CN113485387A - Autonomous patrol method for patrol robot and patrol robot with same - Google Patents
Autonomous patrol method for patrol robot and patrol robot with same Download PDFInfo
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- CN113485387A CN113485387A CN202110840909.8A CN202110840909A CN113485387A CN 113485387 A CN113485387 A CN 113485387A CN 202110840909 A CN202110840909 A CN 202110840909A CN 113485387 A CN113485387 A CN 113485387A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/04—Control of altitude or depth
- G05D1/06—Rate of change of altitude or depth
- G05D1/0692—Rate of change of altitude or depth specially adapted for under-water vehicles
Abstract
The invention relates to an autonomous patrol method for a patrol robot and the patrol robot with the same, which is characterized by comprising the following steps: 1) if the position and the trend of the pipeline are determined, entering the step 2); otherwise, entering step 3); 2) lowering the inspection robot according to the trend of the pipeline, controlling the inspection robot to directionally navigate until the inspection starting point of the pipeline, and entering the step 4); 3) the inspection robot is lowered and controlled to sail until the pipeline is searched; 4) the invention adjusts the heading of the inspection robot, makes the heading of the inspection robot the same as the direction of the pipeline, and controls the inspection robot to navigate and inspect the pipeline in a directional way.
Description
Technical Field
The invention relates to an autonomous patrol method for a patrol robot and the patrol robot with the same, belonging to the field of ocean engineering.
Background
Submarine pipelines are widely applied to the development of offshore oil fields, and in China, some of the laid submarine pipelines have been operated for years, and the over consumption or the expiration of the service life of a sacrificial anode can cause the submarine pipelines to be in an under-protection state, so that the outer parts of the submarine pipelines are corroded. Therefore, the cathode protection state of the submarine pipeline in service needs to be accurately and effectively detected and evaluated, and accidents caused by cathode protection failure of the submarine pipeline are prevented.
However, the submarine environment has the characteristics of low visibility, high interference of activities such as fishery and the like, large deepwater pressure, easy change of a submarine seabed and the like, submarine pipeline detection is carried out by means of a diver, the detection efficiency is low, large-area general investigation cannot be realized, and higher requirements are provided for the physical quality and detection experience of the diver. In actual ocean engineering, an underwater robot is usually adopted to carry a reference electrode to perform patrol detection along a pipeline, but an operator of the robot cannot judge the position of the submarine pipeline through an underwater image.
Disclosure of Invention
In view of the above problems, an object of the present invention is to provide an autonomous pipe inspection method for an inspection robot and an inspection robot having the same, which can solve the problems that a diver cannot perform potential detection on a submarine pipeline and an operator of the robot cannot determine the position of the submarine pipeline through underwater images.
In order to achieve the purpose, the invention adopts the following technical scheme: an autonomous patrol method of a patrol robot comprises the following steps:
1) if the position and the trend of the pipeline are determined, entering the step 2); otherwise, entering step 3);
2) lowering the inspection robot according to the trend of the pipeline, controlling the inspection robot to directionally navigate until the inspection starting point of the pipeline, and entering the step 4);
3) the inspection robot is lowered and controlled to sail until the pipeline is searched;
4) and adjusting the heading of the inspection robot to ensure that the heading of the inspection robot is the same as the direction of the pipeline, and controlling the inspection robot to directionally navigate and inspect the pipeline.
Further, the specific process of step 2) is as follows:
2.1) lowering the inspection robot according to the direction of the pipeline, and controlling the inspection robot to directionally navigate until the pipeline is searched;
2.2) controlling the inspection robot to return to the inspection starting point according to the current position of the inspection robot and the inspection starting point, and entering the step 4).
Further, the specific process of step 2.1) is as follows:
2.1.1) calculating the pipeline trend, and lowering the inspection robot at the inspection starting point according to the pipeline trend and the sea water depth;
2.1.2) calculating the heading of the inspection robot, and controlling the inspection robot to directionally navigate until the pipeline is searched according to the heading of the inspection robot.
Further, the specific process of step 2.1.1) is as follows:
A) calculating the direction of the pipeline, wherein a connecting line between the inspection starting point and the inspection end point is defined as a pipeline direction line, and the size of an included angle measured to the pipeline direction line along the clockwise direction is defined as the direction of the pipeline at the inspection starting point by taking a true north line as a reference;
B) and (3) lowering the inspection robot to the corresponding underwater depth at the inspection starting point according to the pipeline trend, the sea water depth and the measuring range and the detection precision of the magnetic detection equipment.
Further, the specific process of step 2.1.2) is as follows:
a) calculating the heading of the inspection robot according to the relative position of the pipeline and the inspection robot and by combining the flow direction, the flow speed and the advancing speed of the inspection robot;
b) adjusting the heading of the inspection robot to enable the ground heading of the inspection robot to be 90-degree crossed with the direction of the pipeline, and enabling the inspection robot to directionally navigate and start to search the pipeline;
c) when the magnetic detection equipment of the inspection robot detects data, the inspection robot stops immediately.
Further, the specific process of step 2.2) is as follows:
2.2.1) determining a azimuth line of the inspection starting point according to the current position of the inspection robot and the inspection starting point, and further calculating an azimuth angle of the inspection starting point relative to the inspection robot;
2.2.2) adjusting the heading of the inspection robot according to the azimuth line of the inspection starting point and the azimuth angle of the inspection starting point relative to the inspection robot, so that the inspection robot advances along the azimuth line of the inspection starting point until the inspection starting point is reached, and entering the step 4).
Further, the specific process of step 3) is as follows:
3.1) placing the inspection robot at the original point, searching the pipeline according to the square path, and stopping the inspection robot immediately when the magnetic field intensity detected by the magnetic detection equipment of the inspection robot is increased;
3.2) judging the position of the inspection robot relative to the pipeline according to the magnetic field intensity detected by the magnetic detection equipment, and rotating the inspection robot left and right to enable the heading of the inspection robot to be 90-degree crossed with the direction of the pipeline.
Further, the judging mode of the position of the inspection robot relative to the pipeline in the step 3.2) is as follows:
when D is presentL>DM>DRThe inspection robot is positioned on the right side of the pipeline, and the inspection robot turns left until DL＝DM＝DRWherein D isL、DM、DRThe magnetic field strengths detected by three magnetic detection devices arranged on the inspection robot from left to right are respectively set;
when D is presentL<DM<DRThe inspection robot is positioned on the left side of the pipeline, and the inspection robot turns right at the moment until DL＝DM＝DR；
When D is presentL＝DM＝DRAnd at the moment, the heading of the inspection robot is crossed with the direction of the pipeline at 90 degrees, so that the direction of the pipeline is obtained.
Further, the specific process of the step 4) is as follows:
4.1) adjusting the heading of the inspection robot to ensure that the heading of the inspection robot is the same as the direction of the pipeline;
4.2) according to the data that the magnetic detection equipment who patrols and examines the robot surveyed, judge the position of patrolling and examining the relative pipeline of robot, robot is patrolled and examined to left and right sideslip for the center of patrolling and examining the robot is located patrols and examines the starting point top, and the judgement mode is:
when D is presentL>DRWhen the inspection robot is positioned on the right side of the pipeline, the inspection robot transversely moves left until DL＝DR；
When D is presentL<DRWhen the inspection robot is positioned on the left side of the pipeline, the inspection robot moves transversely right until DL＝DR；
4.3) the inspection robot sails directionally and starts to inspect the inspection pipe.
A patrol robot comprises a robot body, a power device, magnetic detection equipment and a controller;
the robot body is provided with the power device for horizontal movement and vertical movement;
the magnetic detection equipment for detecting the magnetic field intensity is arranged at the front end of the robot body;
the robot is internally provided with the controller, and the controller is internally provided with the autonomous patrol method of the patrol robot.
Due to the adoption of the technical scheme, the invention has the following advantages:
1. the invention can quickly complete the inspection task of the submarine pipeline by determining the position and the trend of the pipeline and searching the pipeline in two different modes, thereby improving the working efficiency and being suitable for the inspection task under the conditions of known and unknown positions of the submarine pipeline.
2. Because magnetism is the self attribute of the submarine pipeline, the invention can complete the positioning of the pipeline without other means based on the magnetic field intensity detected by the magnetic detection equipment, can avoid the influence of the technology on the inspection task as much as possible, and can be widely applied to the field of ocean engineering.
Drawings
Fig. 1 is a schematic view of a lowering position of an inspection robot according to an embodiment of the invention;
fig. 2 is a schematic view of the lowering depth of the inspection robot according to an embodiment of the invention;
fig. 3 is a schematic diagram of the inspection robot approaching the starting point of the inspection pipe according to an embodiment of the invention;
fig. 4 is a schematic diagram of a route from the inspection robot to an inspection starting point according to an embodiment of the present invention;
fig. 5 is a schematic view of the patrol robot according to an embodiment of the present invention;
fig. 6 is a square-shaped pipe searching and indicating diagram of the inspection robot according to an embodiment of the invention;
fig. 7 is a schematic view of the inspection robot for determining a direction of a pipeline according to an embodiment of the present invention;
FIG. 8 is a schematic diagram of a computing pipeline orientation provided in accordance with an embodiment of the present invention;
fig. 9 is a schematic view of the heading of the inspection robot when searching for a pipe according to an embodiment of the invention;
fig. 10 is a schematic diagram of the inspection robot approaching the inspection starting point a according to an embodiment of the present invention;
fig. 11 is a schematic diagram of the inspection robot with the same heading and pipeline direction according to an embodiment of the invention.
Detailed Description
Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention can be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
It is to be understood that the terminology used herein is for the purpose of describing particular example embodiments only, and is not intended to be limiting. As used herein, the singular forms "a", "an" and "the" may be intended to include the plural forms as well, unless the context clearly indicates otherwise. The terms "comprises," "comprising," "including," and "having" are inclusive and therefore specify the presence of stated features, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and/or groups thereof. The method steps, processes, and operations described herein are not to be construed as necessarily requiring their performance in the particular order described or illustrated, unless specifically identified as an order of performance. It should also be understood that additional or alternative steps may be used.
Although the terms first, second, third, etc. may be used herein to describe various elements, components, regions, layers and/or sections, these elements, components, regions, layers and/or sections should not be limited by these terms. These terms may be only used to distinguish one element, component, region, layer or section from another region, layer or section. Terms such as "first," "second," and other numerical terms when used herein do not imply a sequence or order unless clearly indicated by the context. Thus, a first element, component, region, layer or section discussed below could be termed a second element, component, region, layer or section without departing from the teachings of the example embodiments.
For convenience of description, spatially relative terms, such as "inner", "outer", "lower", "upper", and the like, may be used herein to describe one element or feature's relationship to another element or feature as illustrated in the figures. Such spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures.
Example 1
The true bookThe pipelines in the embodiment are a plurality of submarine pipelines connected end to end. The power device of the inspection robot comprises six propellers (B)L、BR、AL、AR、ML、MR) The bow and the tail of the inspection robot are respectively and horizontally provided with two propellers (B)L、BRAnd AL、AR) And the robot is used for polling the horizontal movement (comprising advancing, retreating, left turning, right turning, left transverse moving and right transverse moving) of the robot. Two propellers (M) are vertically arranged in the middle of the inspection robotL、MR) And the robot is used for polling the vertical movement (including floating and submerging) of the robot. The front end of the inspection robot is provided with three magnetic detection devices, and the magnetic field intensity detected from left to right by the three magnetic detection devices is DL、DM、DR。
Based on the above description, the present embodiment provides an autonomous patrol method for a patrol robot, including the following steps:
1) if the position and the trend of the pipeline are determined, entering the step 2); otherwise, go to step 4).
2) According to the trend of pipeline, transfer and patrol and examine the robot to control and patrol and examine the directional navigation of robot and until searching the pipeline, specifically do:
2.1) calculate the pipeline trend to according to pipeline trend and sea area depth of water, transfer at the starting point of patrolling and examining and patrol and examine the robot:
2.1.1) calculate the pipeline trend, wherein, will patrol and examine the line definition that the starting point and patrol and examine the terminal point and be the pipeline trend line, at the starting point of patrolling and examining, use true north line (000) as the benchmark, will follow clockwise (by 000 degrees to 360 degrees) and measure the contained angle size to pipeline trend line and be defined as the pipeline trend.
2.1.2) according to the pipeline trend, the sea water depth, the measuring range R and the detection precision A of the magnetic detection equipmentCAt the inspection starting point, as shown in fig. 1 and 2, the inspection robot is lowered to a corresponding underwater depth DROVWherein the underwater depth DROVIt should satisfy:
DROV≥D-R+AC
wherein D is the depth of the sea water.
2.2) calculating the heading of the inspection robot, and controlling the inspection robot to directionally navigate until the pipeline is searched according to the heading of the inspection robot:
2.2.1) calculating the heading of the inspection robot according to the relative position of the pipeline and the inspection robot and by combining the flow direction, the flow speed and the advancing speed of the inspection robot.
2.2.2) adjusting the heading of the inspection robot, so that the ground heading of the inspection robot is crossed with the direction of the pipeline by 90 degrees, and the inspection robot sails directionally to start searching the pipeline.
2.2.3) when the magnetic detection device of the inspection robot detects the magnetic field intensity, namely the pipeline is found, the inspection robot stops immediately, as shown in fig. 3.
3) According to the current position of the inspection robot and the inspection starting point, controlling the inspection robot to return to the inspection starting point, and entering the step 6), specifically:
3.1) determining a direction line BL of the inspection starting point according to the current position of the inspection robot and the inspection starting point, and further calculating an azimuth A of the inspection starting point relative to the inspection robotZ。
3.2) As shown in FIG. 4, according to the azimuth line BL of the inspection starting point and the azimuth A of the inspection starting point relative to the inspection robotZAdjusting the heading of the inspection robot to enable the inspection robot to advance along the azimuth line BL of the inspection starting point until the inspection starting point is reached, and entering the step 6), wherein the inspection starting point is opposite to the azimuth angle A of the inspection robotZNamely the ground course of the inspection robot.
4) Transfer and patrol and examine the robot, the control is patrolled and examined the robot navigation and is reached the pipeline until searching, specifically is:
4.1) place the robot of patrolling and examining in original point o department, search the pipeline according to the square route, as shown in fig. 6, wherein, the concrete position of original point o can be set for according to actual conditions or submarine pipeline's construction drawing, and concrete process does not do much here and gives unnecessary details, if the pipeline is not searched to this position, then will patrol and examine the robot and remove to another position and search the pipeline, until searching the pipeline.
4.2) when the magnetic field intensity detected by the three magnetic detection devices of the inspection robot is increased, the pipeline is found, and the inspection robot stops immediately.
5) According to the magnetic field intensity of patrolling and examining the magnetism detection equipment detection of robot, judge the position of patrolling and examining the relative pipeline of robot, control the rotation and patrol and examine the robot for the heading of patrolling and examining the robot is 90 crossovers with the pipeline trend, as shown in figure 7, the judgement mode is:
when D is presentL>DM>DRThe inspection robot is positioned on the right side of the pipeline, and the inspection robot turns left until DL＝DM＝DR；
When D is presentL<DM<DRThe inspection robot is positioned on the left side of the pipeline, and the inspection robot turns right at the moment until DL＝DM＝DR；
When D is presentL＝DM＝DRAnd at the moment, the heading of the inspection robot is crossed with the direction of the pipeline at 90 degrees, so that the direction of the pipeline is obtained.
6) The bow of robot is patrolled and examined in the adjustment for the bow of patrolling and examining the robot is the same with the pipeline trend, and according to the magnetic field intensity of patrolling and examining the magnetic detection equipment detection of robot, the directional navigation of robot is patrolled and examined the pipe detection to the control, specifically is:
6.1) adjusting the heading of the inspection robot to ensure that the heading of the inspection robot is the same as the direction of the pipeline as shown in figure 5.
6.2) according to the magnetic field intensity that the magnetic detection equipment who patrols and examines the robot surveyed, judge the position of patrolling and examining the relative pipeline of robot, robot is patrolled and examined to left and right sideslip for the center of patrolling and examining the robot is located patrols and examines the starting point top, and the judgement mode is:
when D is presentL>DRWhen the inspection robot is positioned on the right side of the pipeline, the inspection robot transversely moves left until DL＝DR；
When D is presentL<DRWhen the inspection robot is positioned on the left side of the pipeline, the inspection robot moves transversely right until DL＝DR。
6.3) the inspection robot sails directionally and starts to inspect the inspection pipe.
The autonomous inspection method of the inspection robot of the invention is described in detail below by taking the determined position and orientation of the pipeline as specific embodiments:
1) as shown in fig. 8, a pipeline trend line is obtained by connecting the point a and the point B with a starting point a and an end point B for inspection, and the pipeline trend line is obtained by clockwise calculating from a true north direction (000) as the starting point to 090.
2) According to the pipeline trend, the sea water depth, the range R and the detection precision A of the magnetic detection equipmentCThe inspection robot is lowered to the corresponding underwater depth D near the inspection starting pointROV。
3) As shown in fig. 9, the heading of the inspection robot is calculated, and the heading of the inspection robot is adjusted, so that the heading of the inspection robot is 90 degrees crossed with the direction of the pipeline, the inspection robot sails directionally, the pipeline is searched, namely the heading of the inspection robot is 000, when the magnetic detection equipment of the inspection robot detects data, the pipeline is found, and the inspection robot stops immediately.
4) As shown in fig. 10, according to the inspection starting points a at the current position of the inspection robot, the azimuth line BL of the inspection starting point is determined, and the azimuth angle a of the inspection starting point relative to the inspection robot is calculatedZThe azimuth line BL is the planned route of the next step of the inspection robot, and the azimuth angle AZNamely the next heading of the inspection robot to the ground, under the condition that the influence of ocean currents is not considered, the next heading of the inspection robot is equal to the azimuth angle A of the inspection starting point A relative to the inspection robotZ。
5) And adjusting the heading of the inspection robot to enable the inspection robot to move forward along the direction line BL of the inspection starting point until the inspection starting point A is reached.
6) As shown in fig. 11, after the inspection starting point a is reached, the heading of the inspection robot is adjusted, so that the heading of the inspection robot is the same as the direction of the pipeline.
7) According to the data detected by the magnetic detection equipment, the position of the inspection robot relative to the pipeline is judged, the inspection robot is transversely moved left and right, the center of the inspection robot is located above the inspection starting point, the inspection robot sails directionally, and inspection pipe detection is started.
Example 2
The embodiment provides a patrol robot, which comprises a robot body, a power device, magnetic detection equipment and a controller.
The power device comprises six propellers, and the bow and the tail of the robot body are respectively and horizontally provided with two propellers for being responsible for the horizontal movement of the inspection robot. The middle part of the robot body is vertically provided with two propellers for being responsible for the vertical motion of the robot.
The front end of the robot body is provided with magnetic detection equipment for detecting the magnetic field intensity.
The robot is internally provided with a controller, and the controller is internally provided with the autonomous patrol method of the patrol robot in the embodiment 1.
The above embodiments are only used for illustrating the present invention, and the structure, connection mode, manufacturing process, etc. of the components may be changed, and all equivalent changes and modifications performed on the basis of the technical solution of the present invention should not be excluded from the protection scope of the present invention.
Claims (10)
1. The autonomous patrol method of the patrol robot is characterized by comprising the following steps of:
1) if the position and the trend of the pipeline are determined, entering the step 2); otherwise, entering step 3);
2) lowering the inspection robot according to the trend of the pipeline, controlling the inspection robot to directionally navigate until the inspection starting point of the pipeline, and entering the step 4);
3) the inspection robot is lowered and controlled to sail until the pipeline is searched;
4) and adjusting the heading of the inspection robot to ensure that the heading of the inspection robot is the same as the direction of the pipeline, and controlling the inspection robot to directionally navigate and inspect the pipeline.
2. The autonomous patrol method of the patrol robot according to claim 1, wherein the specific process of the step 2) is as follows:
2.1) lowering the inspection robot according to the direction of the pipeline, and controlling the inspection robot to directionally navigate until the pipeline is searched;
2.2) controlling the inspection robot to return to the inspection starting point according to the current position of the inspection robot and the inspection starting point, and entering the step 4).
3. The autonomous patrol method of the patrol robot according to claim 2, wherein the specific process of the step 2.1) is as follows:
2.1.1) calculating the pipeline trend, and lowering the inspection robot at the inspection starting point according to the pipeline trend and the sea water depth;
2.1.2) calculating the heading of the inspection robot, and controlling the inspection robot to directionally navigate until the pipeline is searched according to the heading of the inspection robot.
4. The autonomous patrol method of the patrol robot according to claim 3, wherein the specific process of the step 2.1.1) is as follows:
A) calculating the direction of the pipeline, wherein a connecting line between the inspection starting point and the inspection end point is defined as a pipeline direction line, and the size of an included angle measured to the pipeline direction line along the clockwise direction is defined as the direction of the pipeline at the inspection starting point by taking a true north line as a reference;
B) and (3) lowering the inspection robot to the corresponding underwater depth at the inspection starting point according to the pipeline trend, the sea water depth and the measuring range and the detection precision of the magnetic detection equipment.
5. The autonomous patrol method of the patrol robot according to claim 3, wherein the specific process of the step 2.1.2) is as follows:
a) calculating the heading of the inspection robot according to the relative position of the pipeline and the inspection robot and by combining the flow direction, the flow speed and the advancing speed of the inspection robot;
b) adjusting the heading of the inspection robot to enable the ground heading of the inspection robot to be 90-degree crossed with the direction of the pipeline, and enabling the inspection robot to directionally navigate and start to search the pipeline;
c) when the magnetic detection equipment of the inspection robot detects data, the inspection robot stops immediately.
6. The autonomous patrol method of the patrol robot according to claim 2, wherein the specific process of the step 2.2) is as follows:
2.2.1) determining a azimuth line of the inspection starting point according to the current position of the inspection robot and the inspection starting point, and further calculating an azimuth angle of the inspection starting point relative to the inspection robot;
2.2.2) adjusting the heading of the inspection robot according to the azimuth line of the inspection starting point and the azimuth angle of the inspection starting point relative to the inspection robot, so that the inspection robot advances along the azimuth line of the inspection starting point until the inspection starting point is reached, and entering the step 4).
7. The autonomous patrol method of the patrol robot according to claim 1, wherein the specific process of the step 3) is as follows:
3.1) placing the inspection robot at the original point, searching the pipeline according to the square path, and stopping the inspection robot immediately when the magnetic field intensity detected by the magnetic detection equipment of the inspection robot is increased;
3.2) judging the position of the inspection robot relative to the pipeline according to the magnetic field intensity detected by the magnetic detection equipment, and rotating the inspection robot left and right to enable the heading of the inspection robot to be 90-degree crossed with the direction of the pipeline.
8. The autonomous patrol method for the patrol robots according to claim 7, wherein the position of the patrol robot in the step 3.2) relative to the pipeline is judged in a manner that:
when D is presentL>DM>DRThe inspection robot is positioned on the right side of the pipeline, and the inspection robot turns left until DL＝DM＝DRWherein D isL、DM、DRThe magnetic field strengths detected by three magnetic detection devices arranged on the inspection robot from left to right are respectively set;
when D is presentL<DM<DRThe inspection robot is positioned on the left side of the pipeline, and the inspection robot turns right at the moment until DL＝DM＝DR；
When D is presentL＝DM＝DRAnd at the moment, the heading of the inspection robot is crossed with the direction of the pipeline at 90 degrees, so that the direction of the pipeline is obtained.
9. The autonomous patrol method of the patrol robot according to claim 8, wherein the specific process of the step 4) is as follows:
4.1) adjusting the heading of the inspection robot to ensure that the heading of the inspection robot is the same as the direction of the pipeline;
4.2) according to the data that the magnetic detection equipment who patrols and examines the robot surveyed, judge the position of patrolling and examining the relative pipeline of robot, robot is patrolled and examined to left and right sideslip for the center of patrolling and examining the robot is located patrols and examines the starting point top, and the judgement mode is:
when D is presentL>DRWhen the inspection robot is positioned on the right side of the pipeline, the inspection robot transversely moves left until DL＝DR；
When D is presentL<DRWhen the inspection robot is positioned on the left side of the pipeline, the inspection robot moves transversely right until DL＝DR；
4.3) the inspection robot sails directionally and starts to inspect the inspection pipe.
10. A patrol robot is characterized by comprising a robot body, a power device, magnetic detection equipment and a controller;
the robot body is provided with the power device for horizontal movement and vertical movement;
the magnetic detection equipment for detecting the magnetic field intensity is arranged at the front end of the robot body;
the robot is internally provided with the controller, and the controller is internally provided with the autonomous patrol method of the patrol robot according to any one of claims 1 to 8.
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