CN114333096B - Inspection robot - Google Patents
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- CN114333096B CN114333096B CN202111369013.2A CN202111369013A CN114333096B CN 114333096 B CN114333096 B CN 114333096B CN 202111369013 A CN202111369013 A CN 202111369013A CN 114333096 B CN114333096 B CN 114333096B
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C1/00—Registering, indicating or recording the time of events or elapsed time, e.g. time-recorders for work people
- G07C1/20—Checking timed patrols, e.g. of watchman
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Abstract
The application provides a patrol robot which solves the technical problem that the existing intelligent patrol is lack of effectively sensing the complete information dimension of a pipe network and the environment space of the pipe network. Comprising the following steps: the travelling mechanism is controlled to form a body displacement track; the device comprises a height adjusting mechanism, a horizontal angle adjusting mechanism and a pitching angle adjusting mechanism, wherein the relative height, the horizontal direction and the pitching direction of the fixed position of the comprehensive layout mechanism of the sensor are controlled to be adjusted; the sensor comprehensive layout mechanism is used for controlling and adjusting the sensor projection distance of an acquisition matrix formed by the sensors in a coronal plane and the sensor projection distance in a sagittal plane. The distributed acquisition deployment architecture of the pipe network environment can be effectively formed. The professional sensors are matrixed to form the change parameters of the sensor matrix, so that the acquisition focus, range and resolution of the physical signals can be controlled to change orderly, and a signal sampling mechanism for identifying complex dimensions of a pipe network and a pipe network environment is realized.
Description
The application discloses a patent application with the name of 'intelligent gas pipe network inspection method and system' which is divided into a patent application with the application number of 2021103842105 and the application number of 2021, 04 and 09.
Technical Field
The invention relates to the technical field of robots, in particular to a patrol robot.
Background
In the prior art, the inspection robot adopts a computer technology to integrate an electromechanical system of a running mechanism, performs unmanned inspection in a relatively closed space according to a routing circuit pattern on the basis of carrying professional sensors such as audio and video, and has the capability of acquiring and customizing basic data based on positions, wherein the unmanned inspection robot is applied to the security field of buildings and dense equipment layout places.
However, in the field of gas pipe network inspection aiming at an open environment, pipe network equipment such as a pipeline, a valve group, a sluice well and the like of a gas pipe network are arranged in different physical media based on a large-scale three-dimensional space and are widely deployed in an open space, inspection information needs to include partial explicit feedback of inherent state characteristics of an original deployment stage of the pipe network system, and also needs to include partial explicit feedback of environmental change states of the physical media in which the pipe network system is located. The inspection of the gas pipe network involves contradiction between the accuracy and breadth of signal acquisition in spaces with different information dimensions, and also involves contradiction between the data volume and real-time performance of signal acquisition in areas with different dimensions. The existing inspection robot technology cannot meet the requirements in both data processing and information acquisition.
The inspection route of the existing robot transfers sensors to conduct plan inspection according to the fixed route, all information acquisition routes and information acquisition areas are continuous to the traditional information acquisition technical thought, based on priori experience or general rule setting, the special sensors are used as narrow-band filters for environment information acquisition, the acquired spatial basic characteristics and the pipe network operation situation characteristics of the pipe network are mapped to a limited two-dimensional space where the fixed route is located, and a large amount of pipe network characteristic acquisition and environment information acquisition in the space where the pipe network is located are caused to be missing. Finally, the multi-dimensional acquisition of the running situation of the pipe network cannot be realized, and high-dimensional analysis and prediction of the running situation cannot be formed.
Although the combination of the Beidou high-precision positioning and the navigation autonomous driving system can realize the fusion positioning of the inspection robot on the inspection path and the unmanned autonomous obstacle avoidance driving and precision positioning capability, the professional sensor layout structure of the existing inspection robot still follows the defect of the traditional simple time sequence acquisition mode, the flexibility is lacking, the complete space information of the operation situation of pipe network equipment and the environment in the surrounding acquisition area in the acquisition direction can not be acquired, and the complete space dimension of the field environment can not be effectively established.
In order to improve the intrinsic safety level of a gas enterprise, reduce the safety risk, reduce the labor intensity, realize cost reduction and synergy, the technical problem of how to form the gas pipeline field to execute effective inspection on a complex routing environment needs to be solved.
Disclosure of Invention
In view of the above problems, the embodiment of the invention provides a patrol robot, which solves the technical problem that the existing intelligent patrol lacks effective perception of the pipe network and the complete information dimension of the pipe network environment space.
The inspection robot of the embodiment of the invention comprises:
the travelling mechanism is used for forming a body displacement track in a controlled manner;
the height adjusting mechanism is used for adjusting the relative height of the fixed position of the comprehensive sensor layout mechanism in a controlled manner;
the horizontal angle adjusting mechanism is used for adjusting the horizontal direction of the comprehensive sensor layout mechanism in a controlled manner;
the pitching angle adjusting mechanism is used for fixing the comprehensive sensor layout mechanism and controlling the pitching direction of the comprehensive sensor layout mechanism;
the sensor comprehensive layout mechanism is used for controllably adjusting the sensor projection distance of an acquisition matrix formed by the sensors in a coronal plane and the sensor projection distance in a sagittal plane.
In an embodiment of the present invention, the comprehensive sensor arrangement mechanism includes:
The linkage electromechanical accommodating cylinder is used for providing a fixed position with the adjusting mechanism, providing an electric source wire, a signal wire, an accommodating space and a wiring space of the linkage adjusting structure of the sensor and accommodating the linkage adjusting structure for controlling the bearing link arm of the sensor;
the end fitting flange plate body is used for providing an electric connection port and a fixed fitting structure of the sensor at one end of the linkage electromechanical accommodating cylinder;
the sensor bearing link arm is used for being movably connected with the linkage electromechanical accommodating cylinder body, controlled to perform folding and unfolding actions around the linkage electromechanical accommodating cylinder body, an electric connection port and a fixed adapting structure of the sensor are provided, and the pointing angle of the fixed adapting structure is controlled to be changed.
In an embodiment of the invention, the sensor bearing link arm comprises a hollow rectangular box body and a pair of fixed follow-up rings, wherein the rectangular box body forms a fixed end face and an extended end face along the length extension direction, a corresponding attaching end face and a supporting end face are arranged between the fixed end face and the extended end face, the attaching end face is attached to the linkage electromechanical accommodating cylinder, and the supporting end face supports a fixed adapting structure;
the fixed follow-up circular rings are coaxial, the axis of the fixed follow-up circular rings is perpendicular to the length extending direction of the rectangular box body, the rectangular box body is fixed between the fixed follow-up circular rings, an adaptive cambered surface is formed at the intersection part formed by the fixed end face and the attaching end face of the rectangular box body, the radius and the circle center of the adaptive cambered surface are identical to those of the inner ring of the fixed follow-up circular rings, the radian of the adaptive cambered surface is smaller than 90 degrees, and a through hole is formed at the connecting part of the rectangular box body and the fixed follow-up circular rings;
The support end face is provided with a group of fixed adapting structures along the length extending direction, each fixed adapting structure comprises a hollow triangular prism, the length extending direction of each triangular prism is perpendicular to the length extending direction of the rectangular box body, each triangular prism comprises a positioning end face, a fixed structure is formed on each positioning end face, each positioning end face forms an included angle of 5-15 degrees with the support end face of the rectangular box body, each positioning end face faces the extending end face, and a through hole is formed between each triangular prism and each rectangular box body;
the sensor bearing link arm comprises a tension rotating shaft which is movably connected with the side wall of the linkage electromechanical accommodation cylinder body through the tension rotating shaft, the tension rotating shaft comprises a rotating shaft main body and a pair of supporting protrusions, the rotating shaft main body is a cylinder, an annular groove is formed in the middle of the side wall of the rotating shaft main body along the circumferential direction, the side walls of the rotating shaft main bodies on two sides of the annular groove form symmetrical fixedly connected end faces, the supporting protrusions are symmetrically fixedly connected to two top ends of the rotating shaft main body, the supporting protrusions are coaxial with the rotating shaft main body and form through holes along the axis, and the tension rotating shaft is rotationally fixed on a fixed frame on the inner side of an opening of the side wall of the linkage electromechanical accommodation cylinder body through the supporting protrusions, so that the axis of the tension rotating shaft is perpendicular to the axis of the linkage electromechanical accommodation cylinder body; the tension rotating shaft is adaptively fixed with the inner ring of the fixed follow-up circular ring of the sensor bearing link arm through the fixedly connected end face, and the sensor bearing link arm is driven to rotate through encircling the power belt on the annular groove of the tension rotating shaft.
In one embodiment of the invention, the linkage electromechanical accommodating cylinder comprises an accommodating cylinder body, and a linkage adjusting structure, an unfolding power device and a shrinking power device which are arranged in the accommodating cylinder body; the shrinkage power device comprises a servo motor, a screw pair and a sliding turntable, wherein the output shaft of the servo motor is coaxial with the screw, the screw pair and the sliding turntable, the screw is fixedly connected to the output shaft of the servo motor, the screw pair is fixed at the center of the sliding turntable, the screw pair moves along the screw, and the sliding turntable is pulled by a lead to be kept relatively static; the expanding power device and the contracting power device are arranged at the same interval and coaxial with the accommodating cylinder, the contracting power device is positioned between the expanding power device and the tail end of the accommodating cylinder, and the servo motors of the expanding power device and the contracting power device are fixedly connected to the inner side wall of the accommodating cylinder through a fixed frame;
the linkage adjusting structures are in one-to-one correspondence with the sensor bearing link arms; the linkage adjusting structure comprises a power belt, a first constraint rotating shaft at the belt contraction end, a second constraint rotating shaft at the belt contraction end and a constraint rotating shaft at the belt expansion end, wherein the axes of the constraint rotating shafts are parallel to the axis of the tension rotating shaft and are rotationally fixed in the accommodating cylinder; the first constraint rotating shaft at the belt shrinkage end, the second constraint rotating shaft at the belt shrinkage end and the constraint rotating shaft at the belt expansion end are arranged in a triangular vertex, the first constraint rotating shaft at the belt shrinkage end is positioned between the tension rotating shaft and the second constraint rotating shaft at the belt shrinkage end, the connecting line of the projection points of the axes of the tension rotating shaft and the second constraint rotating shaft at the belt shrinkage end is positioned at one side far away from the side wall of the accommodating cylinder, and the connecting line of the projection points of the axes of the first constraint rotating shaft at the belt shrinkage end and the second constraint rotating shaft at the belt shrinkage end is positioned at one side far away from the side wall of the accommodating cylinder; the power belt comprises a belt shrinkage end and a belt unfolding end, the power belt semi-surrounds an annular groove of the tension rotating shaft, the belt shrinkage end passes through one side, far away from the side wall of the accommodating cylinder, of the first constraint rotating shaft of the belt shrinkage end and one side, close to the side wall of the accommodating cylinder, of the second constraint rotating shaft of the belt shrinkage end after leaving the annular groove, and the belt unfolding end passes through one side, close to the side wall of the accommodating cylinder, of the constraint rotating shaft of the belt unfolding end after leaving the annular groove;
The linkage adjusting structure further comprises a distance guiding rotating shaft, a constraint traction wire and an unfolding traction wire, wherein one end of the unfolding traction wire is fixedly connected with the belt unfolding end of the power belt, and the other end of the belt unfolding end of the unfolding traction wire is fixedly connected to the side wall of the sliding turntable of the unfolding power device; the distance guiding rotating shaft is arranged on the inner side wall of the accommodating cylinder corresponding to the servo motor of the expanding power device, one end of the constraint traction wire is fixedly connected with the belt shrinkage end of the power belt, and the other end of the constraint traction wire penetrates through one side, close to the inner side wall of the accommodating cylinder, of the distance guiding rotating shaft and is fixedly connected with the side wall of the sliding rotary table of the shrinkage power device.
In one embodiment of the invention, the device further comprises a balancing guide rail, a balancing block, a front traction rotating shaft and a rear traction rotating shaft, wherein the side wall of the tail end of the accommodating cylinder body circumferentially expands in the direction perpendicular to the axis to form an annular balancing space, and the balancing space surrounds the shrinkage power device; the trimming guide rail is parallel to the axis of the accommodating cylinder, the trimming guide rail is uniformly arranged in the annular trimming space, the trimming guide rail is provided with a slidable trimming block, a front traction rotating shaft and a rear traction rotating shaft are respectively arranged on two sides of the trimming block along the trimming guide rail, a front traction lead and a rear traction lead are arranged, one end of the front traction lead is fixedly connected to the side wall of the sliding turntable of the shrinkage power device after the other end of the front traction lead surrounds the front traction rotating shaft, and one end of the rear traction lead is fixedly connected to the side wall of the sliding turntable of the shrinkage power device after the other end of the rear traction lead surrounds the rear traction rotating shaft.
In one embodiment of the invention, a laser output light path and an optical signal receiving lens of a targeting laser methane detector are arranged in the center of an end fitting flange body, and meanwhile, a visible light camera is arranged on one side of the laser output light path, and an infrared camera is arranged on the opposite side of the laser output light path;
two groups of long and short sensor bearing link arms are arranged around the linkage electromechanical accommodating cylinder body, each group comprises 3 sensor bearing link arms, the two groups of sensor bearing link arms are uniformly arranged at intervals, each long sensor bearing link arm comprises six sequential positioning end faces and one tail end reverse positioning end face, and each short sensor bearing link arm comprises three sequential positioning end faces and one tail end reverse positioning end face;
an infrared focal plane temperature sensor is fixed on a second positioning end surface on a short group of sensor bearing link arms, and an infrared focal plane temperature sensor is fixed on a sixth positioning end surface on a long group of sensor bearing link arms;
fixing a visible light camera on a fifth positioning end surface on the long group of sensor bearing link arms, and fixing a visible light camera on a first positioning end surface on the short group of sensor bearing link arms;
Fixing laser range finders on a first positioning end face and a reverse positioning end face on a long group of sensor bearing link arms; fixing a laser distance measuring instrument on a third positioning end surface on the short group sensor bearing link arm;
a leakage gas detection sensor is fixed on a fourth positioning end face on the long group of sensor bearing link arms, and a leakage gas detection sensor is fixed on a reverse positioning end face on the short group of sensor bearing link arms;
and fixing a light supplementing lamp on the second positioning end face and an infrared camera on the third positioning end face on the long group of sensor bearing link arms.
The inspection robot of the embodiment of the invention fully utilizes the existing robot to bear the professional sensor load and the general sensor load, forms basic track control and action control aiming at the inspection route, and can effectively form a distributed acquisition deployment framework of the pipe network environment. The special sensors are matrixed through the comprehensive sensor layout mechanism to form the variable parameters of the sensor matrix, so that the acquisition focus, range and resolution of the physical signals can be controlled to be orderly changed, and a signal sampling mechanism for identifying complex dimensions of a pipe network and a pipe network environment is realized. Meanwhile, the intelligent inspection equipment aims at the non-occupied main road running, and the technical purposes of off-line signal acquisition precision and compliance vehicle-mounted are achieved.
Drawings
Fig. 1 is a schematic flow chart of an intelligent inspection method for a gas pipe network according to an embodiment of the invention.
Fig. 2 is a schematic diagram illustrating a flow chart of design feature description in an intelligent inspection method for a gas pipe network according to an embodiment of the invention.
Fig. 3 is a schematic diagram of a continuous sampling flow in an intelligent inspection method for a gas pipe network according to an embodiment of the invention.
Fig. 4 is a schematic flow chart illustrating objective situation description and formation in the intelligent inspection method of the gas pipe network according to an embodiment of the invention.
Fig. 5 is a schematic diagram of an evaluation flow in an intelligent inspection method for a gas pipe network according to an embodiment of the invention.
Fig. 6 is a schematic diagram of an overall structure of an inspection robot of an intelligent inspection system for a gas pipe network according to an embodiment of the invention.
Fig. 7 is a schematic front view (partially cut-away) of a support frame in a comprehensive sensor layout mechanism of an inspection robot of an intelligent inspection system for a gas pipe network according to an embodiment of the present invention.
Fig. 8 is a schematic top view (partially cut-away) of a support frame in a comprehensive sensor layout mechanism of an inspection robot of an intelligent inspection system for a gas pipe network according to an embodiment of the present invention.
Fig. 9 is a schematic diagram of a front view (partially cut-away) of a transmission structure in a comprehensive sensor layout mechanism of an inspection robot of an intelligent inspection system for a gas pipe network according to an embodiment of the present invention.
Detailed Description
The present invention will be further described with reference to the drawings and the detailed description below, in order to make the objects, technical solutions and advantages of the present invention more apparent. It will be apparent that the described embodiments are only some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
An intelligent inspection method for a gas pipe network according to an embodiment of the invention is shown in fig. 1. In fig. 1, the present embodiment includes:
step 100: and dividing the pipe network space to form design feature description of the entity resources in the local space.
Those skilled in the art will appreciate that the pipe network system is constructed and optimized according to the geographical environment and the location of the user resources, and the pipe network system includes, but is not limited to, different grades of pipes, valves, and gates. The pipe network system and the adjacent environmental space together form a pipe network space. The component facilities of the pipe network system are entity resources including physical properties of the entity resources and environmental properties of the environment. The local space formed by dividing the pipe network space can be used for carrying out targeted description on the entity resource, and particularly comprises design feature description according to which the entity resource is deployed so as to embody the objectivity of physical attributes and environmental attributes.
Step 200: and performing on-site continuous sampling on physical attributes of the physical resources in the local space through the inspection robot to form morphological feature description.
The field persistent sampling includes physical signal acquisition of the physical resource in the local space, and also includes physical signal acquisition of the physical resource in the local space continuously or intermittently on the routing inspection route. Physical attributes of the physical resource include, but are not limited to, physical attributes included in the design features, such as physical and chemical features, and physical attributes affected by the environment, such as oxidation traces, leakage traces, and the like. Morphological characterization is the result of a quantitative data formation process for the inherent properties of an entity resource during its natural changes in a real environment. Morphology features formed by the persistence samples have real-time properties and spatial properties.
Step 300: and performing on-site continuous sampling on the environmental attribute of the physical resource in the local space through the inspection robot to form environmental characteristic description.
The environmental attribute of the entity resource includes, but is not limited to, the physical attribute of the physical environment in which the entity resource is located, and also includes the change of the physical attribute formed by the change of the physical environment, such as intrusion, occupation, etc. Environmental profiling is the result of a process of forming quantized data of environmental attributes during a change in the real environment in which an entity resource is located. The environmental feature description formed by persistent sampling has real-time properties and spatial properties.
Step 400: and carrying out offset quantification through continuous morphological feature description and environment feature description to form objective situation description of the pipe network space.
The accumulated data of the morphological feature description and the environmental feature description formed by the diversity dimension data which can be obtained by the inspection robot can describe the actual interaction of the entity resource main body and the entity resource environment object from the time sequence angle and the space angle, and the quantitative description of the objective influence on the pipeline network facilities depending on the environment space in the pipeline network space is formed by the actual interaction in the local space.
Step 500: and obtaining subjective situation description of the entity resource according to the design feature description, and evaluating the running state and state trend of the entity resource according to the objective situation description and the subjective situation description.
The method is characterized in that the design feature description is utilized to realize the positioning of the local space entity resources, and the situation (vector quantization) vector description in the determined local space is used as the subjective situation description through the positioning of the pipe network sensor system which can be obtained through the existing monitoring means to form the operation data. The subjective situation description forms the autonomous state expression of the pipe network, the inherent qualitative description of the pipe network state, the objective situation description forms the objective state expression of the pipe network, the external quantitative description of the pipe network state, and further the objective reflected running state and state trend prediction are formed.
The intelligent gas pipe network inspection method fully utilizes the design resources of the existing pipe network system to form rich subjective description dimensions of entity resource bodies of the pipe network system, and simultaneously utilizes the inspection means to obtain the physical properties of the entity resources and the rich objective description dimensions of the environment properties corresponding to the subjective description dimensions in the objective environment. And further, subjective situation description based on pipe network system operation data and objective situation description based on objective environment expression data are formed, evaluation is made from the objective situation and the objective situation to objectively describe the pipe network operation state according to the correlation of different data dimensions of the objective situation and the subjective situation, so that the pipe network state prediction is realized, and the intrinsic safety level of the gas enterprise is improved. The description dimension obtained by fusing the design features, the patrol site physical features and the patrol environment features of the pipe network system can identify and analyze specific patrol scenes such as environment abnormality, construction abnormality, pipe network state and the like above the pipeline from the perspective of complete environment space, and form three-dimensional identification and analysis on specific intrusion events such as dead tree occupying collapse, excavation, enclosure and the like. Accurate analysis and trend prediction can be effectively performed on the on-site situation of the leakage event.
The design characteristic description in the intelligent inspection method of the gas pipe network in an embodiment of the invention is shown in fig. 2. In fig. 2, the design feature description forming includes:
step 110: and determining a basic segmentation dimension according to the design resource, and establishing a local space segmentation base point of the riser network space according to the basic segmentation dimension.
Those skilled in the art will appreciate that the design resources may faithfully reflect the performance, structure, and assembly relationships of the network's overall and localized deployment facilities, including, but not limited to, the engineering drawings and data sets of as-built and as-built materials during network construction, as well as the data sets of network modification and repair materials during operation and maintenance.
Determining the base segmentation dimension includes:
forming a facility logic layer according to the physical structure of the pipe network; such as a low pressure pipeline layout logic layer, a low pressure valve body layout logic layer, a medium pressure pipeline layout logic layer, a medium pressure valve body layout logic layer, a sub-high pressure pipeline layout logic layer, a sub-high pressure valve body layout logic layer, and the like.
Establishing the local spatial segmentation base points comprises:
establishing the layout gravity center of each facility logic layer; the layout gravity center is formed according to the pipe network scale and density, and at least one facility logic layer exists.
And determining the geographical position distribution of the layout gravity centers of all facility logic layers, clustering according to the geographical distance characteristics to form a clustering center, and taking the geographical positions of the clustering center as local space segmentation base points.
Step 120: and forming a segmentation scale in a single basic segmentation dimension in the pipe network space according to the local space segmentation base points, and forming a single local space in the single basic segmentation dimension and a corresponding single design characteristic description.
The local space division base points have determined coordinates in the pipe network space. The segmentation scale within a single underlying segmentation dimension (i.e., facility logic layer) may be determined based on device density, coverage scale, or application level. The single local space formed by each single base split dimension is typically not equal.
The design resources are partitioned according to a determined coordinate range (including a three-dimensional or two-dimensional spatial range) of the single local space, forming a design feature description of the determined facility in each single local space in a single fundamental partitioned dimension.
Step 130: and establishing the correlation degree and the inclusion degree between single local spaces among the single basic segmentation dimensions, establishing the spatial local features of the entity resources in the local spaces according to the correlation degree and the inclusion degree, and forming the design feature description of the entity resources according to the spatial local features and the design feature description.
The determination of the degree of correlation is determined based on whether the corresponding design resource contains a signal or medium transfer relationship. The determination of inclusion is determined from the overlapping of the coordinate ranges of the single local space.
And forming a local space by the single local space related to and contained by the correlation and the inclusion strategy according to the correlation and the inclusion strategy, and describing the design characteristics of the single local space related to and contained by the correlation as spatial local characteristics and design characteristic descriptions related to the establishment of the physical resources in the local space.
The intelligent gas pipe network inspection method of the embodiment of the invention utilizes the logic layering of pipe network system facilities to form basic dimensions and forms gateway space separation base points through clustering, and the formed local space combines the spatial characteristics of the entity resources with the design characteristics, thus reconstructing basic constitution units of the pipe network system and basic description dimensions of the basic constitution units. The method gets rid of the rule of finite description dimension of the existing pipe network system, so that the design resources, the environment reality space and the facility reality physical characteristics form the associated mapping, and the method is favorable for forming rich facility description dimension. .
The continuous sampling process in the intelligent inspection method of the gas pipe network in an embodiment of the invention is shown in fig. 3. In fig. 3, the morphology characterization formation continuous sampling process includes:
Step 210: and forming continuous outlines of the entity resources in the local space according to the design feature description of the entity resources.
The physical resources of the local space have design feature descriptions related to the spatial features, and local morphological features and local structural features of the physical resources can be determined. The continuous outline of the entity resource is established according to the local structural characteristics, so that the position coordinates or projection coordinates of the continuous outline of the adjacent local space can be formed, and the routing inspection route can be formed according to the routing inspection strategy and the avoidance strategy according to the position coordinates.
The patrol strategy and the avoidance strategy can form a patrol route of the navigation autonomous driving system according to the coordinate information and the space information of the continuous outline. The inspection strategy comprises an inspection route shortest travel judgment process in the continuous local space or an inspection route maximum projection area judgment process meeting the continuous contour in the continuous local space. The avoidance maneuver includes a possible blocking decision process for the patrol route for successive contours in successive local spaces.
Step 220: and describing physical type features and corresponding constraint type features forming continuous outlines according to design features of the entity resources.
The design feature description includes physical type characteristics of the entity resource, such as pressure-bearing metrics, type of containment media, or operating standard range, etc., that may be built. Correspondingly, the constraint type corresponding to the physical type can also determine the constraint type characteristics such as the structural change range, the storage medium leakage index and the like which can construct the physical resource, namely, the physical characteristics which effectively describe the failure or standard of the physical resource, such as the temperature characteristics of the pressure leakage of the determined pipeline at the determined position in the continuous profile.
Step 230: and forming morphological feature description by using the sampling constraint type feature data of the inspection robot carrying sensor.
Those skilled in the art will appreciate that the inspection robot carries the proprietary sensors necessary in the art as needed. And (3) carrying out signal acquisition on the continuous contour in the local space along the routing plan by utilizing the routing inspection robot, and acquiring data reflecting the constraint type characteristics and part of physical type characteristics.
According to the intelligent gas pipe network routing inspection method, routing inspection route and signal acquisition processes are formed according to the characteristics of the physical resources in the local space, so that real environment feedback is realized aiming at the constraint type characteristics of the physical resources in the local space. Real-time field data is provided while new real-world morphological description dimensions are provided for pipe network facilities. The formation of the morphological feature description can be carried out by adopting the distribution implementation of a plurality of inspection robots, and the instantaneity and the acquisition feedback efficiency can be ensured.
As shown in fig. 3, in an embodiment of the present invention, the continuous sampling process formed by the environmental profile includes:
step 310: and forming an environment space corresponding to the continuous outline of the entity resource in the local space according to the design characteristic description of the entity resource.
The coordinate space of the continuous contour can be determined based on the design feature description, and corresponding determination description data of the environment space can be formed according to the available Geographic Information System (GIS) geographic information.
Step 320: at least three levels of security state descriptions of the infringement type features and infringement type features in the environmental space are formed from the design feature descriptions of the entity resources.
The design feature description can determine the type of attack on the physical resource, and form the feature of the attack type in the environmental space, such as occupation, extrusion, suspension, high-temperature or low-temperature, and the like, according to the type of attack. The security state description establishes a secondary feature description of the infringement type feature based on the inter-feature dependency probability of the existing physical feature of the entity resource in the local space and the infringement type feature in the environmental space.
Step 330: and (3) sampling by using sensors carried by the inspection robot according to the safety state description to form quantitative collection of infringement type features in different scale areas, and forming environmental feature description of an environmental space according to the quantitative collection of different safety state descriptions.
The security state description forms the basic control strategy for signal sampling actions on the ambient space. According to the safety state description, the sampling scale and sampling area of a sensor carried by the inspection robot are adjusted in the sampling process, the characteristic signals of the infringement type are collected, and the environmental characteristic description of an environmental space is formed along with the adjustment of the sampling scale and sampling area of the sensor.
According to the intelligent gas pipe network inspection method, an environmental space acquisition process is formed according to the characteristics of the entity resources in the local space, quantitative acquisition of the characteristics of the infringement types of the entity resources in the local space is guaranteed, and real environment reflection is achieved. And providing the new real form description dimension for the pipe network facilities and the real data.
The objective situation description forming process in the intelligent gas pipe network inspection method according to the embodiment of the invention is shown in fig. 4. In fig. 4, the objective situation description forming process includes:
step 410: and establishing a local spatial structure characteristic map of the pipe network according to the physical type characteristic and the spatial local characteristic described by the physical resource design characteristic.
And utilizing the partial spaces to form the non-equal ratio downsampling of the pipe network so that each partial space has the same or different map pixel occupation to reduce the data volume of data processing for the whole pipe network. The local space obtains relative position coordinates according to the local space features, and the physical type features are vectorized and normalized, so that each local space has corresponding structural features. Structural features include, but are not limited to, describable morphological combination features and non-describable morphological combination features.
Step 420: and establishing a local space threat characteristic map of the pipe network according to the constraint type characteristic in the morphological characteristic description and the invasion type characteristic of the environmental space in the environmental characteristic description.
And carrying out vectorization and normalization according to the constraint type characteristics of the continuous contour and the infringement type characteristics of the corresponding environment space by utilizing the relevance of the entity resources and the local space according to the resolution of the local space structure characteristic map, so that the continuous contour of each entity resource has negative factor characteristics. Negative factor features include, but are not limited to, describable morphological combination features and non-describable morphological combination features.
Step 430: and overlapping the local space structure characteristic spectrum and the local space threat characteristic spectrum to form a time sequence objective situation description of the local space.
By means of the correspondence of the partial spaces, the negative factor features of the continuous contours and the structural features of the partial spaces are superimposed, so that the determined description of the partial spaces has structural features and negative factor features.
According to the intelligent gas pipe network inspection method, the local space is utilized to conduct downsampling treatment on the gas pipe network, the non-equal local space is used as map pixels to form a characteristic map of the gas pipe network, and the treatment efficiency of the pipe network characteristics is improved. Meanwhile, the local space structural features and the negative factor features are endowed, so that the local details of the gas pipe network can form time sequence objective situation description through the changes of the structural features and the negative factor features, and the visual expression of the change of the real environment along the inspection route in the continuous sampling process on site is realized.
The evaluation process in the intelligent inspection method of the gas pipe network in an embodiment of the invention is shown in fig. 5. In fig. 5, evaluating the operational status of an entity resource includes:
step 510: and forming subjective situation description characteristic dimensions of the entity resources according to the production operation data.
Those skilled in the art will appreciate that the production run data is formed internally of the gas pipe network system.
Decomposing the production operation data in a data forming process to determine an intermediate data forming position; and determining the entity resource according to the formed position, and describing the characteristic dimension by taking the intermediate data as the subjective situation of the entity resource.
Step 520: and extracting corresponding state description characteristic dimension data from objective state description according to the subjective state description characteristic dimension, determining time sequence offset quantification, and forming the running state of the entity resource through the time sequence offset quantification.
Those skilled in the art will appreciate that both subjective and objective situational descriptions are directed to physical resources in a local space. The characteristic dimension of the entity resource in the subjective situation description is matched with situation description characteristic dimension data in the objective situation description of the local space, and the time sequence offset quantification of the entity resource structural characteristic or the local space threat characteristic data is extracted;
And determining the running state of the specific entity resource through time sequence offset quantization.
According to the intelligent gas pipe network inspection method, subjective feature dimensions of entity resources of a gas pipe network system are matched with objective situation description feature dimensions, the operation state of the entity resources is quantitatively evaluated by utilizing time sequence differences of objective situation description, the operation state of the gas pipe network is reflected by utilizing objective data, and mutual verification between the subjective dimensions and the objective dimensions is achieved.
As shown in fig. 5, in an embodiment of the present invention, evaluating status trends of entity resources includes:
step 530: and forming a past state trend according to the running state of the entity resource.
And forming a past operation safety state trend by using different time scales quantified by time sequence deviation, and using the past operation safety state trend as reference data for describing the characteristic dimension change trend by using the subjective situation of the entity resource.
Step 540: and establishing objective situation description simulation parameters according to the past state trend to realize state trend prediction.
Establishing simulation initial values of different time long scales in a simulation process by utilizing the previous operation safety state trend;
and selecting a corresponding simulation initial value according to the subjective situation description characteristic dimension change trend of the entity resource.
The intelligent gas pipe network inspection method provided by the embodiment of the invention forms an objective operation state by utilizing the past time sequence of the operation state, describes simulation parameters by utilizing the deviation of the objective operation state and the subjective operation state as the objective situation of the state trend, and provides a simulation basis of the subjective and objective operation state trend.
The intelligent inspection system of the gas pipe network in one embodiment of the invention comprises:
the memory is used for storing the program codes, the sampling data and the formed intermediate data processed by the Cheng Duiying intelligent inspection method of the gas pipe network in the embodiment;
and the processor is used for running the program codes processed by the Cheng Duiying intelligent inspection method of the gas pipe network.
The intelligent inspection system of the gas pipe network in one embodiment of the invention comprises:
and the inspection robot is used for continuously sampling physical attributes and environmental attributes of entity resources in the local space on the inspection route.
Those skilled in the art will appreciate that the inspection robot body utilizes existing electromechanical integration techniques and electromechanical control strategies, while utilizing the global satellite navigation system (NGSS) to form the inspection robot body positioning. The entity resources include, but are not limited to, pipeline resources and environmental resources associated with the pipeline. The entity resource is sensed and sampled by a professional sensor carried by the inspection robot body. The persistent sampling is based on a routing inspection route which comprises specific routing lines with overall trend and local random routing lines with local space uncertainty and formed by triggering of environment.
The pipe network operation situation assessment system is used for forming a processing process of overall objective situation description of the pipe network environment space according to the local morphological feature description and the environment feature description formed by continuous sampling; and evaluating the running state and the state trend of the entity resource according to the acquired design feature description, subjective situation description and objective situation description.
Those skilled in the art will appreciate that the pipe network operational situation assessment system is based on a computer system comprising a memory, a processor, and a communication port, wherein:
the memory is used for storing the program codes, the sampling data and the formed intermediate data corresponding to the processing process;
a processor for running program codes corresponding to the respective processing procedures;
and the communication port is used for receiving the sampled data and forming data exchange among the processing procedures.
The operation processing process includes, but is not limited to, the processing process of the intelligent inspection method of the gas pipe network in the embodiment. Communication ports include, but are not limited to, physical ports for data transmission and virtual ports for data exchange. Processors and memory include, but are not limited to, a centralized or distributed deployment.
The intelligent inspection system for the gas pipe network can form a concurrent inspection route based on the whole network planning of the pipe network by utilizing the inspection robot, acquire the sampling data with rich dimensions formed by a plurality of types of sensors in the shortest time sequence period, enrich the data dimensions for the basic data processing process and the complex flow processing process, and provide high-quality data. The overall evaluation of the physical resources of the gas pipe network by the processing procedures of morphological characteristic description, environmental characteristic description, objective situation description, design characteristic description and subjective situation description and the processing procedures of the external running state and running state trend formed by data exchange among the processing procedures ensures the real-time feedback accuracy of the intrinsic safety level in the online process of the gas pipe network and provides remote sensing prediction capability for coping with sudden natural disasters, emergency faults and potential environmental hazards.
The inspection robot of the intelligent inspection system of the gas pipe network in one embodiment of the invention is shown in fig. 6. In fig. 6, the inspection robot includes:
and the walking mechanism 111 is used for forming a body displacement track in a controlled manner.
The height adjustment mechanism 112 is used to controllably adjust the relative height of the fixed position of the sensor complex layout mechanism.
The horizontal angle adjusting mechanism 113 is used for adjusting the horizontal direction of the comprehensive sensor layout mechanism in a controlled manner.
The pitching angle adjustment mechanism 114 is used for fixing the sensor integrated layout mechanism and controlling and adjusting pitching direction of the sensor integrated layout mechanism.
It will be appreciated by those skilled in the art that the body carries or houses a payload for performing the inspection sampling, the payload including, but not limited to, an electromechanical structure for actuation, an energy storage structure for providing energy, and a collection of sensors for collecting physical signals, etc. The displacement track takes the absolute position of the routing inspection route as a reference standard. Those skilled in the art will appreciate that the adjustment process for each of the height adjustment, horizontal angle adjustment and pitch angle adjustment mechanisms is subject to overall controlled logic.
The sensor integration layout mechanism 115 is used for controllably adjusting the sensor projection spacing of the acquisition matrix formed by the sensors in the coronal plane and the sensor projection spacing in the sagittal plane.
The comprehensive sensor layout mechanism forms a layout space of the professional sensor, and forms layout space change of the layout space in the coronal plane and sagittal plane directions and interval change of the professional sensor. Such a variation necessarily results in a corresponding regular variation of the signal acquisition focus.
According to the intelligent gas pipe network inspection system, the existing robot is fully utilized to bear the professional sensor load and the general sensor load through the inspection robot, basic track control and action control aiming at the inspection route are formed, and a distributed acquisition deployment framework of a pipe network environment can be effectively formed. The special sensors are matrixed through the comprehensive sensor layout mechanism to form the variable parameters of the sensor matrix, so that the acquisition focus, range and resolution of the physical signals can be controlled to be orderly changed, and a signal sampling mechanism for identifying complex dimensions of a pipe network and a pipe network environment is realized. Meanwhile, the intelligent inspection equipment aims at the non-occupied main road running, and the technical purposes of off-line signal acquisition precision and compliance vehicle-mounted are achieved.
As shown in FIG. 6, in one embodiment of the invention, the sensor integration layout mechanism 115 comprises:
the linkage electromechanical accommodating cylinder 116 is used for providing a fixed position with the adjusting mechanism, providing an accommodating space and a wiring space of a power line and a signal line of the sensor and a linkage adjusting structure, and accommodating the linkage adjusting structure for controlling the sensor to bear the link arm.
The fixed position with the adjusting mechanism is usually arranged at the symmetrical point of the side wall perpendicular to the axis of the accommodating cylinder. The containment drum maintains rigidity while maintaining volume. The wiring space comprises, but is not limited to, a through hole on the side wall of the accommodating cylinder body for intercommunication and fixing structures such as a buckle, a clamping tenon, a limiting groove, a limiting column, a supporting frame and the like inside and outside the side wall of the accommodating cylinder body.
The end fitting flange 117 is used for providing an electrical connection port and a fixed fitting structure of the sensor at one end of the linkage electromechanical accommodation cylinder.
The end fitting flange body is provided with an electrical connection port and a fixed fitting structure which are required by a fixed type sensor, and the end fitting flange body is provided with a through hole, an adapting interface or a port which are communicated with the accommodating space and the wiring space of the linkage electromechanical accommodating cylinder.
The sensor-bearing link arm 118 is movably connected with the linkage electromechanical accommodation cylinder, is controlled to retract and extend around the linkage electromechanical accommodation cylinder, provides an electrical connection port and a fixed adaptation structure of the flexible type sensor, and is controlled to change the pointing angle of the fixed adaptation structure.
One sensor bearing link arm is correspondingly fixed with a group of professional sensors (comprising at least one professional sensor of physical signals), and initial acquisition matrixes for determining the types and the between types of the physical signals are formed among the groups of professional sensors according to sampling requirements. The collapsing action includes a synchronous action of each sensor carrying a link arm. The fixed fitting structure comprises a controlled jog structure.
The intelligent gas pipe network inspection system provided by the embodiment of the invention is matched with the height, horizontal angle and pitching angle adjusting mechanism through the comprehensive sensor layout mechanism, on the basis of determining the sensor space point coordinates by the existing positioning technology, the point coordinates are used as reference standards, a flexible layout structure is provided for a sensor matrix forming a follow-up reference standard, the flexibility of the sensor matrix in changing the volume, sampling focus and sampling density of a sampling space is formed, and the requirement on the diversity of sampling dimensions in the pipe network operation situation evaluation process is met. The continuous sampling requirement in the intelligent inspection method of the gas pipe network can be formed.
The sensor comprehensive arrangement mechanism of the inspection robot of the intelligent inspection system of the gas pipe network is partially shown in fig. 7. In fig. 7, the sensor carrier link arm 118 includes a hollow rectangular box 121 and a pair of stationary follower rings 122. The rectangular box 121 forms a fixed end face 123 and an extended end face 124 along the length extending direction, and includes a relatively attaching end face 125 and a supporting end face 126 between the fixed end face 123 and the extended end face 124, the attaching end face 125 attaches to the linkage electromechanical accommodation cylinder 116, and the supporting end face 126 supports a fixed adapting structure. The fixed follow-up rings 122 are coaxial, the axis of the fixed follow-up rings 122 is perpendicular to the length extending direction of the rectangular box body 121, the rectangular box body 121 is fixed between the fixed follow-up rings 122, the intersecting part formed by the fixed end face and the attaching end face of the rectangular box body 121 forms an adapting cambered surface 127, the radius and the circle center of the adapting cambered surface 127 are identical to those of the inner ring of the fixed follow-up rings 122, and the radian of the adapting cambered surface 127 is smaller than 90 degrees. The connection part of the rectangular box body 121 and the fixed follower ring 122 is provided with a through hole. The radian of the adaptation cambered surface 127 is taken and is decided, so that the sensor bearing link arm 118 can be guaranteed to be attached to the linkage electromechanical accommodating cylinder 116 when being contracted, at least 90 degrees can be achieved when the sensor bearing link arm is unfolded, and meanwhile, the fixed rotating shaft for fixing the follow-up ring 122 is located in the side wall of the linkage electromechanical accommodating cylinder 116, and the accommodating space of the accommodating cylinder is fully utilized.
The support end face 126 is provided with a group of fixing and adapting structures 130 along the length extending direction, the fixing and adapting structures 130 comprise hollow triangular prisms, the length extending direction of each triangular prism is perpendicular to the length extending direction of the rectangular box body 121, each triangular prism comprises a positioning end face 131, a fixing structure (formed by the aid of the existing fixing structure) is formed on the positioning end face 131, the positioning end face 131 and the support end face 126 of the rectangular box body 121 form an included angle of 5-15 degrees, the positioning end face 131 faces the extending end face 124, and through holes are formed between each triangular prism and the rectangular box body 121. The included angle between the positioning end face 131 and the supporting end face 126 of the rectangular box body 121 is selected to meet the requirement that the sampling focal points of the professional sensors of the same type carried by the supporting end faces 126 have the outward dispersion property in the unfolding-shrinking rotation process of the sensor carrying link arms 118, so that a wider overall range can be sampled, and the continuous sampling of the environment space with three-dimensional attributes is facilitated. Physical signals in the three-dimensional environment space around the primary acquisition focus position as detailed as possible can be obtained on the same acquisition time sequence node, and the acquisition of more accurate multi-dimensional acquisition information is facilitated.
As shown in fig. 7, in an embodiment of the present invention, the positioning end surface 131 of the fixing and adapting structure 130 is made of a bimetal 132, and a controlled thermal resistor (not shown in the drawing) is disposed in the hollow cavity of the triangular prism. The fixed adapter structure 130 ensures the definite micro-adjustment of the sampling focus of the carried professional sensor of the same type during the rotation process of the expansion-contraction of the sensor carrying link arm 118, and can adapt to the adjustment of the sampling range of the three-dimensional environment around the primary acquisition focus position during the expansion-expansion in place process. The basic range of the three-dimensional environmental space around the focal point location during deployment can be determined by configuring the specialized sensor locations on the sensor-carrying link arm 118, and the basic range of the three-dimensional environmental space can be changed by fine-tuning of the fixed adapter structure 130 to account for occlusion, extension, or open-loop sampling requirements in the environmental space.
As shown in fig. 7, in an embodiment of the present invention, the fixed distance between adjacent fixed adapting structures is gradually increased along the length extending direction, and the fixed height of the adjacent fixed adapting structures is gradually increased. The gradual change of the fixed adapting structure can enlarge the installation adaptability and the included angle consistency of the professional sensor, and improve shielding and interference caused by insufficient sampling intervals in the continuous assembly of the sensor with the continuous fixed adapting structure.
As shown in fig. 7, in an embodiment of the present invention, a reverse fixing and adapting structure 133 is disposed between the end of a set of fixing and adapting structures 130 and the extending end surface 124 of the rectangular box 121 along the length extending direction, the reverse fixing and adapting structure 133 includes a hollow triangular prism, the length extending direction of the triangular prism is perpendicular to the length extending direction of the rectangular box 121, the triangular prism includes a reverse positioning end surface 134, a fixing structure (the fixing structure is formed by using the existing fixing structure) is formed on the reverse positioning end surface 134, an included angle of 15 to 25 degrees is formed between the reverse positioning end surface 134 and the supporting end surface 126 of the rectangular box 121, the reverse positioning end surface 134 faces the direction of the fixing end surface 123, and a via hole is formed between the triangular prism and the rectangular box 121. The inverse fixed adapter structure 133 ensures that the maximum sampling interval edge of the sensor coronal plane projection provides a technical means of sampling signal density enhancement in the sampling interval. The signal sampling of the determined range of the periphery of the main sampling focus is ensured to be effectively reinforced by the edge-most sensor, and the possibility of differential signal acquisition is provided for the periphery of the main sampling focus.
As shown in fig. 7, in an embodiment of the present invention, the positioning end surface 131 of the fixing adaptor structure 130 is made of a bimetal material, and a controlled thermal resistor (not shown in the drawing) is disposed in the hollow cavity of the triangular prism.
The sensor comprehensive arrangement mechanism of the inspection robot of the intelligent inspection system of the gas pipe network is partially shown in fig. 8. In fig. 8, the sensor-bearing link arm 118 includes a tension pivot 140, movably coupled to the linkage electromechanical receiving cylinder sidewall by the tension pivot 140. The tension rotating shaft 140 comprises a rotating shaft main body 141 and a pair of supporting protrusions 142, the rotating shaft main body 141 is a cylinder, an annular groove 143 is formed in the middle of the side wall of the rotating shaft main body 141 along the circumferential direction, and symmetrical fixedly connected end faces 144 are formed on the side walls of the rotating shaft main body 141 on two sides of the annular groove 143. The supporting protrusions 142 are symmetrically and fixedly connected to two top ends of the rotating shaft main body 141, and the supporting protrusions 142 are coaxial with the rotating shaft main body 141 and are provided with through holes along the axis. The tension shaft 140 is rotatably fixed to a fixing frame inside the opening of the sidewall of the linkage electromechanical accommodation cylinder 116 through a supporting protrusion 142, and the fixing frame adopts a necessary existing fixing structure to make the axis of the tension shaft 140 perpendicular to the axis of the linkage electromechanical accommodation cylinder 116. The tension shaft 140 is adapted and fixed to the inner ring of the fixed follower ring 122 of the sensor-carrying link arm 118 through the fastening end surface 144, so that the extending direction of the sensor-carrying link arm 118 may be parallel to or perpendicular to or over-perpendicular to the axis of the linkage electromechanical accommodation cylinder 116. By encircling the power belt 161 over the annular groove 143 of the tension shaft 140, the sensor-carrying link arm 118 is formed to provide a source of power signal for both rotational and stationary motion. The tension shafts 140 are circumferentially disposed along the side wall of the linkage electromechanical receiving cylinder in one-to-one correspondence with the sensor load-bearing link arms 118.
The sensor comprehensive arrangement mechanism part of the inspection robot of the intelligent inspection system of the gas pipe network is shown in fig. 9. In fig. 9, the linkage electromechanical containment cylinder 116 includes a containment cylinder 150 and a linkage adjustment structure 160, a deployment power device 175, and a retraction power device 176 built into the containment cylinder 150. The contraction power device 176 comprises a servo motor 177 with a locking function, a screw rod 178, a screw rod pair 179 and a sliding rotary table 180, wherein an output shaft of the servo motor 177 is coaxial with the screw rod 178, the screw rod pair 179 and the sliding rotary table 180, the screw rod 178 is fixedly connected to the output shaft of the servo motor 177, the screw rod pair 179 is fixed to the center of the sliding rotary table 180, the screw rod pair 179 moves along the screw rod 178, and the sliding rotary table 180 is kept relatively stationary under the traction of a lead. The sliding turntable 180 may employ bearings or rotating bushings.
The deployment power device 175 and the retraction power device 176 are structurally equally spaced and coaxial with the containment drum 150, with the retraction power device 176 being located between the deployment power device 175 and the distal end of the containment drum 150. The servo motor 177 of the expanding power device 175 and the contracting power device 176 are fixedly connected to the inner side wall of the accommodating cylinder 150 by a fixed frame.
The linkage adjustment structures 160 are in one-to-one correspondence with the sensor-carrying link arms 118. The sensor bearing link arms 118 are uniformly distributed along the circumferential direction of the linkage electromechanical accommodation cylinder 116, the extending direction of the sensor bearing link arms 118 is consistent with the extending direction of the linkage electromechanical accommodation cylinder 116, and the component structure distribution direction of the linkage adjusting structure 160 is consistent with the extending direction of the linkage electromechanical accommodation cylinder 116.
The linkage adjustment structure 160 includes a power belt 161, a first restraining shaft 162 at the belt contraction end, a second restraining shaft 163 at the belt contraction end, and a restraining shaft 164 at the belt expansion end, the axes of which are parallel to the axis of the tension shaft 140 and are rotatably fixed in the accommodating cylinder 150. Each shaft may be formed by a rotating sleeve or a small-sized bearing commonly used in the art.
The first constraint rotating shaft 162 at the belt shrinkage end, the second constraint rotating shaft 163 at the belt shrinkage end and the second constraint rotating shaft 164 at the belt expansion end are arranged in a triangular vertex, the first constraint rotating shaft 162 at the belt shrinkage end is positioned between the tension rotating shaft 140 and the second constraint rotating shaft 163 at the belt shrinkage end, the connecting line of the projection points of the axes of the tension rotating shaft 140 and the second constraint rotating shaft 163 at the belt shrinkage end is positioned at one side far away from the side wall of the accommodating cylinder 150, and the connecting line of the projection points of the axes of the first constraint rotating shaft 162 at the belt shrinkage end and the second constraint rotating shaft 163 at the belt expansion end is positioned at one side far away from the side wall of the accommodating cylinder 150.
The power belt 161 comprises a belt shrinkage end and a belt unfolding end, the power belt 161 is semi-looped around the annular groove 143 of the tension rotating shaft 140, the belt shrinkage end is separated from the annular groove 143 and then penetrates through the side, away from the side wall of the accommodating cylinder 150, of the first constraint rotating shaft 162 of the belt shrinkage end and the side, close to the side wall of the accommodating cylinder 150, of the second constraint rotating shaft 163 of the belt shrinkage end, and the belt unfolding end is separated from the annular groove 143 and then penetrates through the side, close to the side wall of the accommodating cylinder 150, of the constraint rotating shaft 164 of the belt unfolding end. The power belt 161 passing through the belt-retracting-end first restraining shaft 162, the belt-retracting-end second restraining shaft 163, and the belt-expanding-end restraining shaft 164 is partially out of contact.
In one embodiment of the invention, the belt retracting end and the belt extending end are spaced 15 to 45 arc degrees apart from the position of the annular groove 143. The arc length of the interval ensures the contact area between the power belt 161 and the tension rotating shaft 140, ensures that the texture matching of the contact surface and the contact surface can form huge static friction force, and ensures that the tension rotating shaft 140 follows the power belt 161. At the same time, the smaller arc length ensures that the triangular vertex arrangement formed by the restraining shaft is easier to form more extreme turning angles of the contraction end belt and the expansion end belt, and improves the power conduction of the expansion power device 175 and the contraction power device 176.
In one embodiment of the present invention, the power belt partially encircling the belt-retracting-end restraining shaft 164 has an obtuse angle of deployment (formed by the shaft 164 and the power belt) and is directed toward the axis of the accommodating cylinder 150, the power belt partially encircling the belt-retracting-end second restraining shaft 163 has an obtuse angle of deployment and is directed toward the axis of the accommodating cylinder 150, and the power belt partially encircling the belt-retracting-end first restraining shaft 162 has an acute angle of deployment and is directed toward the side wall of the accommodating cylinder 150.
The linkage adjustment structure 160 further comprises a distance guiding rotating shaft 171, a restraining traction wire 172 and a deployment traction wire 173, wherein one end of the deployment traction wire 173 is fixedly connected with the belt deployment end of the power belt 161, and the other end of the belt deployment end of the deployment traction wire 173 is fixedly connected to the side wall of the sliding turntable 180 of the deployment power device 175. The distance guiding rotating shaft 171 is arranged on the inner side wall of the accommodating cylinder 150 corresponding to the servo motor 177 of the expanding power device 175, one end of the restraining traction wire 172 is fixedly connected with the belt shrinkage end of the power belt 161, and the other end of the restraining traction wire passes through one side of the distance guiding rotating shaft 171 close to the inner side wall of the accommodating cylinder 150 and is fixedly connected with the side wall of the sliding rotary disc 180 of the contracting power device 176.
The output of the unwind power device 175 and the retract power device 176 pull the unwind and retract ends of the power belt 161, respectively, to form a static friction force that the power belt tightens around the tension shaft 140. By adjusting the angular velocity difference and the angular velocity constant value when the two power transpositions rotate synchronously, the sensor load and the expansion-contraction rate of the sensor carrying link arm 118 can be flexibly adapted, and the sensor matrix adjustment of the professional sensor carrying requirements and the sensor sampling process can be fully adapted.
As shown in fig. 9, in an embodiment of the present invention, the present invention further includes a beam collar 174, where the beam collar 174 is a ring, and bearings or rotating sleeves are uniformly distributed on the ring, and the ring is fixedly connected to the inner side wall of the accommodating cylinder 150 through a fixing bracket. The deployment traction wire 173 of each linkage adjustment structure 160 passes through the inner race of the cinch ring beam 174 and then approaches the axis of the containment drum 150 such that the wire portions passing through the cinch ring beam 174 tend to be parallel. The converging collar beam 174 is simultaneously aligned with the triangular vertices formed by each set of constraining shafts to form more extreme turning angles, which increases the power transfer between the expanding power device 175 and the contracting power device 176 while reducing the complexity of the conductive structure portion of the contracting power device 176.
As shown in fig. 9, in an embodiment of the present invention, the present invention further includes a balancing rail 181, a balancing block 182, a front traction rotating shaft 183, and a rear traction rotating shaft 184, and the end sidewall of the accommodating cylinder 150 is circumferentially expanded in a direction perpendicular to the axis, so that an annular balancing space 185 is formed, and the balancing space 185 surrounds the shrink power device 176. The trimming guide rail 181 is parallel to the axis of the accommodating cylinder 150, the trimming guide rail 181 is uniformly arranged in the annular trimming space 185, the trimming guide rail 181 is provided with a slidable trimming block 182, a front traction rotating shaft 183 and a rear traction rotating shaft 184 are respectively arranged on two sides of the trimming block 182 along the trimming guide rail 181, a front traction lead and a rear traction lead are arranged, one end of the front traction lead is fixedly connected to the side wall of the sliding turntable 180 of the shrinkage power device 176 after the other end of the front traction lead surrounds the front traction rotating shaft 183, and one end of the rear traction lead is fixedly connected to the side wall of the sliding turntable 180 of the shrinkage power device 176 after the other end of the rear traction lead surrounds the rear traction rotating shaft 184.
The balancing structure formed by the balancing blocks 182 can be fully adapted to unbalanced moment formed on the supporting rotating shaft when the sensor bearing link arm 118 carries larger sensor load to carry out expanding-contracting actions, and the rotation load of the output shaft of the pitching angle adjusting mechanism is effectively improved.
In an embodiment of the invention, a professional sensor sampling layout scheme of the intelligent inspection robot is formed according to the signal sampling requirement of the environment space. A laser output light path and an optical signal receiving lens of the targeted laser methane detector are arranged in the center of the end fitting flange body 117, and meanwhile, a visible light camera is arranged on one side of the laser output light path, and an infrared camera is arranged on the opposite side of the laser output light path. The visible light camera and the infrared camera are utilized to form an environmental signal acquisition focus of the sensor comprehensive layout mechanism 115.
Two groups of long and short sensor bearing link arms 118 are arranged around the linkage electromechanical accommodating cylinder 116, each group comprises 3 sensor bearing link arms 118, the two groups of sensor bearing link arms 118 are uniformly arranged at intervals, the long sensor bearing link arm 118 comprises six sequential positioning end faces 131 and one tail end reverse positioning end face 134, the short sensor bearing link arm 118 comprises three sequential positioning end faces 131 and one tail end reverse positioning end face 134, the spacing between the positioning end faces 131 of the (same and different) sensor bearing link arms 118 is identical, and the spacing between the reverse positioning end faces 134 on the (different) sensor bearing link arms 118 is identical to the spacing between the adjacent positioning end faces 131.
With the fixed follower ring 122 as the starting end, an infrared focal plane temperature sensor is fixed on the second positioning end surface 131 on the short set of sensor-bearing link arms 118, and an infrared focal plane temperature sensor is fixed on the sixth positioning end surface 131 on the long set of sensor-bearing link arms 118. And acquiring wider temperature change information in the environment space and temperature change in the environment space along the axial direction of the sensor bearing link arm through the distribution arrangement of the sensors along the axial direction of the sensor bearing link arm.
The visible light camera is fixed on the fifth positioning end surface 131 on the long group sensor-carrying link arm 118, and the visible light camera is fixed on the first positioning end surface 131 on the short group sensor-carrying link arm 118. And forming a visual angle part by utilizing the visual angles of the cameras, collecting complete video information in the environment space, and forming a stereoscopic vision characteristic of multiple description dimensions by utilizing parallax produced among the cameras.
The laser rangefinder is mounted on the long set of sensor-carrying link arms 118 on the first locating end face 131 and on the opposite locating end face 134. The upward opposite characteristic of the re-acquisition mode of the laser range finder ensures that distance signals in a wider acquisition view angle are synchronously obtained when the sensor bearing link arm is opened and closed.
A laser distance meter is fixed to the third positioning end surface 131 on the short sensor carrier link arm 118. Matching of the resulting near field measurement accuracy and the original measurement accuracy on the long set of sensor-bearing link arms 118 is combined.
The leak gas detection sensor is fixed to the fourth positioning end surface 131 on the long group sensor-carrying link arm 118, and the leak gas detection sensor is fixed to the reverse positioning end surface 134 on the short group sensor-carrying link arm 118. The detection sensor can select a gas concentration detection type, and the sensor is used for carrying the concentration gradient detection along the axial direction or the radial direction by opening and closing the link arm 118.
A light supplementing lamp is fixed on the second positioning end face 131 and an infrared camera is fixed on the third positioning end face 131 on the long group of sensor bearing link arms 118. The infrared camera and the light supplementing lamp ensure the definition of view finding and the image synthesizing precision under low illumination.
Through the sensor layout structure, a gas leakage range acquisition space, a visible light image acquisition space, an infrared image acquisition space, a surrounding environment laser modeling space and a temperature change acquisition space which take an environment signal acquisition focus as an origin can be formed, various acquisition spaces have a composite area, a comprehensive signal acquisition environment in a large-scale space can be effectively formed, and acquisition data of a complete description dimension of the environment space with the environment signal acquisition focus as a center can be obtained. Meanwhile, when the opening and closing angles of the sensor bearing link arms 118 are controlled and adjusted, various acquisition focuses and space volumes of the comprehensive signal acquisition environment can be controlled and changed, acquisition of body features and environment features which are not differentiated in physical resources is fully completed, and on-site efficient and accurate acquisition of various dimension data is achieved.
The present invention is not limited to the above-mentioned embodiments, and any changes or substitutions that can be easily understood by those skilled in the art within the technical scope of the present invention are intended to be included in the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.
Claims (3)
1. Inspection robot of intelligent inspection system of gas pipe network, its characterized in that includes:
the travelling mechanism is used for forming a body displacement track in a controlled manner;
the height adjusting mechanism is used for adjusting the relative height of the fixed position of the comprehensive sensor layout mechanism in a controlled manner;
the horizontal angle adjusting mechanism is used for adjusting the horizontal direction of the comprehensive sensor layout mechanism in a controlled manner;
the pitching angle adjusting mechanism is used for fixing the sensor comprehensive layout mechanism and controlling pitching direction of the sensor comprehensive layout mechanism;
the sensor comprehensive layout mechanism is used for controllably adjusting the sensor projection distance of an acquisition matrix formed by the sensors in a coronal plane and the sensor projection distance in a sagittal plane; the comprehensive sensor layout mechanism comprises:
The linkage electromechanical accommodating cylinder is used for providing a fixed position of the pitching angle adjusting mechanism, providing a power line, a signal line, an accommodating space and a wiring space of the linkage adjusting structure of the sensor and accommodating the linkage adjusting structure for controlling the sensor to bear the link arm;
the end fitting flange plate body is used for providing an electric connection port of the sensor and a fixed fitting structure at one end of the linkage electromechanical accommodating cylinder;
the sensor bearing link arm is used for being movably connected with the linkage electromechanical accommodating cylinder body, controlled to perform folding and unfolding actions around the linkage electromechanical accommodating cylinder body, and provided with an electrical connection port of the sensor and a fixed adaptation structure, and controlled to change the pointing angle of the fixed adaptation structure;
the sensor bearing link arm comprises a hollow rectangular box body and a pair of fixed follow-up rings, the rectangular box body forms a fixed end face and an extended end face along the length extension direction, a corresponding attaching end face and a supporting end face are arranged between the fixed end face and the extended end face, the attaching end face is attached to the linkage electromechanical accommodating cylinder, and the supporting end face supports a fixed adapting structure;
the fixed follow-up circular rings are coaxial, the axis of the fixed follow-up circular rings is vertical to the length extending direction of the rectangular box body, the rectangular box body is fixed between the fixed follow-up circular rings, an adaptive cambered surface is formed at the intersection part formed by the fixed end face and the attaching end face of the rectangular box body, the radius and the circle center of the adaptive cambered surface are identical to those of the inner ring of the fixed follow-up circular rings, the radian of the adaptive cambered surface is smaller than 90 degrees, and a through hole is formed at the connecting part of the rectangular box body and the fixed follow-up circular rings;
The support end face is provided with a group of fixed adapting structures along the length extending direction, each fixed adapting structure comprises a hollow triangular prism, the length extending direction of each triangular prism is perpendicular to the length extending direction of the rectangular box body, each triangular prism comprises a positioning end face, a fixed structure is formed on each positioning end face, each positioning end face forms an included angle of 5-15 degrees with the support end face of the rectangular box body, each positioning end face faces the extending end face, and a through hole is formed between each triangular prism and each rectangular box body;
the sensor bearing link arm comprises a tension rotating shaft which is movably connected with the side wall of the linkage electromechanical accommodation cylinder body through the tension rotating shaft, the tension rotating shaft comprises a rotating shaft main body and a pair of supporting protrusions, the rotating shaft main body is a cylinder, an annular groove is formed in the middle of the side wall of the rotating shaft main body along the circumferential direction, the side walls of the rotating shaft main bodies on two sides of the annular groove form symmetrical fixedly connected end faces, the supporting protrusions are symmetrically fixedly connected to two top ends of the rotating shaft main body, the supporting protrusions are coaxial with the rotating shaft main body and form through holes along the axis, and the tension rotating shaft is rotationally fixed on a fixed frame on the inner side of an opening of the side wall of the linkage electromechanical accommodation cylinder body through the supporting protrusions, so that the axis of the tension rotating shaft is perpendicular to the axis of the linkage electromechanical accommodation cylinder body; the tension rotating shaft is adaptively fixed with the inner ring of the fixed follow-up circular ring of the sensor bearing link arm through the fixedly connected end face, and the sensor bearing link arm is driven to rotate by encircling the power belt on the annular groove of the tension rotating shaft;
The linkage electromechanical accommodating cylinder comprises an accommodating cylinder body, and a linkage adjusting structure, an unfolding power device and a shrinkage power device which are arranged in the accommodating cylinder body; the contraction power device comprises a servo motor, a screw rod pair and a sliding turntable, wherein an output shaft of the servo motor is coaxial with the screw rod, the screw rod pair and the sliding turntable, the screw rod is fixedly connected to the output shaft of the servo motor, the screw rod pair is fixed at the center of the sliding turntable, the screw rod pair moves along the screw rod, and the sliding turntable is pulled by a lead to be kept relatively static; the expanding power device and the contracting power device are arranged at the same interval and coaxial with the accommodating cylinder, the contracting power device is positioned between the expanding power device and the tail end of the accommodating cylinder, and the servo motors of the expanding power device and the contracting power device are fixedly connected to the inner side wall of the accommodating cylinder through a fixed frame;
the linkage adjusting structures are in one-to-one correspondence with the sensor bearing link arms; the linkage adjusting structure comprises a power belt, a first constraint rotating shaft at the belt contraction end, a second constraint rotating shaft at the belt contraction end and a constraint rotating shaft at the belt expansion end, wherein the axes of the constraint rotating shafts are parallel to the axis of the tension rotating shaft and are rotationally fixed in the accommodating cylinder; the first constraint rotating shaft at the belt shrinkage end, the second constraint rotating shaft at the belt shrinkage end and the constraint rotating shaft at the belt expansion end are arranged in a triangular vertex, the first constraint rotating shaft at the belt shrinkage end is positioned between the tension rotating shaft and the second constraint rotating shaft at the belt shrinkage end, the connecting line of the projection points of the axes of the tension rotating shaft and the second constraint rotating shaft at the belt shrinkage end is far away from the side wall of the accommodating cylinder, and the connecting line of the projection points of the axes of the first constraint rotating shaft at the belt shrinkage end and the second constraint rotating shaft at the belt shrinkage end is far away from the side wall of the accommodating cylinder; the power belt comprises a belt shrinkage end and a belt unfolding end, the power belt semi-surrounds the annular groove of the tension rotating shaft, the belt shrinkage end leaves the annular groove and then penetrates through one side, far away from the side wall of the accommodating cylinder, of the first constraint rotating shaft of the belt shrinkage end and one side, close to the side wall of the accommodating cylinder, of the second constraint rotating shaft of the belt shrinkage end, and the belt unfolding end leaves the annular groove and then penetrates through one side, close to the side wall of the accommodating cylinder, of the constraint rotating shaft of the belt unfolding end;
The linkage adjusting structure further comprises a distance guiding rotating shaft, a constraint traction wire and an unfolding traction wire, wherein one end of the unfolding traction wire is fixedly connected with the belt unfolding end of the power belt, and the other end of the belt unfolding end of the unfolding traction wire is fixedly connected to the side wall of the sliding turntable of the unfolding power device; the distance guiding rotating shaft is arranged on the inner side wall of the accommodating cylinder corresponding to the servo motor of the unfolding power device, one end of the constraint traction wire is fixedly connected with the belt shrinkage end of the power belt, and the other end of the constraint traction wire penetrates through one side, close to the inner side wall of the accommodating cylinder, of the distance guiding rotating shaft and is fixedly connected with the side wall of the sliding rotary table of the shrinkage power device.
2. The inspection robot of the intelligent inspection system of the gas pipe network according to claim 1, further comprising a balancing guide rail, a balancing block, a front traction rotating shaft and a rear traction rotating shaft, wherein the side wall of the tail end of the accommodating cylinder body extends circumferentially in the direction perpendicular to the axis to form an annular balancing space, and the balancing space surrounds the shrinkage power device; the trimming guide rail is parallel to the axis of the accommodating cylinder, the trimming guide rail is uniformly arranged in the annular trimming space, the trimming guide rail is provided with a slidable trimming block, a front traction rotating shaft and a rear traction rotating shaft are respectively arranged on two sides of the trimming block along the trimming guide rail, a front traction lead and a rear traction lead are arranged, one end of the front traction lead is fixedly connected to the side wall of the sliding turntable of the shrinkage power device after the other end of the front traction lead surrounds the front traction rotating shaft, and one end of the rear traction lead is fixedly connected to the side wall of the sliding turntable of the shrinkage power device after the other end of the rear traction lead surrounds the rear traction rotating shaft.
3. The inspection robot of the intelligent inspection system of the gas pipe network according to claim 1, wherein a laser output light path and an optical signal receiving lens of a targeted laser methane detector are arranged in the center of the end fitting flange body, and meanwhile, a visible light camera is arranged on one side of the laser output light path, and an infrared camera is arranged on the opposite side;
two groups of long and short sensor bearing link arms are arranged around the linkage electromechanical accommodating cylinder body, each group comprises 3 sensor bearing link arms, the two groups of sensor bearing link arms are uniformly arranged at intervals, the long sensor bearing link arm comprises six sequential positioning end faces and one end reverse positioning end face, and the short sensor bearing link arm comprises three sequential positioning end faces and one end reverse positioning end face;
an infrared focal plane temperature sensor is fixed on a second positioning end face on a short group of sensor bearing link arms, and an infrared focal plane temperature sensor is fixed on a sixth positioning end face on a long group of sensor bearing link arms;
fixing a visible light camera on a fifth positioning end surface on the long group of sensor bearing link arms, and fixing a visible light camera on a first positioning end surface on the short group of sensor bearing link arms;
Fixing laser range finders on a first positioning end face and a reverse positioning end face on a long group of sensor bearing link arms; a laser range finder is fixed on a third positioning end face on a short group of sensor bearing link arms;
a leakage gas detection sensor is fixed on a fourth positioning end face on the long group of sensor bearing link arms, and a leakage gas detection sensor is fixed on a reverse positioning end face on the short group of sensor bearing link arms;
and fixing a light supplementing lamp on the second positioning end face and an infrared camera on the third positioning end face on the long group of sensor bearing link arms.
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| CN116901089B (en) * | 2023-09-14 | 2024-01-05 | 浩科机器人（苏州）有限公司 | Multi-angle vision distance robot control method and system |
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| CN114333096A (en) | 2022-04-12 |
| CN113077562A (en) | 2021-07-06 |
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