Disease inspection system for buried water delivery pressure steel pipe

Abstract

The utility model discloses a buried water delivery pressure steel pipe disease inspection system, which relates to an inspection device and comprises a track fixed in a pressure steel pipe; the moving platform is movably arranged on the track; the video monitoring device is mounted on the mobile platform and is used for monitoring the interior of the pressure steel pipe; and the sub-vehicle is arranged on the mobile platform and can be separated from the mobile platform for independent inspection. By arranging the mobile platform, namely the mother vehicle, the track and the son vehicle carried on the mother vehicle, the detection of the interior of the water supply pressure pipeline can be realized, and the son vehicle can be separated from the mother vehicle to work independently, so that the part of the pipeline, which can be operated to be specially detected, can be detected; the detection efficiency is higher, the use requirement can be better met, the child trolley and the mother trolley can be recycled for multiple times after use, the device can be used on pipelines without manual detection conditions, and use is more flexible.

Description

Technical Field

[0001] The utility model relates to the field of inspection devices, and particularly to a disease inspection system for buried water conveyance pressure steel pipes. Background Technique

[0002] Water conveyance steel pipes are an important part of water conveyance and transfer systems and urban transmission systems, and are widely used in fields such as urban water supply, irrigation systems, and industrial water use. With the increase in operation time, problems such as aging, corrosion, and defects of pipelines may affect water quality and water conveyance safety if not detected and repaired in time. Regular inspection of water conveyance pipelines plays a key role in the intelligent water network system. Considering that regular inspection of water conveyance steel pipes is mostly repetitive detection work and requires multiple detections within a specified period, traditional manual detection methods have problems such as low efficiency and high risks, and some water conveyance pipelines do not have the conditions for manual detection, such as pipelines erected on rivers, or water conveyance pipelines on the edge of cliffs, or pipelines buried deep in the soil. Content of the Utility Model

[0003] The main purpose of the utility model is to provide a disease inspection system for buried water conveyance pressure steel pipes, which can effectively solve the problems in the background technique.

[0004] To achieve the above purpose, the technical solution adopted by the utility model is as follows:

[0005] A disease inspection system for buried water conveyance pressure steel pipes, comprising:

[0006] A track, fixed inside the pressure steel pipe;

[0007] A mobile platform, movably arranged on the track;

[0008] A video monitoring device, installed on the mobile platform to monitor the inside of the pressure steel pipe;

[0009] A sub-vehicle, arranged on the mobile platform, capable of separating from the mobile platform for independent inspection.

[0010] Furthermore, protective plates are arranged on both sides of the mobile platform, and the protective plates can rotate upwards to a vertical state and downwards to a state of fitting with the inner side wall of the steel pipe.

[0011] Furthermore, the video monitoring device includes a rotating base, a camera, and a searchlight, and the camera and the searchlight are fixedly installed on the rotating base.

[0012] Furthermore, a high-pressure water gun obstacle clearing system is also installed on the mobile platform, and the high-pressure water gun obstacle clearing system is used to clean the inside of the pressure steel pipe.

[0013] Furthermore, a vertically arranged laser ranging system is fixedly installed at the front end of the mobile platform for measuring the central axis of the pipeline cross-section.

[0014] Furthermore, electromagnetic tracks are installed on both sides of the sub-vehicle.

[0015] Furthermore, a monitoring device is installed at the front end of the sub-vehicle.

[0016] Furthermore, a liftable water immersion ultrasonic flaw detector is installed at the bottom of the sub-vehicle.

[0017] Furthermore, the water immersion ultrasonic flaw detector includes a rubber airtight cover. A telescopic rod is fixedly installed at the upper end of the rubber airtight cover. An underwater ultrasonic detection probe is installed at the top inside the rubber airtight cover. A magnetic adsorption airtight soft ring is fixedly installed at the edge of the bottom opening of the rubber airtight cover for adsorbing to the inner wall of the pressure steel pipe.

[0018] It also includes a water tank. A water pump is installed at the bottom of the water tank. The water pump pumps water into the inside of the rubber airtight cover.

[0019] Furthermore, a pipe wall thickness measuring instrument is also installed at the bottom of the sub-vehicle.

[0020] Compared with the prior art, the utility model has the following beneficial effects:

[0021] By setting a mobile platform, i.e., the mother vehicle, as well as tracks and the sub-vehicle mounted on the mother vehicle, the utility model can realize the detection of the inside of the water supply pressure pipeline. Moreover, the sub-vehicle can be separated from the mother vehicle to work independently, and can detect the parts of the pipeline that need special detection, such as the welds of the pipeline, the joints of the pipeline, etc. The detection efficiency is higher, and it can better meet the use requirements. After use, both the sub-vehicle and the mother vehicle can be recycled and used multiple times. It can be used on pipelines that do not have the conditions for manual detection, and is more flexible to use. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 is the overall structure diagram of the utility model;

[0023] Figure 2 is the structure diagram of the pipeline and the track of the utility model;

[0024] Figure 3 is the structure diagram of the sub-vehicle, the conveyor wheels and the drive wheels of the utility model;

[0025] Figure 4 is the structure diagram of the electromagnetic track of the utility model;

[0026] Figure 5 is the cross-sectional view of the electromagnetic track of the utility model;

[0027] Figure 6 is the upper structure diagram of the water tank and the rubber airtight cover of the utility model;

[0028] Figure 7 Structural diagram of the water tank and rubber airtight cover of the present utility model;

[0029] Figure 8 Schematic diagram of the detection effect of the cross-section along the pipeline of the present utility model;

[0030] Figure 9 Schematic diagram of the control system of the present utility model;

[0031] Figure 10 Schematic diagram of the control terminal of the mobile inspection device of the present utility model.

[0032] In the figure: 1, track; 101, roller; 102, motor; 2, mobile platform; 3, camera; 4, searchlight; 5, high-pressure water gun obstacle removal system; 6, sub-vehicle; 61, driving wheel; 62, crawler power supply slot; 7, guard plate; 8, driving wheel; 81, rubber housing; 82, power contact delivery port; 83, transmission bayonet; 84, soft iron core; 85, conductive column; 9, monitoring device; 10, battery box; 11, rubber airtight cover; 12, water tank; 13, water pump; 14, slide rail; 15, ultrasonic detection probe; 16, magnetic adsorption airtight soft ring. Specific implementation manner

[0033] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present utility model.

[0034] Please refer to FIGS. 1-10. This embodiment provides a buried water conveyance pressure steel pipe disease inspection system, including: a track 1, the track 1 is installed by using an overall magnetic adsorption fixation and intermittent rivet reinforcement method. Considering that the bottom of some water conveyance steel pipes is severely rusted and silted up, affecting the magnetic attraction of the track, the rivet interval is appropriately reduced according to the site conditions, and the number of rivets is increased correspondingly at the turning points to reduce the reinforcement interval, such as Figure 2 shown.

[0035] A mobile platform 2, and four rollers 101 are rotatably installed at the bottom of the mobile platform 2, as Figure 1 shown,

[0036] The two rollers 101 on the front side are connected to a motor 102. The motor 102 is fixed to the bottom of the moving platform 2. Since the five-degree-of-freedom movement of the moving platform 2 is restricted, the device can only move along the track 1. In this embodiment, the moving platform 2 is arranged on the track. The track system has good stiffness. At the turning of the line, it can withstand great acting forces and deflection torques, meeting the requirements of high stability. Through the strong dynamic movement by the close combination of the rollers and the track, the extrusion force generated by the rollers 101 on the track 1 can remove the dirt on the guide rail. Compared with the roller circulating motion system, the track-type moving system has high anti-fouling performance and fully adapts to the unclean working environment inside the water conveyance steel pipe. A wire is connected to the moving platform 2 and is connected to an external circuit to provide power for the devices on the moving platform 2.

[0037] A video monitoring device is installed on the moving platform 2. The video monitoring device includes a rotating base, a camera 3 and a searchlight 4. The camera 3 is fixedly installed on the rotating base. As Figure 1 shown, in this embodiment, the rotating seat is rotatably installed on the moving platform 2 and can rotate horizontally 360 degrees on the moving platform 2. The design of the rotating seat is prior art. Its rotation control and structure can refer to the design of the 360-degree rotating camera of Hikvision and will not be elaborated here. The camera 3 uploads and stores the recorded image data through a wired transmission system.

[0038] The searchlight 4 is located directly above the camera 3. Two symmetrically arranged mounting rods are fixedly installed at the upper end of the rotating seat. The searchlight 4 is rotatably installed at the top of the mounting rod. The searchlight 4 can rotate at the top of the mounting rod to adjust the pitching angle of the searchlight 4. The adjustment of the pitching angle of the searchlight 4 is prior art and can refer to the Chinese patent with the publication number CN 203147639 U, or refer to the Chinese patent with the publication number CN211743409U and will not be elaborated here. The searchlight 4 provides illumination for the camera 3.

[0039] During the long-term use of buried water transmission steel pipes, a large amount of silt and sediment may accumulate inside the pipe wall, and the internal environment of the pipe is suitable for moss plants to attach to the pipe wall and grow. These silt and moss plants make the pipe wall slippery, reducing the magnetic adsorption force of the trolley and thus affecting the operation of the inspection equipment. To ensure the normal operation of the inspection operation, a high-pressure water gun obstacle clearing system 5 is carried on the mobile platform 2. The high-pressure water gun obstacle clearing system 5 consists of a high-pressure water pump (responsible for pressurizing water to the required high-pressure level, usually dozens to hundreds of megapascals, to achieve the effect of effectively flushing and clearing the silt on the pipe wall), a water pump controller (including a frequency converter and a pressure regulator, used to control the operating state and pressure output of the water pump), a rotating nozzle (installed at the front end of the obstacle clearing system, capable of rotating inside the pipeline and evenly spraying high-pressure water flow to cover a larger cleaning area), a directional nozzle (used to deal with stubborn silt in specific areas, capable of precisely spraying high-pressure water flow with strong pertinence), a telescopic water supply pipe (a pipeline connecting the water pump and the water source at the bottom of the pipe, which can control the telescopic length. The water supply pipe is a spiral-wound hose, and the bottom end of the hose is connected to an electric telescopic rod or an electric push rod (such as a micro electric push rod of model TA2-2C-050189, a DC electric push rod of model SY-A03B, etc. Many models of electric push rods can be used according to actual needs). The telescopic end of the electric push rod is fixedly connected to the bottom of the hose, and the housing of the electric push rod is fixedly installed at the bottom of the mobile platform. By controlling the length of the electric push rod extending out, the length of the water supply pipe can be controlled), a pressure and flow sensor (monitoring the pressure and water flow output by the water pump, preventing them from being too high or too low to ensure the safe and stable operation of the system. Ordinary pressure sensors and flow sensors can be used and can be directly purchased). Both the rotating nozzle and the directional nozzle are connected to the water outlet of the high-pressure water pump through pipelines. The high-pressure water pump, the water pump controller, the rotating nozzle and the directional nozzle are directly purchased products. For example, four-hole high-pressure rotating nozzles and directional nozzles of Ningbo Guanjie Machinery Manufacturing Co., Ltd. are used, which are prior art and will not be elaborated here.

[0040] By using the residual water at the bottom of the pipe after the water supply is cut off and through the combination of the high-pressure water pump, the rotating nozzle and the directional nozzle, the silt inside the pipeline can be comprehensively and deeply cleaned. At the same time, an advanced control system and sensors are equipped to ensure the stability and safety of the system.

[0041] During the operation of buried water supply steel pipes, affected by factors such as uneven load on the top of the pipe and negative pressure inside the pipe, the pipe may experience vertical deflection and roundness deformation. Vertical deflection will cause the cross-sectional shape of the pipe to change, thereby affecting the stability and flow of water flow, affecting the supporting structure of the pipe, and increasing the risk of pipe breakage or leakage. Roundness deformation will cause stress concentration, which may cause excessive local stress and further damage the pipe. According to the relevant specifications of the national "Pipeline Engineering Quality Inspection and Assessment Standard" (GB / T 50251), detecting the cross-sectional shape of the pipe is one of the important detection steps. In order to realize unmanned detection of the cross-sectional shape of the pipe, a vertical laser rangefinder is installed at the front end of the mother vehicle to measure the length of the central axis of the pipe cross section. The one-dimensional data model generated by the sub-vehicle detection is used to form an intuitive trend chart of the overall length and cross-sectional shape of the pipeline. The detection effect chart is shown in the figure below. Figure 8 shown.

[0042] In order to extend the effective working length of the unmanned inspection system and ensure the stability of the inspection work, considering the complex working environment of the water supply steel pipe and the signal shielding, the unmanned inspection equipment of this design adopts a separated mother-child system. A sub-car 6 is set on the upper end of the mobile platform 2, which is responsible for carrying the sub-car 6 to the designated inspection position and performing other predetermined functions. The sub-car 6 is responsible for relevant inspections of the pipe wall and performing other predetermined functions. The separated mother-child system signal issues instructions through a predetermined transmission path: control terminal-wired transmission-mother car-wireless transmission-sub-car. The inspection personnel input the instruction, the sub-car receives the running instruction and starts to run. After the inspection is completed, the mother car needs to recycle the sub-car so that it can run to the next inspection position, successfully complete the full-line inspection task and reach the initial position.

[0043] The sub-cart recovery system can effectively complete the task of sub-car recovery through automatic navigation, real-time communication, high-precision positioning of the mother-child car and manual control fine-tuning. Through precise relative positioning and control, the recovery process is safe and efficient. The system mainly includes wireless communication system (serves as a transfer station, responsible for transmitting terminal instructions and data interaction, realizing real-time communication, and the sub-vehicle can send its position, status, detection status and other information to the terminal through the mother vehicle), relative positioning and identification system (relying on the one-dimensional model data model of the pipeline section as a blueprint, through the data matching method, the position of the sub-vehicle can be accurately identified, during which fine-tuning can be performed through video monitoring and the sub-vehicle mobile control system, and the SLAM (Simultaneous Localization and Mapping) algorithm is used to calculate the relative position and posture between the mother vehicle and the sub-vehicle in real time. Combined with visual and laser data, data fusion is performed to improve positioning accuracy, and ensure that the mother vehicle can be accurately recovered according to the relative position of the sub-vehicle), guard plate control system (controls the retraction and release of the guard plates that fix the sub-vehicle on both sides of the mother vehicle. The guard plates serve as transition plates from the mother vehicle to the pipe wall. The sub-vehicle reaches the pipe wall via the guard plates and returns to the mother vehicle via the guard plates), and data recording system (records relevant data during the recovery process, including recovery time, location, etc., for subsequent analysis).

[0044] The guard plate system includes a guard plate 7 rotatably installed on the side of the mobile platform 2. When the guard plate 7 rotates upward, it can rotate to a position perpendicular or nearly perpendicular to the tabletop of the mobile platform 2, and can shield and protect both ends of the sub-vehicle 6 to prevent the sub-vehicle from falling off the mobile platform 2. When the guard plate 7 rotates downward, the side of the guard plate 7 away from the mobile platform can contact the side wall of the pressure steel pipe, and the sub-vehicle 6 can move downward from the guard plate 7. For example, a driven gear is fixedly installed on the bottom rotating shaft of the guard plate 7, a driving gear is rotatably installed on the mobile platform 2, and a driving motor is fixedly installed. The output end of the driving motor is fixedly connected to the driving gear for driving the driving gear to rotate. The driving gear meshes with the driven gear for driving the driven gear to rotate, and can drive the guard plate 7 to rotate (not shown in the figure).

[0045] Steps for recycling the sub-vehicle: Relative positioning between the sub-vehicle 6 and the mobile platform 2. The sub-vehicle starts self-positioning in the area to be recycled, and determines its specific position through data matching of the one-dimensional data model of the pipeline cross-section; Communication connection. The sub-vehicle establishes a connection with the control terminal through the mother vehicle via Wi-Fi wireless communication and sends its own status and relative position to the terminal; Recycling operation. The mother vehicle starts the recycling mechanism, fine-tunes the relative position of the mother and sub-vehicles through the sub-vehicle mobile steering system (i.e., electromagnetic track). The sub-vehicle reaches the mother vehicle recycling platform through the guard plate, the guard plate is lifted and reset to fix the sub-vehicle; Status confirmation. The mother vehicle confirms the status of the sub-vehicle after recycling to ensure its safe fixation on the mother vehicle, and the recycling process ends.

[0046] The sub-vehicle 6 is an electromagnetic track type underwater ultrasonic defect mobile detection platform, aiming to use the electromagnetic track type mobile detection platform to carry underwater ultrasonic detection equipment to climb on the wall of a large-diameter water conveyance steel pipe to reach the designated position to create an underwater detection environment for ultrasonic defect detection, and at the same time conduct wall thickness measurement, anti-corrosion coating thickness detection, and corrosion condition video monitoring. The system detects and collects and transmits data on the safety status of the pipe wall to save labor costs.

[0047] Electromagnetic types are provided on both sides of the sub-vehicle 6. The electromagnetic track mainly consists of a power supply contact delivery port 82, an energized solenoid coil, a soft iron core 84, a transmission bayonet 83, and a rubber shell 81. The energized solenoid coil is wound around the outside of the soft iron core 84, and a conductive column 85 is connected to the outside of the energized solenoid coil. The conductive column 85 is connected to the power supply contact delivery port 82.

[0048] On both sides of the sub-vehicle 6, a driving wheel 61 and a drive wheel 8 are rotatably installed. The driving wheel 61 and the drive wheel 8 are engaged with the driving bayonet 83 of the electromagnetic track. On both sides of the bottom of the sub-vehicle 6, a track power supply groove 62 is fixedly installed. On the inner side wall of the sub-vehicle 6, a battery box 10 is fixedly installed. At the front side inside the sub-vehicle 6, a motor is fixedly installed. The output end of the motor is fixedly connected to the front drive wheel 8 for driving the front drive wheel 8 to rotate, thereby driving the electromagnetic track to rotate. The electromagnetic track can drive the sub-vehicle 6 to move. An electronic inclinometer (also known as an angle meter or an electronic angle meter, which can be directly purchased. An electronic inclinometer is an instrument used to measure the tilt angle of an object in the horizontal and vertical directions. It usually has high precision and versatility, can real-time monitor the attitude change of the object, and feed back the data to the user or the automatic control system) is also fixedly installed inside the sub-vehicle 6.

[0049] The sub-vehicle adopts an electromagnetic track type mobile system. The electromagnetic track uses an energized solenoid coil to magnetize a soft iron core to generate a magnetic suction force to achieve the function of adsorbing the pipe wall of the water conveyance steel pipe. The adsorption force of the track is controlled by controlling the magnitude and presence or absence of the current.

[0050] Maxwell's formula:

[0051]

[0052]

[0053] In the formula, B is the magnetic induction intensity, and the unit is gauss;

[0054] φ is the magnetic flux, and the unit is maxwell;

[0055] F is the electromagnetic suction force, and the unit is joule / cm;

[0056] S is the total surface area of the magnetic pole, and the unit is cm 2 ;

[0057] μ0 is the air permeability, and the unit is H / m.

[0058] The above formula is generally rewritten as:

[0059]

[0060] The main formula for the energized spiral electromagnet is as follows:

[0061]

[0062] In the formula, μ is the vacuum permeability, μ = 4π×10 -7 ;

[0063] S is the cross-sectional area of the magnetic circuit (m 2 );

[0064] Kf is the magnetic leakage coefficient, generally ranging from 1.2 to 5.0;

[0065] δ is the air gap length (mm);

[0066] I is the current (A);

[0067] N is the number of turns of the coil.

[0068] By moving the electronic inclinometer built in the detection platform to calculate the inclination angle and control the current magnitude of the energized solenoid coil, and dynamically control the magnetic force of the electromagnetic track of the mobile detection platform according to the stress state, so that it can operate normally. The electronic inclinometer uses an internal oscillator and an accelerometer to calculate the tilt angle by measuring the angle between the direction of gravity and the long axis of the instrument, and transmits the data wirelessly to the receiver of the mother vehicle and then to the terminal display to display the inclination angle of the sub-vehicle in real time.

[0069] In this embodiment, the sub-vehicle 6 is mainly powered by five groups of drive wheels, a set of front driving wheels and a motor (i.e., an electric motor) to provide power, the battery box 10 provides power for the operation of the whole vehicle, and the inclinometer current control box and the track power supply slot provide power for the electromagnetic track through the track power contact transmission port and control the current magnitude of the electromagnetic track to realize the magnetic adsorption wall-mounted mobile operation.

[0070] Recovery steps of the sub-vehicle recovery system: relative positioning of the sub-vehicle 6, the sub-vehicle 6 starts self-positioning in the area to be recovered, and determines its specific position through data matching of the one-dimensional data model of the pipeline cross-section (the one-dimensional data model of the pipeline cross-section can be realized and drawn by the 1D CFD function of midas NFX CFD); communication connection, the sub-vehicle establishes a connection with the control terminal through the mother vehicle via Wi-Fi wireless communication, and sends its own status and relative position to the mother vehicle; recovery operation, the mother vehicle starts the recovery mechanism, fine-tunes the relative position of the mother and sub-vehicles through the sub-vehicle mobile steering system, the sub-vehicle reaches the mother vehicle recovery platform through the guard plate, the guard plate is lifted and retracted to fix the sub-vehicle; status confirmation, the mother vehicle confirms the status of the sub-vehicle after recovery to ensure that it is safely fixed on the mother vehicle and ends the recovery process.

[0071] In a further embodiment, a monitoring device 9 is also installed at the front end of the sub-vehicle 6, which is the same as the monitoring device of the mobile platform 2. To meet the detection requirements of the corrosion condition of the pipe wall, a video monitoring device is installed at the front end of the sub-vehicle, which automatically detects and identifies the corrosion area in the pipe using machine learning algorithms, captures the corrosion diseases of the water conveyance pipe wall in real time, and takes close-up photos and records. It takes screenshots and marks the identified corrosion parts for display, and saves the relevant information to provide continuous monitoring function, and uploads the taken pictures and relevant data to the control terminal for further analysis by the detection personnel, and at the same time stores and manages the historical monitoring.

[0072] The built-in machine learning module imports a large amount of image data of water conveyance pipelines collected through the data import interface, including images in normal states and with different degrees of corrosion. It annotates the collected images to identify the locations and types of corrosion areas, selects a machine learning model suitable for image recognition, such as a convolutional neural network (CNN) or YOLO (You Only Look Once), etc. It uses the annotated dataset to train the model. During the training process, relevant parameters are adjusted to optimize the model's recognition performance and improve the recognition accuracy. After the training is completed, the accuracy of the model needs to be evaluated to ensure that the model can effectively recognize in different lighting, angles, and corrosion conditions. The evaluated model is deployed to the data processing unit for real-time video analysis and corrosion detection of the pipe wall in the detection area of the sub-vehicle. Data supports playback and comparative analysis.

[0073] A liftable water immersion ultrasonic flaw detector is also installed on the bottom of the sub-vehicle 6. During the detection operation of the water conveyance steel pipe, it is necessary to stop the water supply and drain the water for maintenance, which cannot provide an underwater environment for ultrasonic detection. Therefore, the sub-vehicle of this design is equipped with a water immersion ultrasonic flaw detector, which can provide an underwater environment for the detection probe. The device mainly consists of an underwater ultrasonic detection probe 15, a water tank 12, a water pump 13, a rubber airtight cover 11, a magnetic adsorption airtight soft ring 16, and a telescopic rod. A magnetic adsorption airtight soft ring 16 is fixedly installed at the edge of the bottom opening of the rubber airtight cover 11. The water tank is fixed to the bottom of the sub-vehicle 6. The water pump 13 is fixedly installed at the bottom of the water tank 12. The water outlet of the water pump 13 is connected to the rubber airtight cover 11. Its basic composition is as Figure 6 and Figure 7 shown. The ultrasonic thickness gauge mainly detects the internal defects of the measured pipe wall, the thickness of the pipe wall coating, and the local wall thickness of the pipe wall.

[0074] In this embodiment, the telescopic rod also uses an electric push rod. The housing of the electric push rod is fixedly connected to the sub-vehicle 6, and the telescopic end is fixedly connected to the rubber airtight cover 11. When the electric push rod expands and contracts, it is used to drive the rubber airtight cover 11 to move.

[0075] A slide rail 14 is provided at the top of the inner cavity of the rubber airtight cover 11. The underwater ultrasonic detection probe 15 is slidably installed in the slide rail 14. A lead screw is rotatably installed inside the slide rail 14. The upper end of the underwater ultrasonic detection probe 15 is threadedly connected to the lead screw. The slide rail 14 limits the underwater ultrasonic detection probe 15 to prevent the underwater ultrasonic detection probe 15 from rotating together with the lead screw. When the lead screw rotates, under the action of the thread, the underwater ultrasonic detection probe 15 can move along the slide rail 14.

[0076] During detection, the electric push rod moves the rubber airtight cover 11 downward and fits it against the inner wall of the pipeline to be detected. The magnetic adsorption airtight soft ring 16 adsorbs to the side wall of the steel pipe. The rubber airtight cover 11 and the magnetic adsorption airtight soft ring 16 form a relatively enclosed space. Subsequently, the water pump 13 pumps water into the rubber airtight cover 11, and the underwater ultrasonic detection probe can be activated to detect the steel pipe.

[0077] The specific usage method is as follows: When the detection platform reaches the designated position, the crawler enhances the magnetic force for fixation, and the telescopic rod lowers the rubber airtight cover 11 until it contacts the surface of the steel pipe to be detected. The electromagnets of the magnetic adsorption airtight soft ring around the rubber airtight cover 11 are charged to generate magnetic force to closely fit the measured component to form a sealed space. The rubber airtight cover 11 is filled with water through the equipped water tank 12 until it is full to simulate the underwater detection environment. The underwater ultrasonic detection probe 15 in the center of the rubber airtight cover is used to detect flaws at the designated position. The underwater ultrasonic detection probe moves linearly through the slide rail at the top of the rubber airtight cover. The device uses a longitudinal wave straight probe, and the scanning speed is 100 mm / s. The data detected at different positions are repeatedly superimposed to improve work efficiency and detection accuracy. At the same time, a sprayer is externally installed on the sub-vehicle base to spray positioning marks. After the work is completed, the water in the rubber airtight cover is recovered by the water pump of the water tank, the magnetic force of the magnetic adsorption sealed ring is released by powering off, the telescopic rod retracts, and the detection vehicle completes the measurement.

[0078] Traditional detection methods require grinding operations on the pipe wall. The coupling between the pipe wall and the detection equipment is poor, and the grinding coating will damage the pipe wall, resulting in a large labor cost. For underwater ultrasonic detection of leakage defects, the underwater eddy current probe is used to scan the pipe wall, and whether there are defects in the pipe wall is judged according to the reflection and propagation of the eddy current, which has high accuracy and reliability. In order to reduce the damage to the pipe wall caused by detection operations and reduce labor input, the water immersion ultrasonic defect detection method adopted by the sub-vehicle uses water as the coupling agent between the ultrasonic probe and the object to be detected, which has the advantages of reducing energy attenuation, increasing the ultrasonic transmission sound pressure, and improving the detection accuracy and effect. The principle of ultrasonic flaw detection is to detect metal materials based on the different propagation laws of ultrasonic waves in different media. The ultrasonic waves are emitted by the piezoelectric wafer of the device transducer and reach the inside of the component to be detected through the medium water. If there are defects such as cracks and bubbles inside the component to be detected, the propagation direction of the returned ultrasonic waves will change. The device judges and identifies the defects of the measured component according to the amplitude and position of the echo signal received by the ultrasonic transducer.

[0079] To meet the measurement requirements of the physical quantity of the local thickness of the pipe wall to be detected of the water conveyance steel pipe, in addition to the wall thickness data provided by the water immersion ultrasonic flaw detection device, the sub-vehicle 6 is additionally equipped with a wall thickness measuring instrument to supplement the wall thickness data. The wall thickness measuring instrument (such as Keyence wall thickness measuring instrument, Weidu wall thickness measuring instrument, which can be directly purchased) can directly measure the wall thickness of the pipeline.

[0080] It should be noted that when unmanned inspection equipment is running in long-distance water pipelines, in order to ensure that the experimental personnel monitor the pipeline position of the inspection equipment in real time, control the operating status of the inspection equipment, record the inspection trajectory, and ensure the safety of the inspection equipment. The buried water pipeline has a closed detection environment, and the pipe wall and the soil around the pipe have a significant signal shielding effect, which makes it impossible for the inspection equipment to use GPS positioning technology and radio positioning technology to determine its own position. High-precision inertial navigation positioning technology is mostly used in military fields such as navigation and aviation. It is expensive and has large cumulative errors. This inspection equipment uses two real-time precise positioning methods to solve the positioning problem of the inspection equipment in the water pipeline.

[0081] The mother vehicle (track-type inspection equipment carrying platform) adopts a rail-based motion mode and moves through the magnetic rail line laid in advance on the water supply steel pipe to be inspected. The mother vehicle wheels are equipped with radio and television probe speed sensors to capture the number of wheel rotations and convert them into electrical signals. The travel distance of the mother vehicle is calculated based on the product of the number of wheel rotations and the wheel circumference, and the coordinates of the mother vehicle along the axis of the pipeline are obtained. Because the mother vehicle adopts a rail-based motion mode, the coordinates of the mother vehicle on the cross-section of the pipeline are fixed, so the position of the mother vehicle can be determined by the axis direction coordinates.

[0082] The above shows and describes the basic principles and main features of the utility model and the advantages of the utility model. Those skilled in the art should understand that the utility model is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the utility model. Without departing from the spirit and scope of the utility model, the utility model may have various changes and improvements, which shall fall within the scope of the utility model to be protected. The scope of protection of the utility model shall be determined by the attached claims and their equivalents.

Claims

1. A disease inspection and patrol system for buried water conveyance pressure steel pipes, characterized in that, Comprising: A track (1), fixed inside the penstock; A mobile platform (2), movably arranged on the track (1); A video monitoring device, installed on the mobile platform (2) to monitor the inside of the penstock; A sub-vehicle (6), arranged on the mobile platform (2), capable of being separated from the mobile platform (2) for independent inspection.

2. The disease inspection and patrol system for buried water - conveyance pressure steel pipes according to claim 1, characterized in that: On both sides of the mobile platform (2), there are guard plates (7), and the guard plates (7) can rotate upwards to a vertical state and downwards to a state of fitting with the inner wall of the steel pipe.

3. The disease inspection and patrol system for buried water conveyance pressure steel pipes according to claim 2, characterized in that: The video monitoring device includes a rotating base, a camera (3) and a searchlight (4), and the camera (3) and the searchlight (4) are fixedly installed on the rotating base.

4. The disease inspection and patrol system for buried water conveyance pressure steel pipes according to claim 3, characterized in that: A high-pressure water gun obstacle clearing system (5) is also installed on the mobile platform (2), and the high-pressure water gun obstacle clearing system (5) is used to clean the inside of the penstock.

5. The disease inspection and patrol system for buried water conveyance pressure steel pipes according to claim 1, characterized in that: At the front end of the mobile platform (2), a vertically arranged laser ranging system is fixedly installed for measuring the central axis of the pipeline cross-section.

6. The disease inspection system for buried water conveyance pressure steel pipes according to claim 1, characterized in that: Electromagnetic tracks are installed on both sides of the sub-vehicle (6).

7. The disease inspection and patrol system for buried water conveyance pressure steel pipes according to claim 6, wherein: A monitoring device (9) is installed at the front end of the sub-vehicle (6).

8. The disease inspection and patrol system for buried water conveyance pressure steel pipes according to claim 7, characterized in that: A liftable immersion ultrasonic flaw detector is installed at the bottom of the sub-vehicle (6).

9. The disease inspection and patrol system for buried water conveyance pressure steel pipes according to claim 8, characterized in that: The immersion ultrasonic flaw detector includes a rubber airtight cover (11), a telescopic rod is fixedly installed at the upper end of the rubber airtight cover (11), an underwater ultrasonic detection probe (15) is installed at the inner top of the rubber airtight cover (11), and a magnetic adsorption airtight soft ring (16) is fixedly installed at the bottom opening edge of the rubber airtight cover (11) for adsorbing to the inner wall of the penstock; It also includes a water tank (12), a water pump (13) is installed at the bottom of the water tank (12), and the water pump (13) pumps water into the inside of the rubber airtight cover (11).

10. The disease inspection and patrol system for buried water conveyance pressure steel pipes according to claim 1, wherein: A pipe wall thickness measuring instrument is also installed at the bottom of the sub-vehicle (6).

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