IntelligentRobotpipelineinspectionWehavedevelopedatestforsmall-calibreoilpipelinesmartpipelineinspectionrobotthatusesultrasoundtotheprincipleofresidualoilpipelinewallthicknesswasdetected,theentireinspectionsystemintotheintelligencewithinandoutsideofthetwomost.Theaircraftaresmall,flexiblemovements,power,thepipeisnotsensitive,thereisnospecificthicknessoftheceiling,highprecision,withoutchecking,andothercharacteristics,reachedabasiclong-distancepipelineinservicetestingrequirements.1PrincipleFigure1showsthebasicprinciplesofultrasonictestingUltrasoundprobeplacedwithinthepipemeasured,andthedirectionperpendiculartothewalltowalllaunchbroadbandultrasonicpulse.Firsttoreceivetheprobebythepipelinewallreflectionbacktothepulse,whichcanbemeasuredwiththeprobeinsidethedistancebetweenA;then,toreceivefromtheprobetotheouterreflectionpulsethrough,thetimedifferenceechowalltowallthicknesscalculationB.Aheightofthecurveshowsthatthedepthofinternaldefects,theheightofthecurveBwillbetodeterminetheactualwallthickness.Whenthewallwhendefective,A,Bcurveofamirrorsymmetry,andtheouterwalldefectshavenoimpactontheAcurve,therefore,ofA,Bcombinationcanbedistinguished,theouterwalldefects.2DetectionDevelopmentoftheultrasonictestingmachinebythetractionmodule,detectionmoduleandpowermodulecomponents,theywereplacedequipment,power,electricalandothercomponents.Pressurefromthehightemperatureofthebodymadeofmaterialsbetweeneachotherandsendsignalstotheuniversaladoptionofflexiblecouplingconnectedtofacilitatechange.Detectionmoduleandpowermoduleandexposedtoexternalplugs,socketsandwiringhavealltakenmeasurestoseal.(1)capsuletractiontractionmodulestructureAsshowninFigure2.Throughthepipelinetransmissionmediumtractioninthecabinpressuredifferentialcanpromotetheirprogress,thusboostingthedetectionofmovement.Tractionwiththemaincabinmirror,gear,floodingofdouble-crystalmicro-motorandfocusingtheprobe,atpresent,accordingtotheprobebythenumberofsingle-probe,morethandoubletheprobeandprobethehoursitusesasingle-probe,anduseSpecularreflectiononthewallunittoachievetheweekstoscan.Work,aprobeofthechipasamirrorreflectionofultrasonicbroadband,verticalwall,anotherreflectionbacktothechiptoreceiveultrasound,micro-motordriveledbytherotatingmirrortodetecttheentireweektothewall.Forthemulti-probearraystructure,canuseupto500probes.Theydetectedintheouterwallofthewrongdirectionalongthespiraloutoftheshelvesandinmaintainingfixed.ThisstructureisageneralinternalPendulumandautomaticadjustingmechanism,soastoavoiddetectionmachineswhenwalkingintherotation.(2)detectionmoduleinthecabinequippedwithultrasonicflawdetectortest,dataacquisitioncard,memoryandcontrolcircuits.Ultrasonicflawdetectorfortheultrasoundprobelaunchedultrasonicpulse,dataacquisitioncardcollectiondetectionmachinesusedtodetectthevariousdataandtestingtobedepositedinthememoryofamission,inpossessionoftheseconddataprocessing,controloftheCompletionrateandposture.Inordertoletthememorystoragecapacityforalongerpipelinedatatothedatacanbesimplified.Theso-calledsimplificationofdatastorageisonlyimportantdata,suchasthepreservationofonlybelowacertainvalueofthethicknessdata.(3)powermoduleAtpresent,thedetectionmethodsofenergysupplyatacableandtwonon-cable.Cabledoesnotrequireapowersupplymodulewaythroughtherearofthecablefromtheexternalaccesstoenergy.Inthiswaynotonlycangreatlyreducethesizedetectionmachines,butalsoenabledetec...
