plate structure of the present invention.

[0055] Figure 6 This is a side view structural diagram of the fixed plate of the present invention.

[0056] Figure 7 This is a schematic diagram of the second adjusting block structure of the present invention.

[0057] The attached diagram lists the components represented by each number as follows:

[0058] 1-Base, 2-Adjusting device, 3-Mounting plate, 4-Connecting plate, 5-Mounting groove, 6-Mounting block, 7-Positioning plate, 8-Positioning groove, 9-Fixing plate, 10-Support frame, 11-Adjusting groove, 12-First adjusting block, 13-First slot, 14-Second adjusting block, 15-Second slot, 16-Adjusting hole, 17-Positioning rod, 18-Fastening handle, 19-Connecting frame, 20-Detector, 21-Supporting plate, 22-Telescopic rod, 23-Adjusting plate, 24-Spring, 25-Slot block, 26-Drive seat, 27-Detection plate, 28-Infrared detector, 29-CPU, 30-First slide rail, 31-First positioning block, 32-First slider, 33-First connecting rod, 34-Second positioning block, 35-Second connecting rod, 36-Second slider, 37-Second slide groove, 38-Motor, 39-Threaded rod, 40-Adjusting rod, 41-Connecting block. Detailed Implementation

[0059] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0060] It should be noted that, unless otherwise specified, all technical and scientific terms used in this application have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains.

[0061] In this invention, unless otherwise stated, the directional terms such as "up" and "down" generally refer to the directions shown in the accompanying drawings, or to the vertical, perpendicular, or gravitational direction; similarly, for ease of understanding and description, "left" and "right" generally refer to the left and right shown in the accompanying drawings; "inner" and "outer" refer to the inner and outer contours of each component itself, but the above directional terms are not intended to limit this invention. Specific Implementation Example 1

[0063] Please see Figure 1-7 This invention relates to an intelligent pipeline inspection robot, comprising a base 1, an adjustment device 2 fixed to the upper surface of the base 1, a mounting plate 3 fixed to the top of the adjustment device 2, connecting plates 4 fixed to both sides of the mounting plate 3, mounting grooves 5 on both sides of the connecting plates 4, and mounting blocks 6 movably connected inside the mounting grooves 5; positioning plates 7 fixed to both sides of the mounting grooves 5, with positioning grooves 8 on their surfaces; a fixing plate 9 fixed to one side of the mounting block 6, and a support frame 10 fixed to the side of the fixing plate 9 away from the mounting block 6; an adjustment groove 11 on one side of the support frame 10, with first adjustment blocks 12 fixed to both sides of the inner wall of the adjustment groove 11. A first slot 13 is formed on the inner wall of block 12; a second adjusting block 14 is movably connected between the two first adjusting blocks 12, and a second slot 15 is fixed on both sides of the second adjusting block 14; the first slot 13 and the second slot 15 are engaged; an adjusting hole 16 is formed in the center of the adjusting groove 11, the first adjusting block 12 and the second adjusting block 14, and a positioning rod 17 passes through the adjusting hole 16; a fastening handle 18 is rotatably connected to one end of the positioning rod 17; a connecting frame 19 is fixed on one side of the second adjusting block 14, and a detector 20 is fixed on one end of the connecting frame 19; the detector 20 is a camera, a temperature sensor, a gas sensor and a pressure sensor.

[0064] Specifically, a support plate 21 is fixed inside the mounting block 6, and telescopic rods 22 are fixed on both sides of the support plate 21; an adjustment plate 23 is fixed to one end of the telescopic rod 22; a spring 24 is sleeved on the outside of the telescopic rod 22; one end of the spring 24 is fixedly connected to the adjustment plate 23, and the other end of the spring 24 is fixedly connected to the support plate 21.

[0065] Furthermore, a locking block 25 is fixed to one side of the adjusting plate 23, and the locking block 25 passes through the mounting block 6; the locking block 25 is engaged in the positioning groove 8; a drive seat 26 is fixed to the bottom of the base 1, and a detection plate 27 is fixed to one side of the base 1; an infrared detector 28 is fixed to one side of the detection plate 27; a CPU 29 is fixed to the bottom of the mounting plate 3; the infrared detector 28, the CPU 29 and the drive seat 26 are all electrically connected; the detector 20 and the CPU 29 are electrically connected.

[0066] The control method for the intelligent pipeline inspection robot described above specifically includes the following:

[0067] Step 1: Place the robot at a preset location near the pipeline to be inspected;

[0068] Step 2: Adjust the position of the mounting block 6 in the mounting groove 5, and extend or retract the telescopic rod 22 by pulling the adjusting plate 23, which will cause the locking block 25 to engage in different positioning grooves 8, so as to make preliminary adjustments to the horizontal position of the support frame 10 and the detector 20.

[0069] Step 3: Adjust the angle of different detectors 20 according to the detection requirements. Specifically, rotate the fastening handle 18 to loosen the positioning rod 17 from the adjustment hole 16, adjust the position of the second adjustment block 14 between the first adjustment block 12 according to the requirements, change the engagement position of the first slot 13 and the second slot 15, and after adjusting to the position, rotate the fastening handle 18 again to fix it.

[0070] Step 4: Turn on the robot power, and the drive unit 26 will start working, moving the robot on the pipeline and monitoring in real time.

[0071] The actual operation process of this embodiment is as follows: Place the robot in a suitable position near the pipeline to be inspected, i.e., the preset position. According to the actual situation of the pipeline, adjust the position of the mounting block 6 in the mounting groove 5. By pulling the adjusting plate 23, the telescopic rod 22 is extended and retracted, thereby driving the locking block 25 to engage in different positioning grooves 8, realizing the initial adjustment of the horizontal position of the support frame 10 and the detector 20. Adjust the angle of different detectors 20 as needed, i.e., rotate the fastening handle 18 to loosen the positioning rod 17 from the adjusting hole 16. Then, adjust the position of the second adjusting block 14 between the first adjusting block 12 as needed, change the engagement position of the first locking groove 13 and the second locking groove 15. After adjustment, rotate the fastening handle 18 again to fix it. Turn on the robot power, and the drive seat 26 starts to work, driving the robot to move on the pipeline. The infrared detector 28 detects whether there are obstacles or abnormalities in front in real time and transmits the signal to the CPU 29. If an abnormality is detected, the CPU 29 controls the drive seat 26 to stop or change the direction of movement to ensure the safe operation of the robot. During the robot's movement, detector 20 begins operation; the camera captures images of the inside of the pipe, and the temperature sensor, gas sensor, and pressure sensor detect the temperature, gas composition, and pressure data of the medium inside the pipe, respectively. This data is transmitted to the CPU 29 for analysis and processing. The CPU 29 analyzes and processes the data collected by detector 20 to determine if there are any abnormalities in the pipe, such as excessively high temperature, gas leakage, abnormal pressure, or cracks inside the pipe. This device, by setting up multiple adjustable-angle detectors 20, effectively reduces blind spots compared to traditional fixed-angle detection devices. At special structural locations in the pipe, such as valves and tees, the angle of detector 20 can be pre-adjusted, allowing for comprehensive detection of these complex areas when the detector 20 moves to that location. This reduces safety hazards caused by incomplete detection and ensures the safe and stable operation of the pipeline system. Specific Implementation Example 2

[0073] Please see Figure 1-4 Based on the first specific embodiment, the adjustment device 2 includes a first slide rail 30, which is fixedly connected to the base 1; a first positioning block 31 is fixed on the upper surface of the first slide rail 30, and a first slider 32 is slidably connected to the upper surface of the first slide rail 30; a first connecting rod 33 is fixed on one side of the first slider 32, and a second positioning block 34 is fixed at one end of the first connecting rod 33.

[0074] Specifically, a second connecting rod 35 is fixed to one side of the first positioning block 31, and a second slider 36 is fixed to one end of the second connecting rod 35; the first connecting rod 33 is engaged with the second connecting rod 35; a second sliding groove 37 is fixed to one side of the second positioning block 34, and the second sliding groove 37 is fixedly connected to the mounting plate 3; the second slider 36 is slidably connected to the second sliding groove 37.

[0075] Furthermore, a motor 38 is fixed on the upper surface of the base 1, and a threaded rod 39 is fixed on the output shaft of the motor 38; an adjusting rod 40 is fixed between the two first sliders 32, and a connecting block 41 is fixed in the center of the adjusting rod 40; the threaded rod 39 is threadedly connected to the connecting block 41.

[0076] The operation process of this embodiment is as follows: To adjust the overall height of the mounting plate 3 and the detector 20, start the motor 38. The motor 38 drives the threaded rod 39 to rotate. Since the threaded rod 39 is threadedly connected to the connecting block 41, and the connecting block 41 is fixed on the adjusting rod 40, and the adjusting rod 40 connects the two first sliders 32, the first sliders 32 will slide on the first slide rail 30, driving the first connecting rod 33 to move. Then, through the second connecting rod 35, the second slider 36 will slide in the second slide groove 37, thereby realizing the adjustment of the height of the mounting plate 3 and the detector 20. By adjusting the height of the mounting plate 3 through the threaded rod 39, the robot's detector 20 can maintain a suitable detection distance with pipes of different diameters, so that the detector 20 can fully cover the inner wall of the pipe, avoid detection blind spots, ensure that the detector 20 obtains clear and accurate detection data, and improve detection accuracy.

[0077] In the description of this specification, references to terms such as "an embodiment," "example," "specific example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0078] The preferred embodiments of the present invention disclosed above are merely illustrative of the invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the invention to the specific implementations described. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the invention, thereby enabling those skilled in the art to better understand and utilize the invention. The invention is limited only by the claims and their full scope and equivalents.

Claims

1. An intelligent pipeline inspection robot, comprising a base (1), characterized in that: An adjustment device (2) is fixed on the upper surface of the base (1); The top of the adjustment device (2) is fixed with a mounting plate (3); The mounting plate (3) is fixed with connecting plates (4) on both sides, and the connecting plates (4) are provided with mounting grooves (5) on both sides. The mounting grooves (5) are movably connected with mounting blocks (6). Positioning plates (7) are fixed on both sides of the mounting groove (5), and positioning grooves (8) are opened on the surface of the positioning plates (7). A fixing plate (9) is fixed on one side of the mounting block (6), and a support frame (10) is fixed on the side of the fixing plate (9) away from the mounting block (6). The support frame (10) has an adjustment groove (11) on one side, and a first adjustment block (12) is fixed on both sides of the inner wall of the adjustment groove (11). The first adjustment block (12) has a first slot (13) on its inner wall. A second adjusting block (14) is movably connected between the two first adjusting blocks (12), and a second slot (15) is fixed on both sides of the second adjusting block (14). The first card slot (13) and the second card slot (15) are engaged; The adjustment groove (11), the first adjustment block (12), and the second adjustment block (14) each have an adjustment hole (16) in the center, and a positioning rod (17) passes through the adjustment hole (16). One end of the positioning rod (17) is rotatably connected to a fastening handle (18). A connecting frame (19) is fixed on one side of the second adjusting block (14), and a detector (20) is fixed on one end of the connecting frame (19). The detector (20) includes a camera, a temperature sensor, a gas sensor, and a pressure sensor.

2. The intelligent pipeline inspection robot according to claim 1, characterized in that, The mounting block (6) has a support plate (21) fixed inside, and telescopic rods (22) are fixed on both sides of the support plate (21). An adjusting plate (23) is fixed to one end of the telescopic rod (22).

3. The intelligent pipeline inspection robot according to claim 2, characterized in that, A spring (24) is sleeved on the outside of the telescopic rod (22); One end of the spring (24) is fixedly connected to the adjusting plate (23), and the other end of the spring (24) is fixedly connected to the support plate (21).

4. The intelligent pipeline inspection robot according to claim 3, characterized in that, A locking block (25) is fixed on one side of the adjusting plate (23), and the locking block (25) passes through the mounting block (6); The card block (25) is engaged in the positioning slot (8).

5. The intelligent pipeline inspection robot according to claim 4, characterized in that, A drive seat (26) is fixed to the bottom of the base (1), and a detection plate (27) is fixed to one side of the base (1). An infrared detector (28) is fixed on one side of the detection plate (27); a CPU (29) is fixed on the bottom of the mounting plate (3). The infrared detector (28), CPU (29) and drive base (26) are all electrically connected; The detector (20) is electrically connected to the CPU (29).

6. The intelligent pipeline inspection robot according to claim 1, characterized in that, The adjustment device (2) includes a first slide rail (30), which is fixedly connected to the base (1); A first positioning block (31) is fixed on the upper surface of the first slide rail (30), and a first slider (32) is slidably connected to the upper surface of the first slide rail (30). A first connecting rod (33) is fixed on one side of the first slider (32), and a second positioning block (34) is fixed on one end of the first connecting rod (33).

7. The intelligent pipeline inspection robot according to claim 6, characterized in that, A second connecting rod (35) is fixed on one side of the first positioning block (31), and a second slider (36) is fixed on one end of the second connecting rod (35). The first connecting rod (33) is engaged with the second connecting rod (35); The second positioning block (34) has a second slide groove (37) fixed on one side, and the second slide groove (37) is fixedly connected to the mounting plate (3); The second slider (36) is slidably connected to the second groove (37).

8. The intelligent pipeline inspection robot according to claim 7, characterized in that, A motor (38) is fixed on the upper surface of the base (1), and a threaded rod (39) is fixed on the output shaft of the motor (38). An adjusting rod (40) is fixed between the two first sliders (32), and a connecting block (41) is fixed in the center of the adjusting rod (40). The threaded rod (39) is threadedly connected to the connecting block (41).

9. A control method for an intelligent pipeline inspection robot based on claim 5, characterized in that, Includes the following: Place the robot at a preset location near the pipeline to be inspected; Adjust the position of the mounting block (6) in the mounting groove (5), and extend the telescopic rod (22) by pulling the adjustment plate (23), so that the locking block (25) can be engaged in different positioning grooves (8) to make preliminary adjustment of the horizontal position of the support frame (10) and the detector (20); The angle of different detectors (20) is adjusted according to the detection requirements. Specifically, the fastening handle (18) is rotated to loosen the positioning rod (17) from the adjustment hole (16). The position of the second adjustment block (14) between the first adjustment block (12) is adjusted according to the requirements. The engagement position of the first slot (13) and the second slot (15) is changed. After the adjustment is in place, the fastening handle (18) is rotated again to fix it. Turn on the robot power, and the drive unit (26) starts working, driving the robot to move on the pipeline and perform real-time detection.

10. A control method for an intelligent pipeline inspection robot based on claim 9, characterized in that, During the robot's movement, the infrared detector (28) detects obstacles or abnormal situations in front in real time and transmits the signals to the CPU (29). If an abnormality is detected, the CPU (29) controls the drive seat (26) to stop or change the direction of movement. The camera captures images of the inside of the pipe, and the temperature, gas composition and pressure data of the medium inside the pipe are detected by temperature sensor, gas sensor and pressure sensor respectively. The data is transmitted to CPU (29) for analysis and processing, and CPU (29) determines whether there is any abnormality in the pipe.

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