Plant pipeline fault risk monitoring device based on image recognition

Abstract

The application provides a plant area pipeline fault risk monitoring device based on image recognition and relates to the technical field of pipeline monitoring. The device comprises an intracanal walking mechanism and a flying mechanism. The intracanal walking mechanism comprises a shell which is in a circular tube structure and is formed by welding sheet metal parts. The shell serves as a main body bearing shell and has an internal component accommodating installation cavity for arranging and installing the remaining functional components. A walking support wheel group is arranged on the outer side wall of the shell and is hingedly connected to the shell. The device adopts a composite structure design of the intracanal walking mechanism and the flying mechanism. The straight pipe section can rely on the walking support wheel group to adaptively adhere to the wall and stably move, thereby guaranteeing the inspection efficiency and walking stability. The aircraft can flexibly adjust the posture along the pipeline track and bend and deflect, so that image acquisition and detection can be realized in the corner dead angle without blind area, and the comprehensiveness and accuracy of the plant area pipeline fault monitoring are greatly improved.

Description

Technical Field

[0001] This invention relates to the field of pipeline monitoring technology, specifically to a plant pipeline fault risk monitoring device based on image recognition. Background Technology

[0002] In the field of pipeline fault risk monitoring in factories, endoscopic inspection robots based on image recognition have become the core equipment for troubleshooting pipeline corrosion, cracks, deformation and other faults. Currently, existing pipeline inspection equipment is mainly divided into three categories: flexible pipeline robots, pure wheeled pipeline walking robots, and pipeline-embedded drones. All three types of equipment are equipped with image recognition modules for pipeline defect identification. However, they all have obvious shortcomings and limitations in the complex industrial pipeline working conditions of factories with large diameter pipes, multiple bends, and uneven pipe walls. It is difficult to balance the stability of passage, the ability to detect all areas, and the adaptability to complex working conditions.

[0003] Traditional flexible pipeline robots rely on the deformation of their overall flexible material to adapt to bends and pass through pipes. They have a simple structure and can adapt to narrow pipes with small curvatures. However, their overall rigidity is poor, their support stability is weak, and their load-bearing capacity is limited. They cannot carry multiple types of detection components, and their reliability is extremely poor when facing complex industrial pipelines with large diameters, changes in diameter, and high resistance in factory areas. They are prone to collapse and jamming, and their overall adaptability to different working conditions is severely inadequate. Conventional wheeled pipeline robots rely on their wheels to walk along pipe walls, have strong structural rigidity, are stable when walking in straight pipes, and have excellent load-bearing capacity. However, their overall structure is fixed, lacking active deformation and adaptive avoidance capabilities. They have poor corner-passing performance and are prone to collapse and jamming in pipe bends and narrow, changing diameter locations. The first type of equipment is prone to jamming, making continuous inspection impossible and unable to capture images of blind spots at bends, resulting in low detection coverage. While pipeline drone-based inspection equipment can capture images of blind spots at bends by relying on flight freedom, it is a single, independent flight structure without mechanical limits or adaptive support structures. Its flight attitude is difficult to control in the confined space of the pipeline, resulting in severe shaking and deviation during operation and poor flight stability. This not only makes it difficult to guarantee the clarity of image recognition and acquisition but also makes it impossible to achieve precise repositioning and storage. Long-term operation is prone to collision damage, pipe dislocation, and other problems. In addition, pure drones lack long-distance travel capability and cannot complete long-distance continuous pipeline inspections, resulting in low operational efficiency and practicality.

[0004] Industrial pipelines in factory areas generally have characteristics such as large inner diameter spans, complex pipeline routes, numerous bends, narrow sections, and rust protrusions or localized deformations on the pipe walls. The internal space of the pipelines is limited, requiring inspection equipment to not only travel stably over long distances in straight pipes but also smoothly navigate various bends and narrow inflections. Simultaneously, it needs to acquire images of blind spots at bends and identify pipeline internal wall faults using image recognition. Based on these considerations, those skilled in the art have proposed an image recognition-based fault risk monitoring device for factory pipelines. Summary of the Invention

[0005] Technical problems to be solved

[0006] To address the shortcomings of existing technologies, this invention provides a plant pipeline fault risk monitoring device based on image recognition. It adopts a composite structure design of an in-pipe walking mechanism and a flying mechanism. Straight pipe sections can rely on the walking support wheel set to adaptively and stably move along the wall, ensuring inspection efficiency and walking stability. Meanwhile, the flying vehicle flexibly adjusts its attitude and bends and deflects according to the pipeline trajectory, realizing image acquisition and detection without blind spots in bends and dead angles, which greatly improves the comprehensiveness and accuracy of plant pipeline fault monitoring.

[0007] Technical solution

[0008] To achieve the above objectives, the present invention provides the following technical solution: a plant pipeline fault risk monitoring device based on image recognition, comprising an in-pipe walking mechanism and a flying mechanism, wherein the in-pipe walking mechanism includes:

[0009] The shell is a cylindrical structure made of sheet metal welded together. The shell serves as the main load-bearing outer shell, and its interior forms a component accommodating and mounting cavity for arranging and installing other functional components.

[0010] At least three sets of walking support wheels are provided and hinged to the outer side wall of the housing, wherein some of the walking support wheels are arranged in a circumferential array and abut against the inner wall of the pipeline to be monitored.

[0011] The drive transmission assembly is assembled and fixed to the outer wall of the housing. The drive transmission assembly is connected to each walking support wheel set for driving multiple walking support wheel sets to perform radial expansion or contraction actions synchronously, so as to realize the adaptation of the walking support wheel set tube diameter to fit or detach from the tube wall.

[0012] The flight mechanism includes:

[0013] An aircraft is positioned at the center of its shell. The bottom of the aircraft is equipped with an angle adjustment component for adjusting the aircraft's orientation angle. At least two sets of self-resetting universal joints are connected to the bottom base of the angle adjustment component via several connecting rods. The at least two sets of self-resetting universal joints are configured to adjust the spatial displacement of the aircraft within a set range of motion.

[0014] An image acquisition module is installed at the end of the aircraft to acquire image information inside the pipe.

[0015] Among them, the end of the rod used to connect several self-resetting universal joints has a protruding structure formed outward; the protruding structure can abut against the corresponding mating part, thereby realizing mutual limiting of the relative displacement amplitude between the flight mechanism and the tube travel mechanism.

[0016] Preferably, the drive transmission assembly includes:

[0017] The drive unit is installed at the center of the rear side of the housing;

[0018] The transmission assembly includes a central gear and several planetary gears. The central gear is coupled to the output end of the drive component to transmit power. Each planetary gear is rotatably mounted on the mounting base of the housing. A lead screw for outputting power is fixed at the center of each planetary gear, and each planetary gear meshes with the central gear.

[0019] The sliding sleeve is threaded onto each lead screw. When the sliding sleeve moves along the axial direction of the lead screw, it drives the traveling support wheel assembly to complete the extension and retraction action.

[0020] Preferably, each set of walking support wheels includes at least two front and two rear roller support rods, and the roots of the two roller support rods are hinged to the outer wall of the housing. The two adjacent roller support rods are linked by a connecting rod to achieve synchronous swing. At the same time, one end of a connecting rod is hinged to a sliding sleeve and the other end is connected to one of the roller support rods. Each roller support rod is equipped with a motor assembly for driving the roller to rotate at the wheel position.

[0021] Preferably, a sensor is also installed on the roller support rod, the sensor being used to detect the contact pressure between the roller and the inner wall of the pipe.

[0022] Preferably, the housing is also equipped with at least two sets of friction adjustment mechanisms, wherein the friction grinding wheel of the friction adjustment mechanism contacts the connecting rod portion of the flight mechanism, and the gap of each set of friction adjustment mechanisms is greater than the length of the self-resetting universal joint;

[0023] Each set of friction grinding wheels forms a differentiated contact surface configuration with the connecting rod of the flight mechanism to achieve balanced contact load between the connecting rod and the friction-type adjustment mechanism.

[0024] Preferably, the sliding sleeve includes an externally threaded sleeve threaded onto a lead screw and an air-cushioned slider assembled with a plurality of traveling support wheel sets;

[0025] The air buffer slider and the rear gap of the external threaded sleeve are sealed with high-pressure gas. The high-pressure gas acts on the air buffer slider, driving it to move toward the rear space of the external threaded sleeve, thereby compressing the spring located in the front gap between the air buffer slider and the external threaded sleeve, so that the spring is kept in a compressed and energy-storing state.

[0026] Preferably, a pressure sensor and a pump structure are provided at the rear gap between the air buffer slider and the external threaded sleeve. The pressure sensor is used to monitor the real-time pressure of the high-pressure gas in the gap, and the pump structure is used to inflate or deflate the gap according to the monitoring results to adjust the pressure in the gap to a predetermined range.

[0027] Preferably, a plurality of limiting components for limiting the flight mechanism are provided at the gap between the air buffer slider and the high-pressure gas stored in the external threaded sleeve, the limiting components including:

[0028] A sealing plug that is slidably fitted to the bottom of an externally threaded sleeve;

[0029] The limiting claw is supported by a spring on the lower side wall of the external threaded sleeve;

[0030] A lever is positioned between the sealing plug and the limiting claw, and the lever and the sealing plug form a relative rotatable and relative sliding engagement relationship;

[0031] The lever constitutes a limiting structure for limiting the flight mechanism. When the lever moves upward, it can drive the sealing plug to move downward through the limiting claw, so that the sealing plug is disengaged from the external threaded sleeve.

[0032] This invention provides an image recognition-based device for monitoring pipeline fault risks in industrial plants. It possesses the following key technical features and beneficial effects:

[0033] 1. The system adopts a composite structure design of in-pipe walking mechanism and flight mechanism. Straight pipe sections can rely on the walking support wheel set to adaptively and stably move along the wall, ensuring inspection efficiency and walking stability. In areas where the walking mechanism is difficult to detect, such as pipe bends and narrow blind spots, the flight mechanism can be extended by pushing it out through a friction-type adjustment mechanism. Utilizing the multi-degree-of-freedom adaptive cooperation characteristics of the angle adjustment component, connecting rod and self-resetting universal joint, the flight vehicle can flexibly adjust its attitude and bend and deflect according to the pipeline trajectory, realizing image acquisition and detection without blind spots in bends and dead angles, greatly improving the comprehensiveness and accuracy of pipeline fault monitoring in the plant area.

[0034] 2. Angle adjustment components, connecting rods, and multiple sets of self-resetting universal joints are installed at the bottom of the aircraft. This allows for flexible constraint and adaptive correction of the aircraft's flight attitude and spatial displacement, effectively suppressing the problems of aircraft swaying, deviating, and attitude loss of control within the confined space of the pipeline, ensuring a smooth and reliable flight inspection process. At the same time, in conjunction with the rod protrusion limiting structure and the automatic reset characteristics of the self-resetting universal joints, the aircraft can be accurately returned to its original position and stably stored and recovered after the inspection, avoiding structural collision damage caused by disorderly swinging of the flight mechanism, and greatly improving the overall operational safety and structural reuse stability.

[0035] 3. A high-pressure air buffer structure is formed by an air buffer slider and an external threaded sleeve. With the help of an air pressure sensor and a pump body for real-time closed-loop air filling and discharging, it can adaptively adapt to complex working conditions with different pipe diameters and uneven pipe walls, effectively absorbing vibration and impact during the movement and ensuring the stability of the wall support. At the same time, for the problem of difficult passage through narrow and high-resistance bends, the pressure can be released by triggering the limit component through the traction force of the aircraft, so that the walking support wheel set can adaptively shrink and reduce drag, and achieve passive avoidance of complex bends. In addition, the pipe walking mechanism can be expanded to include various acquisition components, which can expand the multi-dimensional pipeline parameter acquisition function on the basis of image recognition and detection, significantly improving the equipment's expandability and industrial adaptability. Attached Figure Description

[0036] Figure 1 This is a schematic diagram of the first structure of the present invention;

[0037] Figure 2 This is a schematic diagram of the second structure of the present invention;

[0038] Figure 3 This is a schematic diagram of the structure of the present invention after the housing is hidden;

[0039] Figure 4 This is an isometric sectional view of the present invention after concealing the housing and the walking support wheel assembly.

[0040] Figure 5 This is a schematic diagram of the flight structure in this invention;

[0041] Figure 6 A schematic diagram of the flight mechanism and the friction-type adjustment mechanism;

[0042] Figure 7 This is an isometric side sectional view of the external threaded sleeve and the limiting assembly in this invention;

[0043] Figure 8 This is a schematic diagram of the monitoring of the curved pipe section after the flight mechanism extends in this invention;

[0044] Figure 9 This is a schematic diagram of the mechanism by which the flight mechanism travels within the traction pipe of a curved section of the vertical ground in this invention;

[0045] Figure 10 This is a schematic diagram of the mechanism by which the flight mechanism travels within the traction pipe of the parallel ground bend section in this invention.

[0046] Among them, 1. In-tube travel mechanism; 2. Flight mechanism; 3. Friction-type adjustment mechanism;

[0047] 11. Drive unit; 12. Walking support wheel set; 13. Transmission assembly; 14. Air buffer slider; 15. External threaded sleeve; 16. Limiting assembly; 17. Housing;

[0048] 21. Aircraft; 22. Angle adjustment component; 23. Self-resetting universal joint; 24. Image acquisition module;

[0049] 161. Sealing plug; 162. Lever; 163. Limiting claw. Detailed Implementation

[0050] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0051] Example, reference Figures 1 to 3 as well as Figure 8 As shown, this embodiment of the invention provides a factory pipeline fault risk monitoring device based on image recognition. The device includes an in-pipe walking mechanism 1 and a flying mechanism 2. The in-pipe walking mechanism 1 includes: a housing 17, which is an overall cylindrical structure formed by welding sheet metal parts. The housing 17 serves as the main load-bearing outer shell, and its interior forms a component receiving and mounting cavity for arranging and installing other functional components; at least three sets of walking support wheel sets 12 are provided and hinged to the outer wall of the housing 17, wherein several walking support wheel sets 12 are arranged in a circumferential array and abut against the inner wall of the pipeline to be monitored; and a drive transmission assembly, which is fixed to the outer wall of the housing 17 and is connected to each walking support wheel set 12 for driving multiple sets of walking support wheel sets 12 to synchronously perform radial expansion or contraction actions, thereby adapting the walking support wheel sets 12 to the pipe diameter and allowing them to either abut or detach from the pipe wall.

[0052] Among them, reference Figure 8 As shown, during operation, the drive transmission assembly outputs power, driving all the walking support wheel sets 12 to perform radial expansion or contraction actions simultaneously. When the walking support wheel sets 12 expand radially, the wheels press against the inner wall of the pipe to be monitored, completing the pipe diameter adaptation and relying on the pipe wall to achieve pipe walking support. When the walking support wheel sets 12 contract radially, the wheels detach from the inner wall of the pipe, releasing the support limit with the pipe wall, thereby adapting to the passage requirements of pipes with different inner diameters.

[0053] refer to Figure 2 and Figure 5As shown, the flight mechanism 2 includes: a flight vehicle 21, which is located at the center of the shell 17. The bottom of the flight vehicle 21 is equipped with an angle adjustment component 22 for adjusting the angle of the flight vehicle 21. At least two sets of self-resetting universal joints 23 are connected to the bottom base of the angle adjustment component 22 by several connecting rods. The at least two sets of self-resetting universal joints 23 are configured to adjust the spatial displacement of the flight vehicle 21 within a set range of movement. An image acquisition module 24 is installed at the end of the flight vehicle 21 for acquiring image information inside the pipe. The end of the rod used to connect the self-resetting universal joints 23 has a protruding structure. The protruding structure can abut against the corresponding mating part, thereby realizing mutual limiting of the relative displacement amplitude between the flight mechanism 2 and the pipe travel mechanism 1.

[0054] Among them, reference Figure 5 As shown, when the flight mechanism 2 is working, the aircraft 21 is positioned at the center of the housing 17. An angle adjustment component 22 is located at the bottom of the aircraft 21, allowing adjustment of its deployment angle. The base of the angle adjustment component 22 is connected to at least two sets of self-resetting universal joints 23 via several connecting rods. These at least two sets of self-resetting universal joints 23 cooperate to achieve spatial displacement adjustment of the aircraft 21 within a set movement range. An image acquisition module 24 is mounted at the end of the aircraft 21, synchronously acquiring image information inside the pipe as the aircraft 21 moves. An integrally formed protrusion structure at the end of the rod connecting the self-resetting universal joint 23 abuts against corresponding mating parts, thereby limiting the relative displacement between the flight mechanism 2 and the pipe-walking mechanism 1, preventing the displacement of the aircraft 21 from exceeding the preset range, and ensuring that the aircraft 21 completes attitude adjustment and image acquisition operations under controlled conditions inside the housing 17.

[0055] refer to Figure 3 and Figure 4 As shown, the drive transmission assembly includes: a drive component 11, mounted at the rear center of the housing 17; a transmission assembly 13, comprising a central gear and several planetary gears, wherein the central gear is coupled to the output end of the drive component 11 to transmit power, and each planetary gear is rotatably mounted on the mounting base of the housing 17, wherein a lead screw for outputting power is fixed at the center of the planetary gear, and each planetary gear meshes with the central gear; and a sliding sleeve, threaded onto each lead screw, wherein when the sliding sleeve moves along the axial direction of the lead screw, it drives the traveling support wheel assembly 12 to complete the extension and retraction actions.

[0056] It should be noted that the drive component 11 is installed at the center of the rear side of the housing 17. During operation, the drive component 11 outputs power and transmits it to the central gear of the transmission assembly 13. The central gear meshes with each planetary gear, driving all planetary gears to revolve synchronously around the central gear and rotate on their own axis. The planetary gears are mounted on the mounting base of the housing 17. The lead screw fixed to the center of the planetary gears rotates synchronously with the planetary gears. The rotation of the lead screw drives the sliding sleeve threaded on the lead screw to move along the axial direction of the lead screw. During the axial movement of the sliding sleeve, it drives the walking support wheel assembly 12 to synchronously complete the extension or retraction action, thereby realizing the support and contact and disengagement of the walking support wheel assembly 12 against the inner wall of the pipe.

[0057] refer to Figure 3 As shown, each set of walking support wheels 12 includes at least two front and two rear roller support rods, and the roots of the two roller support rods are hinged to the outer wall of the housing 17. The two adjacent roller support rods are linked by a connecting rod to achieve synchronous swing. At the same time, there is another connecting rod with one end hinged to a sliding sleeve and the other end connected to one of the roller support rods. Each roller support rod is equipped with a motor assembly for driving the roller to rotate at the wheel position. A sensor is also installed on the roller support rod to detect the contact pressure between the roller and the inner wall of the pipe.

[0058] Each set of traveling support wheels 12 is equipped with two roller support rods, one at the front and one at the back. The roots of the two roller support rods are hinged to the outer wall of the housing 17. Adjacent roller support rods are linked together by a connecting rod to achieve synchronous swinging. Another connecting rod is hinged at one end to a sliding sleeve and at the other end to one of the roller support rods. When the sliding sleeve moves along the screw axis, the connecting rod can push and pull the roller support rod, causing the two roller support rods to expand or retract synchronously, so that the wheels can abut or detach from the inner wall of the pipe. A motor assembly is installed at the wheel position of each roller support rod. The motor assembly can drive the roller to rotate, providing power for the pipe traveling mechanism 1 to move along the pipe axis. Sensors mounted on the roller support rods collect the contact pressure signal between the roller and the inner wall of the pipe in real time, so as to provide feedback on the pipe wall support status. This allows the control system to adjust the position of the sliding sleeve based on the pressure detection results, and then adjust the support and clamping force of the roller on the inner wall of the pipe.

[0059] refer to Figure 6 As shown, the housing 17 is also equipped with at least two sets of friction adjustment mechanisms 3. The friction grinding wheel of the friction adjustment mechanism 3 contacts the connecting rod of the flight mechanism 2, and the gap of each set of friction adjustment mechanisms 3 is greater than the length of the self-resetting universal joint 23. Each set of friction grinding wheels and the connecting rod of the flight mechanism 2 form a differentiated contact surface configuration to achieve balanced contact load between the connecting rod and the friction adjustment mechanism 3.

[0060] Among them, the friction adjustment mechanism 3 can perform push adjustment operation on the flight mechanism 2 through active extension action. When it is necessary to perform attitude correction, assisted extension or position fine adjustment on the flight mechanism 2, each set of friction adjustment mechanisms 3 extends and forms a stable contact with the connecting rod of the flight mechanism 2 by relying on the friction grinding wheel; by using the extension stroke of the friction adjustment mechanism 3 to balance the force on the differentiated contact surface, it continuously applies push damping force to the flight mechanism 2, overcomes the reset spring force of the self-resetting universal joint 23, drives the flight mechanism 2 to extend upward relative to the shell 17, offset fine adjustment and attitude correction, thereby realizing the controllable extension and precise attitude adjustment of the flight mechanism 2 on the tube travel mechanism 1.

[0061] refer to Figure 4 As shown, the sliding sleeve includes an externally threaded sleeve 15 threaded onto a lead screw and an air-cushioned slider 14 assembled with several traveling support wheel sets 12; wherein, a high-pressure gas is sealed and contained in the rear gap between the air-cushioned slider 14 and the externally threaded sleeve 15, and the high-pressure gas acts on the air-cushioned slider 14, driving the air-cushioned slider 14 to move toward the rear space of the externally threaded sleeve 15, thereby compressing the spring provided in the front gap between the air-cushioned slider 14 and the externally threaded sleeve 15, so that the spring is kept in a compressed and energy-storing state.

[0062] The sliding sleeve consists of an externally threaded sleeve 15 threaded onto a lead screw and an air-cushioned slider 14 fitted to the traveling support wheel assembly 12. During operation, the high-pressure gas sealed within the gap between the air-cushioned slider 14 and the rear section of the externally threaded sleeve 15 continuously applies pressure to the air-cushioned slider 14, driving it to slide towards the rear section of the externally threaded sleeve 15. This compresses the spring within the front gap, keeping it in a compressed, energy-storing state. When the traveling support wheel assembly 12 travels along the inner wall of the pipe and is subjected to radial impact, vibration, or minor fluctuations in pipe diameter, the air-cushioned slider 14 can flexibly retract by compressing the high-pressure gas at the rear. The compressibility of the high-pressure gas absorbs the instantaneous impact load, while the elastic reset effect of the front spring achieves adaptive buffering and shock absorption. This effectively counteracts the vibration and impact caused by irregular deformation of the inner wall of the pipe and the bumps during travel, ensuring that the traveling support wheel assembly 12 maintains a stable, close-fitting support against the pipe wall. This achieves air pressure buffering and elastic adaptive adjustment functions during the machine's movement.

[0063] It should be noted that a pressure sensor and a pump structure are provided at the rear gap between the air buffer slider 14 and the external threaded sleeve 15. The pressure sensor is used to monitor the real-time pressure of the high-pressure gas in the gap, and the pump structure is used to inflate or deflate the gap according to the monitoring results to adjust the pressure in the gap to a predetermined range.

[0064] During robot movement, a pressure sensor located at the gap between the air buffer slider 14 and the rear section of the external threaded sleeve 15 collects real-time pressure data of the internal high-pressure gas, dynamically monitoring pressure changes within the buffer cavity. When the pressure inside the cavity is detected to be lower than a preset working threshold, the pump structure initiates inflation, replenishing the gap with high-pressure gas; when the pressure inside the cavity is too high, exceeding the set threshold, the pump structure performs deflation. Through real-time sensor monitoring combined with a closed-loop adjustment mechanism of dynamic inflation and deflation by the pump, the high-pressure gas within the gap between the air buffer slider 14 and the external threaded sleeve 15 is maintained within a stable preset pressure range. This ensures that the air buffer structure's buffer stiffness and energy storage effect are always at their optimal working state, adapting to the buffering and shock absorption requirements under different pipeline conditions, and improving the stability and adaptability of the overall robot's movement support.

[0065] refer to Figure 7 As shown, a plurality of limiting components 16 for limiting the flight mechanism 2 are provided at the gap between the air buffer slider 14 and the external threaded sleeve 15 storing high-pressure gas. The limiting components 16 include: a sealing plug 161, which is slidably fitted to the bottom of the external threaded sleeve 15; a limiting claw 163, which is supported on the lower side wall of the external threaded sleeve 15 by a spring; and a lever 162, which is located between the sealing plug 161 and the limiting claw 163. The lever 162 and the sealing plug 161 form a relative rotatable and relative sliding fit relationship. The lever 162 constitutes a limiting structure for limiting the flight mechanism 2. When the lever 162 moves upward, it can drive the sealing plug 161 to move downward through the limiting claw 163, so that the sealing plug 161 disengages from the external threaded sleeve 15.

[0066] In normal operation, the sealing plug 161 is slidably fitted to the bottom of the external threaded sleeve 15 to ensure the airtightness of the high-pressure gas gap. The limiting claw 163 is supported by a spring on the lower side wall of the external threaded sleeve 15, and works in conjunction with the lever 162 located between the sealing plug 161 and the limiting claw 163 to form a linkage structure. The lever 162 and the sealing plug 161 can rotate and slide relative to each other, effectively avoiding interference during the movement of the mechanism. At the same time, the lever 162 acts as a restraining and limiting structure to constrain the movement range of the flight mechanism 2.

[0067] When the flight mechanism 2 pushes the lever 162 upward, causing the lever 162 to move upward, the lever 162 forms a mechanical transmission through the limiting claw 163, driving the sealing plug 161 to slide downward as a whole, so that the sealing plug 161 is disengaged from the external threaded sleeve 15, thereby releasing the sealing state of the high-pressure gas gap, realizing the linkage control of mechanism limit unlocking and cavity depressurization.

[0068] refer to Figure 8As shown, in a preferred embodiment, when the in-pipe walking mechanism 1 travels normally in a straight pipe, the flying mechanism 2 remains in a retracted state, fixed relative to the housing 17, and relies solely on the walking support wheel set 12 to perform straight-line pipe inspection operations. When the equipment travels to a pipe bend, due to the spatial structure of the bend, a single walking inspection method cannot complete the all-round inspection of the bend area. At this time, the friction adjustment mechanism 3 on the housing 17 is activated, actively pushing the flying mechanism 2 outward relative to the in-pipe walking mechanism 1, causing the flying device 21 to extend outward from the center working area of ​​the housing 17. During the extension and fine-tuning of the flying device 21, the angle adjustment component 22, connecting rod, and self-resetting universal joint 23 at the bottom of the flying device 21 adaptively bend and deflect with the bend trajectory. Utilizing the multi-degree-of-freedom adaptive swing characteristics of the self-resetting universal joint 23, the angular offset and spatial displacement deviation caused by the pipe bend are compensated, allowing the flying device 21 to follow the bend in the pipe and complete adaptive attitude adjustment. Simultaneously, in conjunction with the image acquisition module 24 at the end of the aircraft 21, it performs all-round, no-dead-angle image acquisition of areas that the walking mechanism cannot cover, such as the inner and outer sides of the pipe bends and blind spots at inflection points, thus fully completing the fine-grained inspection of the pipe bend positions. After the equipment passes through the bend area, the self-resetting universal joint 23 automatically resets, and the flying mechanism 2 returns to its initial storage state, ensuring the stability of the robot's subsequent straight pipe walking operations.

[0069] refer to Figure 9 and Figure 10 As shown, in one preferred embodiment, under complex pipe bend conditions, when the internal space of the bend is narrow and the pipe wall is uneven, causing excessive resistance to the autonomous walking mechanism 1 relying on the walking support wheel set 12, making it unable to smoothly pass through the bend and transition to the straight pipe section on the other side, the equipment initiates the flight-assisted bend-crossing mode. First, the aircraft 21 breaks free from the limiting constraint of the shell 17 and flies towards the straight pipe section on the other side of the pipe. During the flight, the bottom connecting rod and the self-resetting universal joint 23 generate traction force on the overall internal pipe walking mechanism 1. When the contact resistance between the internal pipe walking mechanism 1 and the inner wall of the pipe bend is large and the conventional pulling force cannot drive the equipment to move, the traction force of the aircraft 21 continues to increase. The increased pulling force acts on the connecting rod and is transmitted to the limiting component 16, driving the limiting claw 163 to slide upward against the support spring force.

[0070] After the limiting claw 163 displaces, it releases the limiting constraint on the lever 162. In conjunction with the linkage transmission of the lever 162, it drives the sealing plug 161 to disengage from the external threaded sleeve 15, causing the high-pressure gas gap between the air buffer slider 14 and the rear section of the external threaded sleeve 15 to release. After the cavity is depressurized, the air buffer structure loses the air pressure support spring structure, releasing the rigid support limit of the walking support wheel set 12. This allows each walking support wheel set 12 to adaptively retract inward under the extrusion force, significantly reducing the contact resistance between the overall outer diameter of the pipe walking mechanism 1 and the pipe wall. Finally, under the continuous traction of the aircraft 21, the pipe walking mechanism 1 smoothly retracts to avoid and smoothly pass through the narrow bend, completing the bend transition operation. After the equipment enters the straight pipe section, all structures automatically reset, and the walking support wheel set 12 re-unfolds and rests against the pipe wall, restoring the normal pipe walking inspection state.

[0071] refer to Figure 10 As shown, in another preferred embodiment,

[0072] Working Principle: This device mainly consists of an in-pipe walking mechanism 1 and a flight mechanism 2 working together to complete the pipeline fault risk monitoring operation in the plant area. The in-pipe walking mechanism 1 drives multiple sets of circumferentially arrayed walking support wheels 12 to radially extend and retract through a drive transmission assembly, achieving adaptive contact and passage through pipelines of different diameters. It relies on wheel sensors to detect the contact pressure with the pipe wall in real time, and uses the air pressure buffer structure composed of air buffer slider 14 and external threaded sleeve 15, as well as the adaptive inflation and deflation function, to ensure the stability of the entire machine's movement. The flight mechanism 2 is mounted at the center of the shell 17. The aircraft 21 can be adjusted flexibly within a set range by using the bottom angle adjustment component 22, connecting rod, and self-resetting universal joint 23 to adjust its attitude and spatial position. Compared with the detection method of the aircraft 21 alone, it can effectively ensure the stable flight operation and accurate and stable recovery of the aircraft 21 inside the pipeline. At the same time, various data acquisition components can be added to the in-pipe walking mechanism 1 to realize the acquisition of diverse information inside the pipeline. During straight pipe inspection, the device relies on the walking mechanism to move stably and collect data. During pipe bend inspection, the friction adjustment mechanism 3 pushes the flight mechanism 2 to extend, and the flight vehicle 21, in conjunction with the self-resetting universal joint 23, adaptively bends and deflects to complete the fine image acquisition of the blind zone at the bend. For narrow, high-resistance bends, the flight vehicle 21 can fly over the bend first and pull the walking mechanism 1 inside the pipe. Under high pulling force, the limit component 16 is triggered to release pressure, causing the walking support wheel group 12 to adaptively retract and reduce drag, assisting the whole machine to smoothly pass through complex bends. After passing through the pipe, all structures automatically reset and return to the normal inspection state.

[0073] 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 plant pipeline fault risk monitoring device based on image recognition, characterized in that, The system includes an in-tube traveling mechanism (1) and a flight mechanism (2), wherein the in-tube traveling mechanism (1) includes: The shell (17) is a cylindrical structure and is formed by welding sheet metal parts. The shell (17) serves as the main supporting shell, and its interior forms a component accommodating and mounting cavity for arranging and installing other functional components. At least three sets of walking support wheel sets (12) are provided and hinged to the outer side wall of the housing (17), wherein some of the walking support wheel sets (12) are arranged in a circumferential array and abut against the inner wall of the pipeline to be monitored. The drive transmission assembly is mounted and fixed on the outer wall of the housing (17). The drive transmission assembly is connected to each walking support wheel group (12) for driving multiple walking support wheel groups (12) to perform radial expansion or contraction actions simultaneously, so as to realize the pipe diameter adaptation of the walking support wheel group (12) and its contact with or separation from the pipe wall. The flight mechanism (2) includes: The aircraft (21) is located at the center of the shell (17). The bottom of the aircraft (21) is equipped with an angle adjustment component (22) for adjusting the angle of the aircraft (21). At least two sets of self-resetting universal joints (23) are connected to the bottom base of the angle adjustment component (22) by several connecting rods. The at least two sets of self-resetting universal joints (23) are configured to realize the spatial displacement adjustment of the aircraft (21) within a set movement range. An image acquisition module (24) is installed at the end of the aircraft (21) to acquire image information inside the pipe; Among them, the end of the rod used to connect several self-resetting universal joints (23) has a protrusion structure protruding outward; the protrusion structure can abut against the corresponding mating part, thereby realizing mutual limiting between the flight mechanism (2) and the tube travel mechanism (1) to restrict the relative displacement amplitude of the two.

2. The image recognition-based pipeline fault risk monitoring device for factory areas according to claim 1, characterized in that, The drivetrain assembly includes: The drive unit (11) is installed at the rear center of the housing (17); The transmission assembly (13) includes a central gear and several planetary gears. The central gear is coupled to the output end of the drive unit (11) to transmit power. Each planetary gear is rotatably mounted on the mounting base of the housing (17). A lead screw for outputting power is fixed in the center of the planetary gear, and each planetary gear meshes with the central gear. The sliding sleeve is threaded onto each lead screw. When the sliding sleeve moves along the axial direction of the lead screw, it drives the traveling support wheel assembly (12) to complete the extension and retraction actions.

3. The image recognition-based pipeline fault risk monitoring device for factory areas according to claim 1, characterized in that, Each set of walking support wheel group (12) includes at least two front and two rear roller support rods, and the roots of the two roller support rods are hinged to the outer wall of the housing (17). The two adjacent roller support rods are linked by a connecting rod to achieve synchronous swing. At the same time, one end of the connecting rod is hinged to the sliding sleeve and the other end is connected to one of the roller support rods. Each roller support rod is equipped with a motor assembly for driving the roller to rotate at the wheel position.

4. The image recognition-based pipeline fault risk monitoring device for factory areas according to claim 3, characterized in that, A sensor is also installed on the roller support rod, which is used to detect the contact pressure between the roller and the inner wall of the pipe.

5. A plant pipeline fault risk monitoring device based on image recognition according to claim 1, characterized in that, The housing (17) is also equipped with at least two sets of friction adjustment mechanisms (3), the friction grinding wheel of the friction adjustment mechanism (3) is in contact with the connecting rod part of the flight mechanism (2), and the gap of each set of friction adjustment mechanisms (3) is greater than the length of the self-resetting universal joint (23). Each set of friction grinding wheels forms a differentiated contact surface configuration with the connecting rod of the flight mechanism (2) to achieve balanced contact load between the connecting rod and the friction adjustment mechanism (3).

6. The image recognition-based pipeline fault risk monitoring device for factory areas according to claim 1, characterized in that, The sliding sleeve includes an externally threaded sleeve (15) threaded onto a lead screw and an air-cushioned slider (14) assembled with a plurality of walking support wheel sets (12). High-pressure gas is sealed and contained in the rear gap between the air buffer slider (14) and the external threaded sleeve (15). The high-pressure gas acts on the air buffer slider (14), causing the air buffer slider (14) to move toward the rear space of the external threaded sleeve (15), thereby compressing the spring provided in the front gap between the air buffer slider (14) and the external threaded sleeve (15), so that the spring is kept in a compressed and energy-storing state.

7. A plant pipeline fault risk monitoring device based on image recognition according to claim 6, characterized in that, A pressure sensor and a pump structure are provided at the rear gap between the air buffer slider (14) and the external threaded sleeve (15). The pressure sensor is used to monitor the real-time pressure of the high-pressure gas in the gap, and the pump structure is used to inflate or deflate the gap according to the monitoring results to adjust the pressure in the gap to a predetermined range.

8. A plant pipeline fault risk monitoring device based on image recognition according to claim 6, characterized in that, Several limiting components (16) for limiting the flight mechanism (2) are provided at the gap between the air buffer slider (14) and the external threaded sleeve (15) storing high-pressure gas. The limiting components (16) include: A sealing plug (161) is fitted to the bottom of an externally threaded sleeve (15) to provide a sealing and sliding fit. The limiting claw (163) is supported by a spring on the lower side wall of the external threaded sleeve (15); A lever (162) is disposed between the sealing plug (161) and the limiting claw (163), and the lever (162) and the sealing plug (161) form a relative rotatable and relative sliding fit relationship; The lever (162) constitutes a limiting structure for limiting the flight mechanism (2). When the lever (162) moves upward, it can drive the sealing plug (161) to move downward through the limiting claw (163), so that the sealing plug (161) is disengaged from the external threaded sleeve (15).

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