CN112097007A - Pipeline inner wall detection device - Google Patents
Pipeline inner wall detection device Download PDFInfo
- Publication number
- CN112097007A CN112097007A CN202010889486.4A CN202010889486A CN112097007A CN 112097007 A CN112097007 A CN 112097007A CN 202010889486 A CN202010889486 A CN 202010889486A CN 112097007 A CN112097007 A CN 112097007A
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- Prior art keywords
- wall
- pipeline
- detection
- rod
- light source
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B33/00—Castors in general; Anti-clogging castors
- B60B33/04—Castors in general; Anti-clogging castors adjustable, e.g. in height; linearly shifting castors
- B60B33/045—Castors in general; Anti-clogging castors adjustable, e.g. in height; linearly shifting castors mounted resiliently, by means of dampers
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/40—Constructional aspects of the body
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
- G01N21/954—Inspecting the inner surface of hollow bodies, e.g. bores
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
- G01N21/954—Inspecting the inner surface of hollow bodies, e.g. bores
- G01N2021/9548—Scanning the interior of a cylinder
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- General Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- Physics & Mathematics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- General Physics & Mathematics (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
Abstract
The invention discloses a pipeline inner wall detection device, which comprises: a housing; the detection assembly comprises a first detection piece and a second detection piece, the first detection piece is arranged on the shell, the detection end of the first detection piece is aligned with the advancing direction of the device for detecting the inner wall of the pipeline, the second detection piece is arranged on the shell, and the detection end of the second detection piece is aligned with the inner wall of the pipeline; the supporting component comprises a telescopic rod and a damping wheel, one end of the telescopic rod is installed on the outer wall of the casing, the damping wheel is rotatably installed at the free end of the telescopic rod, and the supporting component is annularly arranged on the periphery of the casing. The first detection piece is arranged on the machine shell, and the detection end is just opposite to the advancing direction of the pipeline inner wall detection device, so that the damage condition of the pipeline inner wall in the advancing direction of the pipeline inner wall detection device is detected. The second detection piece is mounted on the casing, and the detection end of the second detection piece is opposite to the inner wall of the pipeline, so that the damage of the inner wall of the pipeline is detected in the direction perpendicular to the axis of the pipeline.
Description
Technical Field
The invention relates to the field of pipeline detection, in particular to a pipeline inner wall detection device.
Background
The economic development is not independent of the supply of energy, a large part of petroleum and natural gas in China are solved by means of imports, the transportation of the petroleum and the natural gas needs pipelines with large calibers, the requirements on the pipelines are high, any pipeline crack in the transported high-pressure environment can cause leakage of the petroleum and the natural gas to cause danger and economic loss, therefore, damage detection of the inner walls of the pipelines needs to be carried out before installation or after the installation of the pipeline, but the damage forms of the inner walls of the pipelines are various, and the existing detection instrument cannot detect the damage of the inner walls of some pipelines due to the limitation of observation angles and can also not accurately evaluate the damage of the inner walls of some pipelines.
Disclosure of Invention
The invention aims to overcome the technical defects, provides a pipeline inner wall detection device and solves the technical problem that a detection instrument in the prior art cannot accurately evaluate the damage of the pipeline inner wall due to the limitation of an observation angle.
In order to achieve the above technical object, a technical solution of the present invention provides a pipeline inner wall detecting device, including:
a housing;
the detection assembly comprises a first detection piece and a second detection piece, the first detection piece is arranged on the machine shell, the detection end of the first detection piece is aligned with the advancing direction of the device for detecting the inner wall of the pipeline, the second detection piece is arranged on the machine shell, and the detection end of the second detection piece is aligned with the inner wall of the pipeline;
the supporting component comprises a telescopic rod and a damping wheel, one end of the telescopic rod is installed on the outer wall of the machine shell, the damping wheel is rotatably installed at the free end of the telescopic rod, and the supporting component is annularly arranged on the periphery of the machine shell.
Compared with the prior art, the invention has the beneficial effects that: a plurality of supporting components encircle the casing setting, through the length of adjusting each telescopic link, and then make the inner wall of each damper butt pipeline. Under the support of supporting component, pipeline inner wall detection device can advance in the pipeline for it has sufficient space to remain between casing and the pipeline inner wall simultaneously, thereby makes the detection subassembly can survey the pipeline inner wall. The first detection piece is arranged on the machine shell, and the detection end is just opposite to the advancing direction of the pipeline inner wall detection device, so that the damage condition of the pipeline inner wall in the advancing direction of the pipeline inner wall detection device is detected. The second detection piece is mounted on the casing, and the detection end of the second detection piece is opposite to the inner wall of the pipeline, so that the damage of the inner wall of the pipeline is detected in the direction perpendicular to the axis of the pipeline. The pipeline inner wall damage can be detected at different visual angles through the first detection piece and the second detection piece, so that the technical problem that the pipeline inner wall damage cannot be accurately detected due to single detection angle of a pipeline detection instrument is solved.
Drawings
FIG. 1 is a schematic perspective view of a pipeline inner wall detection device according to an embodiment of the present invention;
FIG. 2 is a schematic cross-sectional view of the interior of the housing according to an embodiment of the invention;
FIG. 3 is a schematic illustration of an explosive configuration of the enclosure and detection assembly of an embodiment of the present invention;
FIG. 4 is a schematic structural view of a support assembly according to an embodiment of the present invention;
FIG. 5 is a schematic view of an explosive structure of a telescopic rod according to an embodiment of the present invention;
fig. 6 is a schematic diagram of an explosive structure of a shock-absorbing wheel according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Please refer to fig. 1 to 3. The invention provides a pipeline inner wall detection device, which comprises a machine shell 100, a detection assembly 200, a support assembly 300 and an independent camera 400, wherein the machine shell 100 is used for placing other assemblies, the detection assembly 200 comprises a first detection piece 210 and a second detection piece 220, the first detection piece 210 is used for detecting the condition of the pipeline inner wall detection device in the advancing direction, the second detection piece 220 is used for detecting the pipe wall at the side of the pipeline inner wall detection device, the support assembly 300 is used for supporting the machine shell 100 so as to support the pipeline inner wall detection device to advance in a pipeline, and the independent camera 400 is used for accurately observing the damage condition of the pipeline inner wall.
The casing 100 has a receiving cavity therein, and a battery compartment 110 is formed in the casing 100 and is used for receiving a battery so as to supply power to electrical components in the pipeline inner wall detection device.
The detecting assembly 200 includes a first detecting member 210 and a second detecting member 220, wherein the first detecting member 210 is mounted on the casing 100. First detecting member 210 can observe the road conditions on the pipeline inner wall detecting device advancing direction on the one hand to be convenient for control pipeline inner wall detecting device's marching, first detecting member 210 also can be to the surveying of pipeline inner wall simultaneously, detects the damage of pipeline inner wall. The detection end of the second detection piece 220 is over against the inner wall of the pipeline, and relative to the first detection piece 210, the second detection piece 220 detects the inner wall of the pipeline at different visual angles, when the first detection piece 210 cannot accurately detect the damage of the inner wall of the pipeline due to the problem of detection angles, the second detection piece 220 is used for detecting the inner wall of the pipeline at the moment, so that the detection error of the first detection piece 210 due to the limitation of the detection angles is made up.
For the design of the first detecting member 210, an existing camera may be used, but in this embodiment, a lower cost means is adopted, the lens is used to collect image information, and then the end of the optical fiber is placed at the focal point of the lens, so as to transmit the image information collected by the lens to an external device, specifically, the first detecting member 210 includes a front light source 211, a front lens 212, and a front optical fiber (not shown in the figure), one end of the housing 100 is provided with a front light source clamping groove and a front lens clamping groove, the front light source 211 is embedded in the front light source clamping groove, the front lens 212 is embedded in the front lens clamping groove, an interface at one end of the front optical fiber is placed at the focal point of the front lens 212, and an interface at the other end of the front optical fiber is connected to.
To the design of the front light source 211, in this embodiment, the front light source 211 includes a front lamp holder and a plurality of front LED lamps, the front lamp holder is annular, and is embedded in the front light source slot 110, and the lamp holder is provided with a plurality of front lamp holes, and the plurality of front LED lamps are sequentially installed in the plurality of front lamp holes. It should be noted that, because the pipeline inner wall detection device is mainly used for detecting the oil and gas transmission pipeline, the front light source 211 should adopt a cold light lamp to avoid explosion accidents caused by heating of the light source.
With respect to the design of the second detecting member 220, similar to the first detecting member 210, the image information is collected by the lens and finally transmitted through the optical fiber. Specifically, in this embodiment, the second detecting element 220 includes a reflector 221, a side-looking lens 222, a side-looking optical fiber (not shown in the figure) and a side-looking light source 224, the reflector 221 is installed on the outer wall of the casing 100, the reflector 221 forms a reflecting surface, the side-looking lens 222 faces the reflecting surface, an interface at one end of the side-looking optical fiber is placed at the focus of the side-looking lens 222, an interface at the other end of the side-looking optical fiber is connected to an external device, and the side-looking light source 224 is sleeved on the outer wall.
It should be noted that the purpose of the reflector 221 is to collect image information of the inner wall of the pipeline and then reflect the image information to the side view lens 222, in this embodiment, the reflector 221 is in a circular truncated cone structure, the reflective surface of the reflector 221 is an inclined surface, a reflective layer should be coated on the back surface of the reflective surface to improve the reflective surface, the inclination angle of the reflective surface is preferably 45 degrees, and the 45-degree reflective surface can reflect light parallel to the casing generatrix, so that the reflected light is directly opposite to the side view lens 222. If other angles of the reflective surface are used, the angle of the side view lens 222 needs to be adjusted accordingly so that the reflected light is directed to the side view lens 222.
In this embodiment, look sideways at light source 224 and look sideways at the LED lamp including looking sideways at the lamp stand and a plurality of, look sideways at the lamp stand and be cyclic annular, look sideways at the lamp stand cover and locate casing 100 outer wall, look sideways at and seted up a plurality ofly on the lamp stand and look sideways at the lamp hole, a plurality ofly look sideways at the LED lamp and install in order in a plurality of lamp holes that look sideways at. Meanwhile, in order to improve the light energy utilization efficiency of the side-view light source 224 and enable the light emitted by the side-view light source 224 to illuminate the detection range of the second detection element 220 as much as possible, a reflector is installed at one end of the side-view light source 224, which is far away from the side-view lens 222, so that the light emitted by the side-view light source 224 is reflected to the detection range of the second detection element 220, and the brightness of the second detection element 220 in the detection range is improved. It should be noted that the side view light source 224 is similar to the front light source 211, and should be a cold light lamp, so as to avoid explosion accident caused by heat generated by the light source.
In addition, no matter the front light source 211 or the side-view light source 224 is provided with a funnel-shaped light barrier, and the connector of the optical fiber is mounted at the tip end of the funnel-shaped light barrier, which is used for blocking light, so that the optical fiber connector only receives the light refracted by the lens, and the interference of other light sources on the image information collected by the lens is avoided.
Please refer to fig. 4 and 5. The supporting members 300 comprise a telescopic rod 310 and a shock absorbing wheel 320, one end of the telescopic rod 310 is mounted on the outer wall of the casing 100, the shock absorbing wheel 320 is rotatably mounted on the free end of the telescopic rod 310, and the plurality of supporting members 300 are annularly arranged on the periphery of the casing 100. The purpose of the supporting member 300 is to support the inner wall of the pipeline detecting device to travel in the pipeline, and at the same time, to ensure that enough space is reserved between the casing 100 and the inner wall of the pipeline, so as to ensure that the body of the inner wall of the pipeline detecting device does not affect the operation of the detecting member 200.
The telescopic rod 310 comprises an outer rod 311, an inner rod 312 and a positioning pin 313, the outer rod 311 is sleeved on the outer wall of the inner rod 312, a positioning hole 311a is formed in the outer rod 311, a plurality of matching holes 312a are formed in the inner rod 312 along the axial direction of the inner rod, and the positioning pin 313 penetrates through the positioning hole 311a and the matching holes 312 a. By adjusting the relative position between the inner rod 312 and the outer rod 311, the length of the entire telescopic rod 310 can be adjusted, and the damping wheel 320 can be ensured to abut against the inner wall of the pipeline.
In order to ensure that the pipeline inner wall detecting device can smoothly travel in the pipeline, in this embodiment, the damping wheel 320 includes a base 321, a guide rod 322, a spring 323, a swing rod 324 and a guide wheel 325, the base 321 is installed at the free end of the telescopic rod 310, the guide rod 322 is slidably disposed on the base 321, one end of the spring 323 is connected to the guide rod 322, the other end of the spring 323 is connected to the base 321, the middle portion of the swing rod 324 is hinged to the base 321, one end of the swing rod 324 is hinged to the guide rod 322, and the guide wheel 325 is.
For the advancing mode of the pipeline inner wall detection device, other devices can be used to pull the pipeline inner wall detection device, in this embodiment, on the basis of the damping wheel 320, a micro motor (not shown in the figure) is further added to the damping wheel 320, the micro motor is installed on the base 321, and the output end of the micro motor is connected to the guide wheel 325, which drives the guide wheel 325 to rotate.
In order to clearly know the damage condition of the inner wall of the pipeline, an independent camera 400 is additionally arranged, and the independent camera 400 is arranged on the outer wall of the machine shell 100. The purpose of the independent camera 400 is that after the detection assembly 300 detects the damage of the inner wall of the pipeline, the damage condition of the inner wall of the pipeline can be clearly detected by the independent camera 400 more accurately, and the existing camera on the market can be adopted for the independent camera 400. It is noted that the independent camera 400 needs to have the functions of rotating the lens and adjusting the focal length of the lens.
As described above, the plurality of support members 300 are annularly arranged on the outer circumference of the casing 100, so that the length of each telescopic rod 310 is adjusted to allow each shock absorbing wheel 320 to abut against the inner wall of the pipeline. The inner pipe wall detecting apparatus can travel inside the pipe while allowing a sufficient space to remain between the casing 100 and the inner pipe wall, supported by the support assembly 300, so that the detecting assembly 200 can detect the inner pipe wall. The first detecting member 210 is installed on the casing 100, and the detecting end faces the advancing direction of the pipeline inner wall detecting device, so as to detect the damage condition of the pipeline inner wall in the advancing direction of the pipeline inner wall detecting device. The second detecting member 220 is installed to the cabinet 100 while the detecting end of the second detecting member 220 faces the inner wall of the pipeline, thereby detecting damage to the inner wall of the pipeline in a direction perpendicular to the axis of the pipeline. The damage of the inner wall of the pipeline is detected at different visual angles respectively through the first detecting piece 210 and the second detecting piece 220, so that the technical problem that the damage of the inner wall of the pipeline cannot be accurately detected due to single detection angle of a pipeline detecting instrument is solved.
The above-described embodiments of the present invention should not be construed as limiting the scope of the present invention. Any other corresponding changes and modifications made according to the technical idea of the present invention should be included in the protection scope of the claims of the present invention.
Claims (10)
1. A pipeline inner wall detection device, comprising:
a housing;
the detection assembly comprises a first detection piece and a second detection piece, the first detection piece is arranged on the machine shell, the detection end of the first detection piece is aligned with the advancing direction of the device for detecting the inner wall of the pipeline, the second detection piece is arranged on the machine shell, and the detection end of the second detection piece is aligned with the inner wall of the pipeline;
the supporting component comprises a telescopic rod and a damping wheel, one end of the telescopic rod is installed on the outer wall of the machine shell, the damping wheel is rotatably installed at the free end of the telescopic rod, and the supporting component is annularly arranged on the periphery of the machine shell.
2. The device for detecting the inner wall of the pipeline as claimed in claim 1, wherein the telescopic rod comprises an outer rod, an inner rod and a positioning pin, the outer rod is sleeved on the outer wall of the inner rod, a positioning hole is formed in the outer rod, a plurality of matching holes are formed in the inner rod along the axis direction of the inner rod, and the positioning pin penetrates through the positioning hole and the matching holes.
3. The device for detecting the inner wall of the pipeline as claimed in claim 1, wherein the damping wheel comprises a base, a guide rod, a spring, a swing rod and a guide wheel, the base is mounted at the free end of the telescopic rod, the guide rod is slidably arranged on the base, one end of the spring is connected with the guide rod, the other end of the spring is connected with the base, the middle part of the swing rod is hinged to the base, one end of the swing rod is hinged to the guide rod, and the guide wheel is rotatably mounted at the free end of the swing rod.
4. The device for detecting the inner wall of the pipeline according to claim 1, wherein the first detecting member comprises a front light source, a front lens and a front optical fiber, a front light source clamping groove and a front lens clamping groove are formed in one end of the casing, the front light source is embedded in the front light source clamping groove, the front lens is embedded in the front lens clamping groove, an interface at one end of the front optical fiber is placed at a focus of the front lens, and an interface at the other end of the front optical fiber is connected with an external device.
5. The device for detecting the inner wall of the pipeline according to claim 4, wherein the front light source comprises a front lamp holder and a plurality of front LED lamps, the front lamp holder is annular and is embedded in the front light source clamping groove, a plurality of front lamp holes are formed in the lamp holder, and the plurality of front LED lamps are sequentially arranged in the plurality of front lamp holes.
6. The apparatus as claimed in claim 1, wherein the second detecting member comprises a reflector, a side-looking lens, a side-looking optical fiber and a side-looking light source, the reflector is mounted on the outer wall of the housing, the reflector is formed with a reflecting surface, the side-looking lens faces the reflecting surface, the interface at one end of the side-looking optical fiber is placed at the focal point of the side-looking lens, the interface at the other end of the side-looking optical fiber is connected with an external device, and the side-looking light source is sleeved on the outer wall of the housing.
7. The device according to claim 6, wherein the side-view light source comprises a side-view lamp holder and a plurality of side-view LED lamps, the side-view lamp holder is annular, the side-view lamp holder is sleeved on the outer wall of the casing, a plurality of side-view lamp holes are formed in the side-view lamp holder, and the side-view LED lamps are sequentially mounted in the side-view lamp holes.
8. The pipeline inner wall detection device according to claim 1, wherein a battery compartment is formed in the inner wall of the housing.
9. The device for detecting the inner wall of the pipeline as claimed in claim 3, wherein the damping wheel further comprises a micro motor, the micro motor is mounted on the base, and an output end of the micro motor is connected with the guide wheel, which drives the guide wheel to rotate.
10. The apparatus according to claim 1, further comprising an independent camera disposed on an outer wall of the housing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010889486.4A CN112097007A (en) | 2020-08-28 | 2020-08-28 | Pipeline inner wall detection device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010889486.4A CN112097007A (en) | 2020-08-28 | 2020-08-28 | Pipeline inner wall detection device |
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| Publication Number | Publication Date |
|---|---|
| CN112097007A true CN112097007A (en) | 2020-12-18 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010889486.4A Pending CN112097007A (en) | 2020-08-28 | 2020-08-28 | Pipeline inner wall detection device |
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| CN (1) | CN112097007A (en) |
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| CN208012553U (en) * | 2018-04-19 | 2018-10-26 | 中国人民解放军陆军工程大学 | A kind of cylinder inner wall detecting system |
| CN208041448U (en) * | 2018-01-12 | 2018-11-02 | 廊坊市德坤管道设备有限公司 | A kind of safety overhauling device of petroleum pipeline interface |
| CN111022826A (en) * | 2019-12-10 | 2020-04-17 | 天目爱视（北京）科技有限公司 | Three-dimensional acquisition equipment for inner wall of pipeline |
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2020
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0651234A (en) * | 1992-03-03 | 1994-02-25 | Bio Rad Lab Inc | Plate scanner for forming fiber optic accumulation phospor image and scanning method thereof |
| EP1382983A2 (en) * | 2002-07-16 | 2004-01-21 | CCS Inc. | Illuminating unit |
| CN102062738A (en) * | 2006-05-16 | 2011-05-18 | 麒麟工程技术系统公司 | Surface inspection apparatus and surface inspection head apparatus |
| CN101909520A (en) * | 2008-01-18 | 2010-12-08 | 西门子医疗器械公司 | Cavity examination device |
| CN103171646A (en) * | 2012-10-29 | 2013-06-26 | 南京航空航天大学 | Wheeled vehicle self-adaptive load-bearing and driving device and control method thereof |
| CN203023741U (en) * | 2013-01-08 | 2013-06-26 | 长江大学 | Adjustable pipeline-climbing robot |
| CN104386400A (en) * | 2014-09-25 | 2015-03-04 | 南京航空航天大学 | Cross-shaped shuttling type tracked transport vehicle and control method |
| CN208041448U (en) * | 2018-01-12 | 2018-11-02 | 廊坊市德坤管道设备有限公司 | A kind of safety overhauling device of petroleum pipeline interface |
| CN208012553U (en) * | 2018-04-19 | 2018-10-26 | 中国人民解放军陆军工程大学 | A kind of cylinder inner wall detecting system |
| CN111022826A (en) * | 2019-12-10 | 2020-04-17 | 天目爱视（北京）科技有限公司 | Three-dimensional acquisition equipment for inner wall of pipeline |
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Application publication date: 20201218 |
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| RJ01 | Rejection of invention patent application after publication |