CN112413279A - Detection robot for irregular pipeline cracks - Google Patents
Detection robot for irregular pipeline cracks Download PDFInfo
- Publication number
- CN112413279A CN112413279A CN202011332853.7A CN202011332853A CN112413279A CN 112413279 A CN112413279 A CN 112413279A CN 202011332853 A CN202011332853 A CN 202011332853A CN 112413279 A CN112413279 A CN 112413279A
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- pipeline
- robot
- irregular
- detection
- camera
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- 230000001788 irregular Effects 0.000 title claims abstract description 35
- 238000001514 detection method Methods 0.000 title claims abstract description 24
- 230000000007 visual effect Effects 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 5
- 208000037656 Respiratory Sounds Diseases 0.000 claims description 4
- 230000003044 adaptive effect Effects 0.000 claims 1
- 238000000034 method Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 230000033764 rhythmic process Effects 0.000 description 1
Images
Classifications
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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
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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
- F16L55/48—Indicating the position of the pig or mole in the pipe or conduit
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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
- G01N21/8851—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N25/00—Investigating or analyzing materials by the use of thermal means
- G01N25/72—Investigating presence of flaws
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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
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
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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
- G01N21/8851—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges
- G01N2021/8887—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges based on image processing techniques
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- General Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Immunology (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- General Physics & Mathematics (AREA)
- Physics & Mathematics (AREA)
- Pathology (AREA)
- Analytical Chemistry (AREA)
- Life Sciences & Earth Sciences (AREA)
- Health & Medical Sciences (AREA)
- Mechanical Engineering (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Signal Processing (AREA)
- Monitoring And Testing Of Nuclear Reactors (AREA)
Abstract
The invention discloses a detection robot for irregular pipeline cracks, which consists of a motion system and a detection system, wherein in order to detect the irregular pipeline of a nuclear power station, the detection robot enters the interior of the pipeline from bottom to top, a pressure sensor and a position sensor are used for adjusting connecting rods of four pulleys and a machine body, the adjusted robot can pass through the pipeline section, and when the diameter of the pipeline changes, the connecting rods are automatically adjusted according to the sensor, so that the robot can smoothly pass through the pipeline and detect the pipeline; the invention effectively improves the pipeline detection efficiency and the safety index of the nuclear power station and reduces the economic and time cost.
Description
Technical Field
The invention relates to a detection robot for irregular pipeline cracks, which controls the distance between a robot body and a pulley through a pressure sensor and a position sensor, so that the robot can enter irregular pipelines with different diameters to operate, utilizes a visual camera and an infrared camera to detect cracks on the inner surface of the pipeline, determines the positions of the cracks through information feedback, and maintains and replaces the pipelines with the cracks.
Background
China is a big country of energy consumption, to energy safety control and detection, guarantee people's life safety and possess the prerequisite of beautiful life, it is important to be the detection to the energy pipeline of important facilities such as nuclear power station, but because the irregular shape of pipeline, it is very difficult to make the detection pipeline, therefore to how the crackle in the high-efficient accurate discovery irregular pipeline of accuracy is the problem that needs the solution now urgently, irregular pipeline crack detection robot can solve this problem, its technique can carry out high-efficient accurate internal surface crack detection in irregular pipeline, timely discovery and the crackle phenomenon in solving the pipeline, guarantee people's life safety.
Disclosure of Invention
The problem solved by the invention is that: with the acceleration of the development rhythm of the world, the transportation safety of nuclear energy is more and more emphasized, and the method for probing cracks in the irregular pipeline by using a vision technology and a control technology becomes the future development trend; the robot for detecting the cracks of the irregular pipeline controls a motion system of the robot by using a position sensor and a pressure sensor, adapts to various diameters of the irregular pipeline by adjusting the length of a connecting rod between a pulley and a machine body, carries out omnibearing scanning on the inner surface of the pipeline by using a visible sensor and an infrared sensor on the machine body, feeds back the scanned data to a control room, and carries out position marking on the part, with the cracks, of the irregular pipeline; the method has the advantages of less time consumption, low cost and good effect;
the invention provides a detection robot for irregular pipeline cracks, which comprises a data transmission pipe, a robot body, a position sensor, a pressure sensor, a pulley, a connecting rod, a visual camera and an infrared camera.
Drawings
FIG. 1: a detection robot for irregular pipeline cracks.
Detailed Description
A detection robot for irregular pipeline cracks: the robot (3) is sent into the irregular pipeline (1) through a data transmission pipe (2), the diameters of all parts of the irregular pipeline (1) are determined through a position sensor (5) in a pulley (4) and a pressure sensor (6) on a connecting rod (7), the robot (3) is made to adapt to the irregular pipeline and move and scan from bottom to top by adjusting the length of the connecting rod (7), the robot is composed of a visible camera (9) and an infrared camera (11) on a machine body (10) in a scanning detection stage, information is fed back to an information operator through the visible camera (8), and cracks on the inner surface of the irregular pipeline (1) are detected through naked eyes; carrying out infrared searchlighting on the inner surface of the irregular pipeline (1) through an infrared camera (11) to detect the position of a crack; the surface of the irregular pipeline (1) is detected through the double-layer detection system, the safety of the pipeline is further guaranteed, and after the whole irregular pipeline (1) is to be detected, the robot is adjusted back through the motor (8) in the machine body (10), and detection is completed.
Claims (3)
1. A detection robot for irregular pipeline cracks is composed of an operation system and a detection system, wherein the robot (3) is sent into an irregular pipeline (1) through a data transmission pipe (2), the diameters of all parts of the irregular pipeline (1) are determined through a position sensor (5) in a pulley (4) and a pressure sensor (6) on a connecting rod (7), the robot (3) is adaptive to the irregular pipeline and moves and scans from bottom to top by adjusting the length of the connecting rod (7), the scanning detection stage is composed of a visible camera (9) and an infrared camera (11) on a machine body (10), information is fed back to an information operator through the visible camera (8), cracks on the inner surface of the irregular pipeline (1) are detected through naked eyes, and the inner surface of the irregular pipeline (1) is subjected to infrared searchlighting through the infrared camera (11), the crack position is detected, the surface of the irregular pipeline (1) is detected through the double-layer detection system, the safety of the pipeline is further guaranteed, and after the whole irregular pipeline (1) is to be detected, the robot is adjusted back through the motor (8) in the machine body (10), and detection is completed.
2. The moving system irregular pipeline (1), the data transmission pipe (2), the robot (3), the pulley (4), the position sensor (5), the pressure sensor (6), the connecting rod (7) and the motor (8) are composed according to the claim 1; the robot (3) is conveyed into the irregular pipeline (1) from bottom to top through the data transmission pipe (2) by the motor (8), the diameter of the irregular pipeline (1) at the position of the robot (3) is determined by the position sensor (5) on the pulley (4) and the pressure sensor (6) on the connecting rod (7), and therefore the length of the connecting rod (7) is adjusted, and the robot (3) enters a pipeline section in the next diameter.
3. The detection according to claim 1 consists of a visual camera (9), a body (10) and an infrared camera (11); carry out all-round scanning to the pipeline by visual camera (9) and infrared camera (11) on fuselage (10), utilize visual camera (9) to shoot the pipeline internal surface, feed back the video photo to the informer, whether there is the crackle through naked eye analysis pipeline internal surface, infrared information acquisition is carried out to the pipeline internal surface to rethread infrared camera (11), carry out contrastive analysis through the video and the photo of shooing with visual camera (9), confirm the inside crackle information of pipeline, accomplish and detect.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011332853.7A CN112413279A (en) | 2020-11-25 | 2020-11-25 | Detection robot for irregular pipeline cracks |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011332853.7A CN112413279A (en) | 2020-11-25 | 2020-11-25 | Detection robot for irregular pipeline cracks |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112413279A true CN112413279A (en) | 2021-02-26 |
Family
ID=74778616
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011332853.7A Pending CN112413279A (en) | 2020-11-25 | 2020-11-25 | Detection robot for irregular pipeline cracks |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112413279A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113484334A (en) * | 2021-06-16 | 2021-10-08 | 西安交通大学 | Flexible defect detection device for inner wall of pipeline and working method thereof |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050115337A1 (en) * | 2002-03-13 | 2005-06-02 | Minoru Tarumi | Device and method for inspecting inside of underground pipe line and method of inspecting concrete on inside of underground pipe line for deterioration |
| CN201427125Y (en) * | 2009-03-31 | 2010-03-24 | 王成军 | Pipe scale removal robot |
| CN206206900U (en) * | 2016-11-22 | 2017-05-31 | 浙江理工大学 | The synchronous culvert pipe inwall detection robot of six wheels |
| CN208997560U (en) * | 2018-10-20 | 2019-06-18 | 沈阳理工大学 | A kind of adaptive crusing robot of caliber |
| CN110297001A (en) * | 2019-08-14 | 2019-10-01 | 西南石油大学 | A kind of tapered pipeline crack detection equipment |
| CN110762337A (en) * | 2019-11-26 | 2020-02-07 | 四川大学 | Inner wall detection robot and pipeline detection system |
-
2020
- 2020-11-25 CN CN202011332853.7A patent/CN112413279A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050115337A1 (en) * | 2002-03-13 | 2005-06-02 | Minoru Tarumi | Device and method for inspecting inside of underground pipe line and method of inspecting concrete on inside of underground pipe line for deterioration |
| CN201427125Y (en) * | 2009-03-31 | 2010-03-24 | 王成军 | Pipe scale removal robot |
| CN206206900U (en) * | 2016-11-22 | 2017-05-31 | 浙江理工大学 | The synchronous culvert pipe inwall detection robot of six wheels |
| CN208997560U (en) * | 2018-10-20 | 2019-06-18 | 沈阳理工大学 | A kind of adaptive crusing robot of caliber |
| CN110297001A (en) * | 2019-08-14 | 2019-10-01 | 西南石油大学 | A kind of tapered pipeline crack detection equipment |
| CN110762337A (en) * | 2019-11-26 | 2020-02-07 | 四川大学 | Inner wall detection robot and pipeline detection system |
Non-Patent Citations (1)
| Title |
|---|
| 成正维: "《大学物理实验》", 31 December 2002, 高等教育出版社 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113484334A (en) * | 2021-06-16 | 2021-10-08 | 西安交通大学 | Flexible defect detection device for inner wall of pipeline and working method thereof |
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Application publication date: 20210226 |
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