CN113048326A - Robot for detecting defects in pipeline based on machine vision - Google Patents
Robot for detecting defects in pipeline based on machine vision Download PDFInfo
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- CN113048326A CN113048326A CN202110272878.0A CN202110272878A CN113048326A CN 113048326 A CN113048326 A CN 113048326A CN 202110272878 A CN202110272878 A CN 202110272878A CN 113048326 A CN113048326 A CN 113048326A
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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
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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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- 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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- Engineering & Computer Science (AREA)
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- Mechanical Engineering (AREA)
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Abstract
A robot for detecting defects in a pipeline based on machine vision comprises a head part, a tail part and a connecting group; the head comprises a head driving group, a head supporting group, a head control group and a head driven group; the tail part comprises a tail driving group, a tail supporting group, a tail control group and a tail driven group. The head control group and the tail control group are combined, a power supply provides a stabilized voltage supply, the small spotlight provides a light source, the night vision camera collects images of the inner wall of the pipeline, the gyroscope records the motion parameters of the robot, the raspberry sends and receives processed image data and the motion parameters, the head direct current brushless motor and the tail direct current brushless motor are controlled to rotate and communicate with the outside, and finally the type and the location of the defects in the pipeline are obtained. The robot for detecting the defects in the pipeline based on the machine vision has the advantages of small size, high flexibility and wide detection visual field, and can effectively improve the detection efficiency of the defects in the pipeline and reduce the detection error.
Description
Technical Field
The invention relates to the field of pipeline detection equipment, in particular to a robot for detecting defects in a natural gas pipeline.
Background
With the rapid development of pipeline transportation industry, the urban natural gas pipeline transportation industry is also continuously developing. With the increase of service life, the pipeline inevitably has aging, crack, corrosion or receives the destruction of external construction, if not in time handle, in case the accident takes place, not only can bring huge economic loss, still can cause serious pollution to the environment. Therefore, the pipeline needs to be periodically investigated and maintained, and the development of the robot for detecting the defects in the pipeline is particularly important.
Disclosure of Invention
In order to solve the problems, the invention provides the robot for detecting the defects in the pipeline based on the machine vision, which has the advantages of small volume, high flexibility, large detection range and high efficiency.
The technical scheme of the invention is as follows:
a robot for detecting defects in a pipeline based on machine vision comprises a head (1), a tail (2) and a connecting group (3); the head (1) comprises a head driving group (11), a head supporting group (12), a head control group (13) and a head driven group (14); the tail part (2) comprises a tail driving group (21), a tail supporting group (22), a tail control group (23) and a tail driven group (24). The head driving group (11) and the tail driving group (21) are respectively arranged at the front ends of the head supporting group (12) and the tail supporting group (22); the head support group (12) is connected with a head driving group (11) and a head driven group (14) and is used for placing a head control group (13); the tail supporting group (22) is connected with the tail driving group (21) and the tail driven group (24) and is used for placing the tail control group (23); the head control group (13) and the tail control group (23) are respectively placed in the head support group (12) and the tail support group (22); the head driven group (14) and the tail driven group (24) are respectively arranged at the rear ends of the head supporting group (12) and the tail supporting group (22); the connecting group (3) is connected between the head (1) and the tail (2) of the robot.
The head driving set (11) comprises a head direct-current brushless motor (111), a head staggered shaft bevel gear I (112), a head staggered shaft bevel gear II (113), a head intermediate shaft (114), a head bevel gear I (115), a head bevel gear II (116), a head driving wheel shaft (1171), a head driving wheel clamping ring (1172), a head driving wheel fixing bush (1173), a head key (1174) and a head driving wheel (118); the tail driving group (21) and the head driving group (11) have the same structure; the head support group (12) comprises a head cylinder cover (121), a head cylinder body (122), a head acrylic plate (123), a head cylinder body rear end cover (124), a head driving wheel carrier (125), a head intermediate shaft fixing plate (126), a head motor fixing plate (127) and a head motor supporting plate (128); the tail supporting group (22) is the same as the head supporting group (12) except for a tail cylinder cover (221); the head control group (13) comprises a raspberry pi voltage reduction module (131), a motor voltage reduction module (132), a raspberry pi (133), a motor driving module (134), a night vision camera (135), a small spotlight (136) and a gyroscope (137); the tail control group (23) comprises a power supply (231), a motor voltage reduction module (232) and a motor driving module (233); the head driven group (14) comprises a head guide post (141), a head sliding block (142), a head spring (143), a head spring baffle plate (144), a head support bar I (145), a head support bar II (146) and a head driven wheel (147); the tail driven group (24) has the same structure as the head driven group (14) except for a tail guide post (241); the connecting set (3) comprises a double-joint universal joint coupler (31) and a universal joint connecting column (32).
The invention has the following effective effects:
by adding a gyroscope (137), the real-time recording of the robot to the motion state is realized, the displacement of the robot is obtained through the quadratic integral of the acceleration to the time, the turning angle is obtained through the quadratic integral of the angular acceleration to the time, the position coordinate of the robot is obtained, and the real-time positioning of the robot is realized.
The robot collects images in a weak light environment by adding the night vision camera (135), automatically identifies and positions defects in the pipeline by a deep learning algorithm in the raspberry group (133), communicates with external equipment and transmits data in real time.
The head driven group (14) and the tail driven group (24) which are of umbrella structures are added, so that the main body of the robot is always in the center of a pipeline; when the pipe diameter is reduced within a short time, the sliding blocks (142, 242) of the head driven group (14) and the tail driven group (24) compress the springs (143, 243), so that the driven wheels are converged towards the center of the pipeline, and reducing is realized.
Through adding connecting group (3), divide into two parts with head (1) and afterbody (2), realized the modularization of robot, make the robot turn in thinner pipeline, promoted the application scope and the flexibility of robot.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
FIG. 2 is a schematic diagram of the structure of the head control group and the tail control group according to the present invention.
Fig. 3 is a partial schematic view of a head driving set according to the present invention.
Fig. 4 is a schematic view of the structure of the driving axle portion of the present invention.
Fig. 5 is a schematic view of the head support set structure of the present invention.
Fig. 6 is a schematic view of the installation of the night vision camera and the small spot lamp of the present invention.
Fig. 7 is a schematic view of a head driven group of the present invention.
Fig. 8 is a schematic view of the structure of the head guide post of the present invention.
Fig. 9 is a schematic view of the head driven group according to the present invention under normal working conditions and diameter-variable conditions.
FIG. 10 is a schematic diagram of the connection set structure of the present invention.
In the figure: 1-head, 2-tail, 3-connection group; 11-head driving group, 12-head supporting group, 13-head controlling group, 14-head driven group; 21-head drive group, 22-head support group, 23-head control group, 24-head slave group; 111-head direct current brushless motor, 112-head staggered shaft bevel gear I, 113-head staggered shaft bevel gear II, 114-head intermediate shaft, 115-head bevel gear I, 116-head bevel gear II, 1171-head driving wheel shaft, 1172-head driving wheel snap ring, 1173-head driving wheel fixing bush, 1174-head key and 118-head driving wheel; 121-head cylinder cover, 122-head cylinder body, 123-head acrylic plate, 124-head cylinder body rear end cover, 125-head driving wheel carrier, 126-head intermediate shaft fixing plate, 127-head motor fixing plate and 128-head motor supporting plate; 131-raspberry pi step-down module, 132-head motor step-down module, 133-raspberry pi, 134-head motor drive module, 135-night vision camera, 136-small spotlight, 137-gyroscope; 231-power supply, 232-tail motor voltage reduction module and 233-tail motor drive module; 141-head guide post, 142-head slide block, 143-head spring, 144-head spring baffle, 145-head support bar I, 146-head support bar II and 147-head driven wheel; 31-double-joint universal joint coupler and 32-universal joint connecting column.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings.
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.
As shown in fig. 1 and fig. 2, in a preferred embodiment of the present invention, the robot comprises a head (1), a tail (2) and a connection group (3); the head (1) comprises a head driving group (11), a head supporting group (12), a head control group (13) and a head driven group (14); the tail part (2) comprises a tail driving group (21), a tail supporting group (22), a tail control group (23) and a tail driven group (24). The head driving group (11) and the tail driving group (21) are respectively arranged at the front ends of the head supporting group (12) and the tail supporting group (22); the head support group (12) is connected with a head driving group (11) and a head driven group (14) and is used for placing a head control group (13); the tail supporting group (22) is connected with the tail driving group (21) and the tail driven group (24) and is used for placing the tail control group (23); the head control group (13) and the tail control group (23) are respectively placed in the head support group (12) and the tail support group (22); the head driven group (14) and the tail driven group (24) are respectively arranged at the rear ends of the head supporting group (12) and the tail supporting group (22); the connecting group (3) is connected between the head (1) and the tail (2) of the robot.
As shown in fig. 3 and 4, the head driving set (11) includes a head dc brushless motor (111), a first head staggered shaft helical gear (112), a second head staggered shaft helical gear (113), a head intermediate shaft (114), a first head bevel gear (115), a second head bevel gear (116), a head driving wheel shaft (1171), a head driving wheel snap ring (1172), a head driving wheel fixing bush (1173), a head key (1174), and a head driving wheel (118); the tail driving group (21) and the head driving group (11) have the same structure.
As shown in fig. 1, 2, 3 and 5, the head support group (12) includes a head cylinder cover (121), a head cylinder (122), a head acrylic plate (123), a head cylinder rear end cover (124), a head driving wheel carrier (125), a head intermediate shaft fixing plate (126), a head motor fixing plate (127) and a head motor supporting plate (128); the head motor fixing plate (127) is connected to the head cylinder (122) and is fixed with the head direct-current brushless motor (111) through four bolts; the head motor supporting plate (128) is connected to the head cylinder (122) and used for supporting and fixing the head direct current brushless motor (111); the tail support group (22) is the same as the head support group (12) except for a tail cylinder cover (221).
As shown in fig. 2 and fig. 6, the head control group (13) includes a raspberry pi voltage reduction module (131), a head motor voltage reduction module (132), a raspberry pi (133), a head motor driving module (134), a night vision camera (135), a small spotlight (136), and a gyroscope (137); the tail control group (23) comprises a power supply (231), a tail motor voltage reduction module (232) and a tail motor driving module (233). The night vision camera (135) and the small spotlight (136) are fixed on the head cylinder cover (121) through bolts; the center of the lens of the night vision camera (135) is arranged in the center of the head (1), so that the visual field can be improved, the overall appearance of the inner wall of the pipeline can be detected to the maximum extent, and incomplete image acquisition caused by the fact that the visual field is reduced due to the fact that the camera deviates from the center is prevented.
As shown in fig. 7, the head driven group (14) includes a head guide post (141), a head slider (142), a head spring (143), a head spring baffle (144), a head support bar one (145), a head support bar two (146), and a head driven wheel (147); the tail driven group (24) has the same structure as the head driven group (14) except for a tail guide post (241).
As shown in fig. 8, the head guide post (141) is step-shaped, the end of the middle shaft is provided with a thread for fixing the head spring baffle (144), and the cylindrical surface of the head spring baffle (144) is provided with a threaded through hole for fixing. The tail end of the head guide post (141) is provided with a tail end shaft for connecting with a double-joint universal coupling (31). The tail guide post (241) has no tip shaft, and the other part is the same as the head guide post (141).
As shown in fig. 7 and 9, when the head driven group (14) works normally, the three head driven wheels (147) are supported on the inner wall of the pipeline and cooperate with the driving wheels, so that the robot head (1) is positioned at the center of the pipeline. When the robot moves to a pipeline junction, the radius of the pipeline is reduced, the head driven wheel (147) pulls the head supporting bar II (146), the head supporting bar II (146) pushes the head supporting bar I (145), and the head sliding block (142) compresses the head spring (143), so that diameter changing is realized. The principle of the tail driven group (24) is the same.
As shown in fig. 10, the connection group (3) includes a double-joint type universal joint coupler (31) and a universal joint connection column (32). The tail end shaft of head guide pillar (141) is connected to two section formula universal joint coupling (31) one end, and universal joint spliced pole (32) is connected to the other end, and universal joint spliced pole (32) are fixed on afterbody cover (221), have realized the connection of robot head (1) and afterbody (2), but two section formula universal joint coupling (31) change along with the robot turns in addition, have improved the flexibility of robot.
The working principle is as follows:
the robot is placed at the inlet of the pipeline, the head spring baffle (144) is rotated to a proper position, the head driven wheel (147) is just supported on the inner wall of the pipeline, and the stud on the cylindrical surface of the head spring baffle (144) is screwed down to fix the head spring baffle (144). The tail driven group (24) performs the same operation, so that the robot is positioned on the central line of the pipeline.
The small spotlight (136) is turned on by utilizing the wireless communication between external equipment and the raspberry group (133), the robot is controlled to move forward, the night vision camera (135) is controlled to collect the image information of the inner wall of the pipeline, and the image is processed by utilizing a deep learning algorithm, so that the defects on the inner wall of the pipeline are identified. The robot acceleration and angular acceleration information collected by the gyroscope (137) are read and are respectively subjected to secondary integration with respect to time to obtain the speed and angular velocity information of the robot, so that the robot and the defect are positioned.
When the robot head (1) moves to the pipeline joint, the distance from the head driven wheel (147) to the center of the pipeline can be reduced by the head driven group (14) due to the fact that the pipe diameter of the pipeline joint is reduced, and automatic adaptation to pipeline diameter changing is achieved. The tail driven group (24) changes the same.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (5)
1. A robot for detecting defects in a pipeline based on machine vision is characterized in that the robot comprises a head (1), a tail (2) and a connecting group (3); the head (1) comprises a head driving group (11), a head supporting group (12), a head control group (13) and a head driven group (14); the tail part (2) comprises a tail driving group (21), a tail supporting group (22), a tail control group (23) and a tail driven group (24). The head driving group (11) and the tail driving group (21) are respectively arranged at the front ends of the head supporting group (12) and the tail supporting group (22); the head support group (12) is connected with a head driving group (11) and a head driven group (14) and is used for placing a head control group (13); the tail supporting group (22) is connected with the tail driving group (21) and the tail driven group (24) and is used for placing the tail control group (23); the head control group (13) and the tail control group (23) are respectively placed in the head support group (12) and the tail support group (22); the head driven group (14) and the tail driven group (24) are respectively arranged at the rear ends of the head supporting group (12) and the tail supporting group (22); the connecting group (3) is connected between the head (1) and the tail (2) of the robot.
The head driving set (11) comprises a head direct-current brushless motor (111), a head staggered shaft bevel gear I (112), a head staggered shaft bevel gear II (113), a head intermediate shaft (114), a head bevel gear I (115), a head bevel gear II (116), a head driving wheel shaft (1171), a head driving wheel clamping ring (1172), a head driving wheel fixing bush (1173), a head key (1174) and a head driving wheel (118); the tail driving group (21) and the head driving group (11) have the same structure; the head support group (12) comprises a head cylinder cover (121), a head cylinder body (122), a head acrylic plate (123), a head cylinder body rear end cover (124), a head driving wheel carrier (125), a head intermediate shaft fixing plate (126), a head motor fixing plate (127) and a head motor supporting plate (128); the tail supporting group (22) is the same as the head supporting group (12) except for a tail cylinder cover (221); the head control group (13) comprises a raspberry pi voltage reduction module (131), a head motor voltage reduction module (132), a raspberry pi (133), a head motor driving module (134), a night vision camera (135), a small spotlight (136) and a gyroscope (137); the tail control group (23) comprises a power supply (231), a tail motor voltage reduction module (232) and a tail motor driving module (233); the head driven group (14) comprises a head guide post (141), a head sliding block (142), a head spring (143), a head spring baffle plate (144), a head support bar I (145), a head support bar II (146) and a head driven wheel (147); the tail driven group (24) has the same structure as the head driven group (14) except for a tail guide post (241); the connecting set (3) comprises a double-joint universal joint coupler (31) and a universal joint connecting column (32).
2. The robot for detecting the defects in the pipeline based on the machine vision is characterized in that the head driving group (11) is used for driving the robot head (1) to move; the tail driving group (21) is used for driving the tail (2) of the robot to move.
3. The robot for detecting defects in pipelines based on machine vision as claimed in claim 1, wherein said head support group (12) is used for fixing a head driving group (11), a head control group (13) and a head driven group (14); the tail supporting group (22) is used for connecting the head driven group (14), supporting the tail of the robot and fixing the tail driving group (21), the tail control group (23) and the tail driven group (24).
4. The machine vision-based in-duct defect detection robot according to claim 1, characterized in that the head control group (13) and the tail control group (23) are combined; the gyroscope (137) records the motion parameters of the trolley during traveling; the small spotlight (136) is used for providing a light source; the night vision camera (135) is used for collecting images in the pipeline; the raspberry pi (133) is used for receiving and processing motion parameters and images, controlling the head direct current brushless motor (111) and the tail direct current brushless motor (211) to rotate, communicating with the outside, and finally obtaining the type and location of defects in the pipeline.
5. The robot for detecting the defects in the pipeline based on the machine vision is characterized in that the head driven group (14) is used for supporting the robot head (1) and is connected with the connecting group (3), when the robot passes through the pipeline joint, the diameter of the pipeline is reduced, and the robot is used for reducing the diameter to pass through the pipeline joint; the tail driven group (24) is used for supporting the tail (2) of the robot, and when the robot passes through the pipeline connecting part, the diameter of the pipeline is reduced, and the tail driven group is used for reducing the diameter of the pipeline so as to pass through the pipeline connecting part.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110272878.0A CN113048326A (en) | 2021-03-14 | 2021-03-14 | Robot for detecting defects in pipeline based on machine vision |
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| CN202110272878.0A CN113048326A (en) | 2021-03-14 | 2021-03-14 | Robot for detecting defects in pipeline based on machine vision |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114704711A (en) * | 2022-03-31 | 2022-07-05 | 宁家楠 | Positioning and adjusting device of combined type surveying instrument for city planning and using method thereof |
| CN114738600A (en) * | 2022-03-15 | 2022-07-12 | 香港理工大学深圳研究院 | Modular pipeline defect detection software robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114704711A (en) * | 2022-03-31 | 2022-07-05 | 宁家楠 | Positioning and adjusting device of combined type surveying instrument for city planning and using method thereof |
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